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Design and test of ceramic knife-edge seal for in-situ heating system of extracting volatile matter from lunar soil

Advances in Space Research 2025年

作者： Yinchao Wang Yuanling Sun Jianbo Zhou Bowei Wang Junyue Tang Zixiao Lu Huazhi Chen Bo Wang Xiaobo Su Shengyuan Jiang School of Mechatronics and Engineering Shenyang Aerospace University Shenyang 110136 China Key Laboratory of Rapid Development & Manufacturing Technology for Aircraft (Shenyang Aerospace University) Ministry of Education Shenyang 110136 China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China Nanometer Intelligent Sensor Lab National Center for Nanoscience and Technology Beijing 100190 China China Academy of Space Technology Beijing 100190 China Sichuan boffins robotic and robotizatian Co. LTD Chengdu 610052 China

In the pursuit of accurate lunar soil volatile exploration, in-situ deep space sampling analysis offers unparalleled preservation of sample integrity. A critical challenge lies in ensuring a secure sealing environment. This paper introduces an innovative sealing method utilising a ceramic blade to compress a non-metallic seal. Initially, following a comprehensive multidimensional evaluation of sealing configurations, the ceramic knife-edge compression non-metallic sealing ring solution was determined to be optimal. This approach involves positioning the sealing ring within a grooved cylindrical heating furnace body, where radial compression is achieved through an annular ceramic knife-edge interface, thereby ensuring hermetic integrity. Subsequently, a sealing leakage model grounded in Roth theory was developed to elucidate micro-leakage mechanisms. ANSYS simulation software was utilised to investigate the influence of blade tip radius and temperature, revealing correlations with average stress and contact width, as well as the impact of temperature extremes on sealing efficacy. These findings provided the theoretical underpinning for subsequent ground tests. A dedicated test platform was established, adhering to the industry standard QJ3089A-2018, to evaluate the sealing performance of various seal and blade tip radius combinations under diverse conditions. Results indicated that, under a force of 500N, PTFE seals compressed by an R0.5mm blade and PVMQ seals compressed by an R0.6mm blade achieved leakage rates on the order of 10 -8 Pa·m 3 ·s -1 , aligning with theoretical predictions and demonstrating repeatable sealing capability. This study presents a novel and reliable sealing solution for the precise exploration of lunar soil volatiles, offering a technical breakthrough and robust sealing strategy for future deep space missions.

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Globally optimal consensus maximization for robust visual inertial localization in point and line map

Globally optimal consensus maximization for robust visual in...

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2020 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yanmei Jiao Yue Wang Bo Fu Qimeng Tan Lei Chen Minhang Wang Shoudong Huang Rong Xiong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing P.R. China Minhang Wang is with the Application Lab Huawei Incorporated Company P.R. China Shoudong Huang is with the Center for Autonomous Systems (CAS) the University of Technology Sydney Australia

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the main challenge is the presence of outliers, especially in changing environment. In this paper, we propose a robust solution based on efficient global optimization of the consensus maximization problem, which is insensitive to high percentage of outliers. We first introduce translation invariant measurements (TIMs) for both points and lines to decouple the consensus maximization problem into rotation and translation subproblems, allowing for a two-stage solver with reduced search space. Then we show that (i) the rotation can be estimated by minimizing TIMs using only 1-dimensional branch-and-bound (BnB), (ii) the translation can be estimated by running 1-dimensional search for each of the three axes with prioritized progressive voting. Compared with the popular randomized solver, our solver achieves deterministic global convergence without requiring an initial value. Furthermore, ours is exponentially faster compared with existing BnB based methods. Finally, our experiments on both simulation and real-world datasets demonstrate that the proposed method gives accurate pose estimation even in the presence of 90% outliers (only 2 inliers).

