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Drilling load modeling and validation based on the filling rate of auger flute in planetary sampling

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Chinese Journal of Aeronautics 2017年第1期30卷 434-446页

作者： Quan Qiquan Tang Junyue Yuan Fengpei jiang shengyuan Deng Zongquan State Key Laboratory of Robotics and System Harbin Institute of Technology

Some type of penetration into a subsurface is required in planetary sampling. Drilling and coring, due to its efficient penetrating and cuttings removal characteristics, has been widely applied in previous sampling missions. Given the complicated mechanical properties of a planetary regolith, suitable drilling parameters should be matched with different drilling formations ***, drilling faults caused by overloads could easily happen. Hence, it is necessary to establish a drilling load model, which is able to reveal the relationships among drilling loads, an auger＇s structural parameters, soil＇s mechanical properties, and relevant drilling parameters. A concept for the filling rate of auger flute（FRAF） is proposed to describe drilling conditions. If the FRAF index under one group of drilling parameters is less than 1, this means that the auger flute currently removes cuttings smoothly. Otherwise, the auger will be choked with compressed cuttings. In drilling operations, the drilling loads on the auger mainly come from the conveyance action, while the drilling loads on the drill bit primarily come from the cutting action. Experiments in one typical lunar regolith simulant indicate that the estimated drilling loads based on the FRAF coincide with the test results quite well. Based on this drilling load model, drilling parameters have been optimized.

关键词： Coring Drilling load Filling rate of auger fluteLunar regolith simulant Planetary drilling

Drilling Power Consumption and Soil Conveying Volume Performances of Lunar Sampling Auger

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Chinese Journal of Mechanical Engineering 2015年第3期28卷 451-459页

作者： TIAN Ye TANG Dewei DENG Zongquan jiang shengyuan QUAN Qiquan State Key Laboratory of Robotics and System Harbin Institute of Technology University Research Center of Package Mechanical Design Harbin University of Commerce

The sampling auger used in lunar sampling and return mission is to transmit power and convey soil, and its performance is the key factor of the whole mission. However, there is currently a lack of the optimization research on soil conveying volume and power consumption models in auger structure design. To provide the drilled object, the simulation lunar soil, whose physical and mechanical property is the same as the real soil, is made by reducing soil void ratio. The models are formulated to analyze the influence of auger structure parameters on power consumption and soil conveying volume. To obtain the optimized structure parameters of auger, the multi-objective optimization functions of the maximum soil conveying volume and minimum power consumption are developed. To verify the correctness of the models, the performances of different augers drilling simulation soil are tested. The test results demonstrate that the power consumption of optimized auger is the lowest both in theory and test, and the experimental results of soil conveying volume are in agreement with theoretical analysis. Consequently, a new method for designing a lunar sampling auger is proposed which includes the models of soil conveying volume and transportation power consumption, the optimization of structure parameters and the comparison tests. This method provides a reference for sampling auger designing of the Chinese Lunar Sample Mission.

关键词： lunar sampling optimal design auger soil conveying volume model structure parameter

Development of a Drilling and Coring Test-bed for Lunar Subsurface Exploration and Preliminary Experiments

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Chinese Journal of Mechanical Engineering 2014年第4期27卷 673-682页

作者： SHI Xiaomeng DENG Zongquan QUAN Qiquan TANG Dewei HOU Xuyan jiang shengyuan School of Mechatronics Engineering Harbin Institute of Technology

Drill sampling has been widely employed as an effective way to acquire deep samples in extraterrestrial exploration. A novel sampling method, namely, flexible-tube coring, was adopted for the Chang＇e mission to acquire drilling cores without damaging stratification information. Since the extraterrestrial environment is uncertain and different from the terrestrial environment, automated drill sampling missions are at risk of failure. The principles of drilling and coring for the lunar subsurface should be fully tested and verified on earth before launch. This paper proposes a test-bed for conducting the aforementioned experiments on earth. The test-bed comprises a rotary-percussive drilling mechanism, penetrating mechanism, drilling medium container, and signal acquisition and control system. For granular soil, coring experiments indicate that the sampling method has a high coring rate greater than 80%. For hard rock, drilling experiments indicate that the percussive frequency greatly affects the drilling efficiency. A multi-layered simulant composed of granular soil and hard rock is built to test the adaptability of drilling and coring. To tackle complex drilling media, an intelligent drilling strategy based on online recognition is proposed to improve the adaptability of the sampling drill. The primary features of this research are the proposal of a scheme for drilling and coring a test-bed for validation on earth and the execution of drilling experiments in complex media.

关键词： drilling and coring device test-bed lunar soil sampling

Multi-state autonomous drilling for lunar exploration

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Chinese Journal of Aeronautics 2016年第5期29卷 1397-1404页

作者： Chen Chongbin Quan Qiquan Shi Xiaomeng Deng Zongquan Tang Dewei jiang shengyuan State Key Laboratory of Robotics and System Harbin Institute of Technology

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.

关键词： Finite state machine Recognition algorithm Simulants Support vector machine Wavelet transform

Characteristics of spatial magnetic torque of an intestine capsule micro robot with a variable diameter

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Science China(Technological Sciences) 2009年第7期52卷 2079-2086页

作者： ZHANG YongShun YUE Ming GUO DongMing WANG DianLong YU HongHai jiang shengyuan ZHANG XueWen Key Laboratory for Precision&Non-traditional Machining of Ministry of Education Dalian University of TechnologyDalian 116024China School of Automotive Engineering Dalian University of TechnologyDalian 116024China Mechanical Engineering School Beihua UniversityJilin 132021China

A drive and control method is put forward for a variable diameter capsule micro robot to screw forward in intestine using magnetic coupling between an inner actuator inside the robot and the rotational magnetic field generated by a rotating outer actuator. The structures of the outer and inner actuators are magnet cylinders with multiple magnetic poles in tegular shape alternating with dissimilar radial magnetization. An universal mathematical model of magnetic torque at eccentric state is established based on the equivalent magnetic charge method, and the characteristics of magnetic torque with respect to structural parameters of actuators are theoretically studied. Experiments show that the driving method features advantages such as powerful magnetic torque, high safety, reliability, etc. The driving ability of the variable diameter capsule micro robot is greatly improved by its automatic radial clearance compensation. The magnetic drive system has a promising prospect of medical applications in intestine.

