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Simulation and analysis of asteroid force closure anchoring performance based on discrete element method

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Chinese Journal of Aeronautics 2023年第8期36卷 381-394页

作者： Tingzhang WANG qiquan quan Hongshuai GAO Mengxue LI Dewei TANG Zongquan DENG State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

Asteroid exploration is significant for studying the origin of the solar system,establishing planetary defenses,and alleviating the resource crisis of the *** anchoring is the basis of in-situ exploration and resource development and ***,the performance of asteroid force-closure anchoring is investigated using the discrete element *** micro parameters of the simulated materials are calibrated with angle of repose and uniaxial compression experiments,based on which the regional modeling method is adopted to establish the anchoring discrete element *** anchoring experiments are conducted on a self-developed microgravity simulation platform to verify the accuracy of the simulation *** asteroid anchoring simulations are performed to investigate the influence of external force on the anchoring *** analysis of anchoring force varying with time and the interaction between the anchor and regolith particles reveals the influence mechanism of external force direction on the anchoring *** external force direction affects the critical anchoring force by influencing the failure of the force-closure *** comprehensive analysis of simulation results clarifies the variation of the critical anchoring force with the external ***,a stable anchoring region is established,beneficial for asteroid anchoring device design.

关键词： Anchoringforce Asteroid exploration Discrete element method Force closureanchoring Simulationverification

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

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

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

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

Progress in modeling and control of probe-and-drogue autonomous aerial refueling

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Chinese Journal of Aeronautics 2024年第5期37卷 6-26,I0001页

作者： Jinrui REN quan quan School of Automation Xi’an University of Posts&TelecommunicationsXi'an 710072China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

By refueling aircraft while they are in flight,aerial refueling is an efficient technique to extend their endurance and *** Aerial Refueling(AAR)is anticipated to be used to complete aerial refueling for unmanned *** are three aerial refueling methods:the Probe-and-Drogue Refueling(PDR)refueling method,the flying-boom refueling method,and the boom-drogue-adapter refueling *** paper considers the PDR approach,the most challenging of the three,because the flexible hose-drogue assembly has fast dynamics and is susceptible to various kinds of winds,which makes the probe docking with the drogue *** is divided into four phases,namely the rendezvous phase,joining phase,refueling phase,and reform phase,with the refueling phase being the most *** controller design faces the greatest challenge during the docking control of the refueling phase since it calls for a high level of safety,precision,and *** a result,the modeling and control issues encountered during the refueling phase are typical and *** fundamental idea of AAR is presented in the paper first,after which the characteristics and requirements of AAR are *** progress in modeling and control techniques for the AAR’s refueling phase is then systematically ***,potential future work for high safety,precision,and efficiency requirements is examined and suggested.

关键词： Aerial refueling Probe-and-drogue refueling Docking Flight controlsystems Unmanned Aerial Vehicles

Aerial refueling scheduling of multi-receiver and multi-tanker under spatial-temporal constraints for forest firefighting

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Chinese Journal of Aeronautics 2024年第5期37卷 71-91,I0001页

作者： Jing HUANG Jiaqi XING Jinrui REN quan quan Youmin ZHANG Department of Information and Control Engineering Xi’an University of TechnologyXi’an 710048China Jiujiang Measuring Test Technology Research Institute Jiujiang 332000China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China School of Automation Xi’an University of Posts&TelecommunicationsShaanxiXi’an 710121China Department of Mechanical Industrial and Aerospace EngineeringConcordia UniversityMontreal H3G 1M8Canada

Forest fires pose a significant threat to human life and property,so the utilization of unmanned aircraft systems provides new ways for forest *** the constrained load capacities of these aircraft,aerial refueling becomes crucial to extend their operational time and *** order to address the complexities of firefighting missions involving multi-receiver and multi-tanker deployed from various airports,first,a fuel consumption calculation model for aerial refueling scheduling is established based on the receiver ***,two distinct methods,including an integrated one and a decomposed one,are designed to address the challenges of establishing refueling airspace and allocating tasks for *** methods aim to optimize total fuel consumption of the receivers and tankers within the aerial refueling scheduling *** optimization problem is established as nonlinear optimization models along with *** integrated method seamlessly combines refueling rendezvous point scheduling and tanker task allocation into unified *** has a complete solution space and excels in optimizing total fuel *** decomposed method,through the separation of rendezvous point scheduling and task allocation,achieves a reduced computational ***,this comes at the cost of sacrificing optimality by excluding specific feasible ***,numerical simulations are carried out to verify the feasibility and effectiveness of the proposed *** simulations yield insights crucial for the practical engineering application of both the integrated and decomposed methods in real-world *** comprehensive approach aims to enhance the efficiency of forest firefighting operations,mitigating the risks posed by forest fires to human life and property.

