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 res...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.展开更多
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 acqui...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.展开更多
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 mi...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 properly.Otherwise, 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.展开更多
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 safet...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.展开更多
基金Supported by National Defense Science and Technology Major Project(Grant Nos.TY3Q20110001,TY3Q20110005)College Discipline Innovation Wisdom Plan of China(111 Project,Grant No.B07018)National Natural Science Foundation of China(Grant No.51105092)
文摘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.
基金Supported by National Natural Science Foundation of China(Grant No.51105092)Introducing Talents of Discipline to Universities(111 Program,Grant No.B07018)+1 种基金Heilongjiang Postdoctoral Grant(Grant No.LBHZ11168)China Postdoctoral Science Foundation(Grant No.2012M520722)
文摘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.
基金supports by the National Natural Science Foundation of China (No. 61403106, No. 51575122)Program of Introducing Talents of Discipline to Universities (No. B07018) of ChinaFundamental Research Funds for the Central Universities (No. HIT.NSRIF.2014051) of China
文摘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 properly.Otherwise, 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.
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)+2 种基金the Program of Introducing Talents of Discipline to Universities (No.B07018)Heilongjiang Postdoctoral Grant (No.LBHZ11168)China Postdoctoral Science Foundation (No.2012M520722)
文摘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.