关键词： Location awareness Visualization Pose estimation Search problems state estimation Optimization Rotation measurement

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2-Entity RANSAC for robust visual localization in changing environment

arXiv

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arXiv 2019年

作者： Jiao, Yanmei Wang, Yue Fu, Bo Ding, Xiaqing Tan, Qimeng Chen, Lei Xiong, Rong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

Visual localization has attracted considerable attention due to its low-cost and stable sensor, which is desired in many applications, such as autonomous driving, inspection robots and unmanned aerial vehicles. However, current visual localization methods still struggle with environmental changes across weathers and seasons, as there is significant appearance variation between the map and the query image. The crucial challenge in this situation is that the percentage of outliers, i.e. incorrect feature matches, is high. In this paper, we derive minimal closed form solutions for 3D-2D localization with the aid of inertial measurements, using only 2 point matches or 1 point match and 1 line match. These solutions are further utilized in the proposed 2-entity RANSAC, which is more robust to outliers as both line and point features can be used simultaneously and the number of matches required for pose calculation is reduced. Furthermore, we introduce three feature sampling strategies with different advantages, enabling an automatic selection mechanism. With the mechanism, our 2-entity RANSAC can be adaptive to the environments with different distribution of feature types in different segments. Finally, we evaluate the method on both synthetic and real-world datasets, validating its performance and effectiveness in inter-session scenarios. Copyright © 2019, The Authors. All rights reserved.

关键词： Statistics

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2-Entity RANSAC for robust visual localization in changing environment

2-Entity RANSAC for robust visual localization in changing e...

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2019 IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Yanmei Jiao Yue Wang Bo Fu Xiaqing Ding Qimeng Tan Lei Chen Rong Xiong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing P.R. China

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Road scene graph: A semantic graph-based scene representation dataset for intelligent vehicles

arXiv

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arXiv 2020年

作者： Tian, Yafu Carballo, Alexander Li, Ruifeng Takeda, Kazuya Graduate School of Informatics Nagoya University Furo-cho Chikusa-ku Nagoya464-8603 Japan Institute of Innovation for Future Society Nagoya University Furo-cho Chikusa-ku Nagoya464-8601 Japan Tier IV Inc. Nagoya University Open Innovation Center 1-3 Mei-eki 1-chome Nakamura-Ward Nagoya450-6610 Japan State Key Laboratory of Robotic and Intelligent System Harbin Institute of Technology Heilongjiang China

Rich semantic information extraction plays a vital role on next-generation intelligent vehicles. Currently there is great amount of research focusing on fundamental applications such as 6D pose detection, road scene semantic segmentation, etc. And this provides us a great opportunity to think about how shall these data be organized and exploited. In this paper we propose road scene graph, a special scene-graph for intelligent vehicles. Different to classical data representation, this graph provides not only object proposals but also their pair-wise relationships. By organizing them in a topological graph, these data are explainable, fully-connected, and could be easily processed by GCNs (Graph Convolutional Networks). Here we apply scene graph on roads using our Road Scene Graph dataset5, including the basic graph prediction model. This work also includes experimental evaluations using the proposed model. © 2020, CC-BY.

关键词： Graphic methods

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Automatic space calibration of a medical robot system

Automatic space calibration of a medical robot system

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IEEE International Conference on Mechatronics and Automation

作者： Gangfeng Liu Changle Li Ge Li Xianfu Yu Liyi Li State Key Laboratory of Robotic Technology and System Harbin Institute of Technology Harbin Heilongjiang Province China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin Heilongjiang China

ISBN: (纸本)9781509023974

In order to build an uniform coordinate system for a medical robot and its vision system in surgery, an automatic space calibration method is proposed based on the rotational and translational movements of the robot. With this method, both the robot and the NDI vision system can be calibrated to the patient's bones contour, which matches the virtual model built from the CT images. Thus surgical operation can be carried out by the robot following the preoperative design based on the virtual model. The calibration accuracy directly determines the precision of surgical operation. Experiments were carried out to evaluate the effectiveness of this calibration method, and the result showed that the position and posture error can meet the operation requirements. Also the calibration can be executed automatically to decrease the human effect and increase the reliability and stability.

关键词： Calibration Robot kinematics Biomedical optical imaging Medical robotics Adaptive optics Nonlinear optics

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Landing Performance Simulation of an Asteroid Landing Mechanism

Landing Performance Simulation of an Asteroid Landing Mechan...