关键词： Aerial refueling Scheduling Planning Spatial-temporal constraint Firefighting

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多臂协作式小天体附着取样机器人机械系统

哈尔滨工业大学学报 2022年第1期54卷 1-8页

作者：赵志军全齐全潘博危清清赵京东空间智能机器人系统技术与应用北京市重点实验室(北京空间飞行器总体设计部) 北京100092 机器人技术与系统国家重点实验室(哈尔滨工业大学) 哈尔滨150001

为解决探测器在弱引力、特性未知小天体表面的附着取样难题,提出一种融合着陆缓冲、附着固定、取样、放样等核心功能为一体的附着取样一体化机器人设计方案。基于腿臂复用,提出多臂协作主动自适应式着陆缓冲方案;利用超声波钻钻压力小... 详细信息

为解决探测器在弱引力、特性未知小天体表面的附着取样难题,提出一种融合着陆缓冲、附着固定、取样、放样等核心功能为一体的附着取样一体化机器人设计方案。基于腿臂复用,提出多臂协作主动自适应式着陆缓冲方案;利用超声波钻钻压力小、硬质岩石表面钻进效率高的特点,提出针对岩石类小天体的超声波钻式附着固定方案;针对星表特性不确定,取样适应性要求高的需求,提出砂轮磨削、毛刷清扫的双模式取样方案。采用仿真方法对着陆缓冲性能、取样性能等进行分析;在原理样机研制基础上,开展附着取样全流程实验。结果表明,附着取样机器人可实现着陆缓冲、附着固定、取样、放样等功能,验证了该系统的核心功能。本研究旨在探索小天体附着取样方法,为小天体取样返回任务提供技术支持。

关键词：小天体附着取样主动缓冲多臂协作

Thermal-force control ability under variation of electromagnetic stick structure parameters in RPECT

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Journal of Iron and Steel Research(International) 2024年第1期31卷 224-236页

作者： Ting-song Yang Wen-quan Sun Feng-shan Du An-rui He quan Yang National Engineering Research Center of Advanced Rolling and Intelligent Manufacturing University of Science and Technology BeijingBeijing100083China Institute of Engineering and Technology University of Science and Technology BeijingBeijing100083China College of Mechanical Engineering Yanshan UniversityQinhuangdao066004HebeiChina

Thermal-force driving of roll profile electromagnetic control technology(RPECT),which can be used to adjust the roll profile,can be affected by the sequential temperature rise between the electromagnetic stick(ES)and electromagnetic control *** to the limited space of ES and induction coil,the cross-sectional area of induction coil can be inevitably affected by changing the size of the ES induction zone,which can further change the energy input under the same electromagnetic parameters,the temperature rising effect and the bulging *** investigate this phenomenon,the effects of the radius of the induction zone on the thermal-force contribution ratio,the heating ability of ES and the temperature distribution were analyzed through an electromagnetic-thermal-structural finite element *** ensure that the results are applicable to RPECT,the thermal energy conversion ability and thermal-force roll crown control ability under different lengths of the induction zone were *** was found that whether the current density regulation mode or the current frequency regulation mode is adopted,the cases with 20 or 25 mm radius of the induction zone have the great thermal energy conversion ability and the good thermal-force roll crown control *** reasonable adjustment of the length of the induction zone can reduce the radius required for the maximum energy efficiency *** with the results of the simulation analysis,the optimization of ES based on the control ability maximization requirement is achieved,which provides the base for the design and configuration of ES in RPECT.

关键词： Roll profile electromagnetic control technology Electromagnetic stick Electromagnetic control roll Induction area Thermal-force driving