Multi-state autonomous drilling for lunar exploration

作     者：Chen Chongbin Quan Qiquan Shi Xiaomeng Deng Zongquan Tang Dewei Jiang Shengyuan 

作者机构：State Key Laboratory of Robotics and System Harbin Institute of Technology 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2016年第29卷第5期

页      面：1397-1404页

核心收录：

学科分类：07[理学] 08[工学] 070401[理学-天体物理] 082503[工学-航空宇航制造工程] 0704[理学-天文学] 0825[工学-航空宇航科学与技术] 

基　　金：financially supported by fundamental research funds for National Natural Science Foundation of China(No.61403106) the Fundamental Research Funds for the Central Universities (No.HIT.NSRIF.2014051) the Program of Introducing Talents of Discipline to Universities (No.B07018) Heilongjiang Postdoctoral Grant (No.LBHZ11168) China Postdoctoral Science Foundation (No.2012M520722) 

主　　题：Finite state machine Recognition algorithm Simulants Support vector machine Wavelet transform 

摘      要：Due to the lack of information of subsurface lunar regolith stratification which varies along depth, the drilling device may encounter lunar soil and lunar rock randomly in the drilling process. To meet the load safety requirements of unmanned sampling mission under limited orbital resources, the control strategy of autonomous drilling should adapt to the indeterminable lunar environments. Based on the analysis of two types of typical drilling media （i.e., lunar soil and lunar rock）, this paper proposes a multi-state control strategy for autonomous lunar drilling. To represent the working circumstances in the lunar subsurface and reduce the complexity of the control algo- rithm, lunar drilling process was categorized into three drilling states： the interface detection, initi- ation of drilling parameters for recognition and drilling medium recognition. Support vector machine （SVM） and continuous wavelet transform were employed for the online recognition of drilling media and interface, respectively. Finite state machine was utilized to control the transition among different drilling states. To verify the effectiveness of the multi-state control strategy, drilling experiments were implemented with multi-layered drilling media constructed by lunar soil simulant and lunar rock simulant. The results reveal that the multi-state control method is capable of detecting drilling state variation and adjusting drilling parameters timely under vibration interferences. The multi-state control method provides a feasible reference for the control of extraterrestrial autonomous drilling.