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IEEE International Conference on Information and Automation

作者： Zhijun Zhao Delun Li Baofeng Yuan Sheng Gao Jingdong Zhao Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering State Key Laboratory of Robotics and System Harbin Institute of Technology

ISBN: (纸本)9781467391054

Asteroid landing is a new research field in deep space exploration, which has important scientific and economic values in learning the origin of the solar system and exploring the asteroid. It is microgravity and little media properties are obtained on the asteroid surface, thus good landing performance is demanded to realize safe landing of the landing mechanism. Landing mechanism in the paper has three legs, and the damping device is located between the landing gear and the equipment base. Simulation method is introduced to analyze the landing performance of the landing mechanism. Landing performance of the landing mechanism on 30° landing slope with the largest landing velocity is simulated in three typical landing modes, and the landing performance is reflected by stability time of the landing gear and overloading acceleration of the equipment base. Landing simulation has important significance in learning landing performance and guiding the landing of the landing mechanism.

关键词： Asteroid Landing mechanism Landing performance Simulation

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RS-CPS: A Distributed Architecture of robotic Surveillance Cyber-Physical system in the Nature Environment

RS-CPS: A Distributed Architecture of Robotic Surveillance C...

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IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent systems

作者： Hongpeng Wang Jingtai Liu Jianda Han Institute of Robotic and Automatic Information System. Nankai University State Key Laboratory of Robotics (Shenyang Institute of Automation Chinese Academy of Sciences)

ISBN: (纸本)9781479987313

Modern nature surveillance systems are highly automated and require distributed architectures in order to increase understanding of the environment by integrating data from various monitors and sensors, which are mounted not only on fixed stations, but also on robotic actuators. In this paper, we propose a distributed architecture of robotic surveillance cyber-physical system (RS-CPS) in the nature environment, which is designed as integration of computation and physical processes. The RS-CPS system consists of five levels including smart connection, data-to-information conversion, cyber communication, cognition, and configuration. Based on this architecture, the nature risk such as wildfires, the activities of wild animals and the climate changes in plants can be constantly monitored by the cooperation of multiple agents such as autonomous UAVs, robotic pan-tilt-zoom cameras, forest infrared cameras, songbird acoustic recorders, GPS tracking collars and ecological factor sensors located in field. The experiments demonstrate the feasibility and effectiveness of the new architecture.

关键词： ARCHITECTURE Fixed platforms Environments Building construction new buildings MONITOR Distribute Sensors Wild Animals Tracking collars

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Applied research in cartesian impedance control for 6-UPS space docking mechanism

Applied research in cartesian impedance control for 6-UPS sp...

引用

2nd International Conference on Applied Mechanics and Manufacturing system, AMMS 2014

作者： Sun, Ze Yang Liu, Gang Feng Wang, Meng Chen, Xue Sheng Zhao, Jie State Key Laboratory of Robotic and Systems Harbin Institute of Technology Building C1 Harbin150001 China Beijing Institute of Space System Engineering Building 1 Beijing100076 China

ISBN: (纸本)9783038350958

In order to ensure the security buffer of the 6-UPS space docking mechanism, real-time control based on contact force is needed. In this paper, a highly effective Cartesian impedance control method based on the feedback signal from 6 force sensors is presented, and a brief introduction to the mechanical structure of the 6-UPS docking mechanism and the control structure of the docking system is given. According to the data analysis of ground experiment, this control method can tremendously improve the buffer effect in the docking stage with the parameters optimized in Simulink. © (2014) Trans Tech Publications, Switzerland.

关键词： Simulink

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SMA-based space release device for solar panels deployment

SMA-based space release device for solar panels deployment

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11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

作者： Gangfeng, Liu Jihong, Yan Chen, Yang Jie, Zhao Ying, Zhao State Key Laboratory of Robotic and Systems Harbin Institute of Technology Harbin 150001 China Shanghai Institute of Space System Engineering No.3805 Jindu Road Minhang District Shanghai 201108 China

ISBN: (纸本)9781479939787

Most of separating operations for solar panels have been achieved by utilizing explosive bolt nowadays. However, with the development of space technology, especially when new generations of small satellites start to emerge, traditional pyrotechnical products cannot provide spacecrafts with satisfied performance, since the fierce shock and contamination are not avoidable. Thus, developing novel types of non-pyrotechnical actuators has become the research focus for release mechanism. In this paper, we propose to adopt the memory effect of the shape memory alloy (SMA) for developing release devices. Brinson theory has been chosen as the theoretical foundation of performance analysis. This new type of mechanism mitigates the problem of shock and contamination, meanwhile possessing several excellent advantages such as compact volume, quick response, outstanding synchronism and reusability. © 2014 IEEE.

关键词： Solar panels

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