关键词： variable diameter capsule robot, Radial offset distance Magnetic torque, Equivalent magnetic charge method

Dynamic characteristics of an intestine capsule robot with variable diameter

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Chinese Science Bulletin 2010年第17期55卷 1813-1821页

作者： ZHANG YongShun jiang shengyuan ZHANG XueWen YU HongHai WANG DianLong GUO DongMing Key Laboratory for Precision & Non-traditional Machining of Ministry of Education of China Dalian University of Technology Dalian 116023 China Mechanical Engineering School Beihua University Jilin 132021 China

This paper proposes an intestine capsule robot with variable diameter. It is driven by external rotating magnetic field and has the function of automatic radial clearance compensation. An external magnetic field generating device and a capsule robot with variable diameter are developed. Radial dynamic balance equation and kinematics equation of the capsule robot traveling inside flexible elasto-wall environment are established, and dynamic characteristics of the capsule robot inside flexible elasto-wall pipe and rigid wall pipe environments are analyzed and compared. Simulations and experiment results show that its dynamic characteristics in both pipes are almost the same. Under the action of radial clearance compensation, fluid dynamic pressure around outer surface of the capsule robot and its propulsion, as well as its adaptability to diameter change range, are significantly improved. Its propulsion and moving speed are controlled by adjusting rotating angular speed of the rotating magnetic field. This innovative capsule robot with radial clearance compensation has a promising prospect for inside intricate gastrointestinal (GI) tract in non-invasive therapy applications.

关键词：动态特性机器人变直径胶囊胃肠动力平衡方程径向间隙旋转磁场

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开放性骨折清创术中冲洗液的应用与研究热点

中国组织工程研究 2019年第22期23卷 3577-3583页

作者：蒋昇源张锴滨州医学院附属医院创伤骨科

背景:清创是开放骨折治疗的关键手段,而清创术中对伤口的冲洗是重要环节。相关的动物实验以及临床研究多年来一直是研究热点,但是清创术中冲洗液种类的选择依然存在着一些争议。目的:对开放性骨折清创术中冲洗液选择的最新研究进展进行... 详细信息

背景:清创是开放骨折治疗的关键手段,而清创术中对伤口的冲洗是重要环节。相关的动物实验以及临床研究多年来一直是研究热点,但是清创术中冲洗液种类的选择依然存在着一些争议。目的:对开放性骨折清创术中冲洗液选择的最新研究进展进行综述。方法:第一作者应用计算机检索1959年1月至2018年5月PubMed数据库、中国知网的相关文章,英文检索词“open fracture,debridement,irrigation solution”;中文检索词“开放性骨折,清创术,冲洗液”。最终选择44篇重要文献进行综述。结果与结论:①经过大量动物实验以及临床应用,开放性骨折的清创、预防感染、冲洗液种类及预后评价等方面的研究也越来越深入,尤其是清创术中冲洗液种类的研究方面;②传统的无菌生理盐水依旧是最便捷、有效的选择,抗菌消毒剂、表面活性剂、抗生素等添加物也成为近年的研究热点。

关键词：开放性骨折清创术感染冲洗抗菌消毒剂表面活性剂抗生素

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一种新型月壤水冰采样系统设计及试验验证

宇航学报 2023年第3期44卷 389-398页

作者：马如奇张伟伟姜水清姜生元北京空间飞行器总体设计部北京100094 哈尔滨工业大学机器人技术与系统国家重点实验室哈尔滨150001

针对月球极区永久阴影坑深低温环境下,月壤水冰的硬度和机械强度很高,铲挖、钻进等常规采样方式难以实现低耗、快速采样的问题,提出了利用火工爆燃作动的动能侵彻方式快速构建月壤剖面孔洞,利用机械臂将采样工具送至孔内实施样品精确采... 详细信息

针对月球极区永久阴影坑深低温环境下,月壤水冰的硬度和机械强度很高,铲挖、钻进等常规采样方式难以实现低耗、快速采样的问题,提出了利用火工爆燃作动的动能侵彻方式快速构建月壤剖面孔洞,利用机械臂将采样工具送至孔内实施样品精确采集的新采样方法,并据此设计了新型月壤水冰采样系统。设计并研制了侵彻单元工程样机,基于力学等效性原则制备了拟实靶体,对工程样机的侵彻效能开展了试验验证。试验结果表明,对于单轴抗压强度30 MPa的模拟月壤水冰力学等效物能实现快速侵彻,侵彻深度可达234 mm,侵彻时间优于1 s。提出的侵彻式造孔和采样方法具有轻量化、低能耗、高效率、高强度月壤对象突破能力强等突出优势,可为后续月壤水冰采样探测任务提供有益借鉴。

关键词：永久阴影坑月壤水冰侵彻造孔样品采集

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范畴_Δ中的正合列

Journal of Mathematical Research and Exposition 1999年第1期19卷 113-116页

作者：江声远江西师范大学数学系南昌330027

本文研究域上矩阵给出的范畴，给出了正合性的等价刻画，提出了将正合列理论应用于矩阵论的途径．

关键词：范畴 Abel范畴正合列矩阵核上核象