Education and Public Outreach for Nasa’s Deep Impact Mission

The Deep Impact mission’s Education and Public Outreach (E/PO) program brings the principles of physics relating to the properties of matter, motions and forces and transfer of energy to school-aged and public audiences. Materials and information on the project web site convey the excitement of the mission, the principles of the process of scientific inquiry and science in a personal and social perspective. Members of the E/PO team and project scientists and engineers, share their experiences in public presentations and via interviews on the web. Programs and opportunities to observe the comet before, during and after impact contribute scientific data to the mission and engage audiences in the mission, which is truly an experiment.     

基于月球车轮地作用地面力学积分模型的月壤力学参数辨识方法

月壤力学特性参数的研究可以使人们了解更多的星球地质学信息,也是进行月球探测车等设备开发以及未来从事人类月球活动的工程基础.利用月球车轮地作用测试平台和模拟月壤对6种不同尺寸和轮刺的车轮进行试验,利用传统压板试验和剪切试验测量土壤力学参数.针对月球车轮地作用地面力学积分模型进行耦合度和参数敏感度分析,进而将8个力学参数分...     

运用双重环境模型的移动机器人主动探测策略

针对移动机器人基于超声波传感器的地图创建,提出了一种双重环境模型。该模型同时包涵以直线段表示的几何模型和以概率形式表示的栅格模型,结合了几何模型与栅格模型的优点。给出了该模型的建立及更新算法,并基于该模型提出了一种主动探测策略,在保证探测效率的同时减小了超声波传感器的镜面反射产生的不良影响。在室内环境下进行移动机器人实验,验证了基于双重环境模型的探测策略的有效性。     

火星巡视器动力学建模研究与仿真平台实现

火星巡视器是执行复杂的火星表面探测任务的重要载体,为保证巡视器的可靠性,本文对火星巡视器动力学原理进行了研究.首先,分析了巡视器的结构组成,介绍了巡视器动力学建模的相关理论基础.然后根据巡视器有向Span树的轴链系统,基于拉格朗日递归动力学分析方法,得到了多轴系统拉格朗日方程,通过遍历巡视器轴链拓扑完成了巡视器动力学模...     

一种双层框架型腿式月球探测车方案

月球车的设计,就行进方式而言,多以轮式车为主。考虑到国外已有的车型及相关研究也多以轮式车为先,这里提出了一种双层框架型腿式车的设计方案,它兼具腿式车和轮式车的优点。文章建立了该型车的三维模型,并利用虚拟样机技术,构建起月球车的动力学仿真环境,并进行了控制算法和步态的设计,通过联合仿真,完成了此车的初步方案设计工作。     

月面巡视探测器立体相机共线方程的建立

为了准确提取月面巡视探测器探测区域的DEM并实现对月面巡视探测器的高精度定位,需要根据月面巡视探测器携带的立体相机的成像原理和配置情况,建立立体相机的共线方程。文章讨论了在水平和垂直方向旋转摄影条件下,月面巡视探测器桅杆上的立体相机的共线方程。     

液体镜头技术应用于空间探测的初步探讨

文章介绍了一种方兴未艾的镜头技术——液体镜头技术,分析了几种典型液体镜头的工作原理和控制方法,并初步探讨了其在空间探测领域应用的可能性。     

嫦娥三号巡视器-着陆器释放分离过程关键力学问题分析

针对嫦娥三号探测器两器释放分离过程几个关键力学问题,给出两器释放分离过程的主要风险点与影响参数,应用ADAMS建立两器释放分离全过程仿真模型,开展了全过程动力学仿真与相关试验。分析得到可适应安全释放分离要求的着陆器最大着陆姿态边界与关键性能参数,为两器释放分离提供了理论支撑与依据。     

仿尺蠖型火星车设计与验证

针对传统被动悬架式火星车在火星复杂地形运动中可能存在的问题,设计了仿尺蠖型火星车,包括沉陷脱困设计、爬坡设计、防托底设计和抬轮设计;识别了仿尺蠖型火星车移动系统的关键参数,计算得到不同火星车抬升高度的关键参数值和一个尺蠖运动周期的位移值;计算结果表明仿尺蠖型火星车可以解决被动悬架式火星车的上述问题。对所设计的仿尺蠖型火星车开展了地面试验和飞行试验验证,地面试验验证了车轮沉陷脱困能力、越障能力和爬坡能力;作为仿尺蠖型火星车应用的实例,“祝融号”火星车成功经历了飞行试验,它在火星表面的顺利运行表明仿尺蠖型火星车设计措施有效。     

Landing of hopping rovers on Irregularly-shaped small bodies using attitude control

A hopping rover that is driven only by internal or external attitude actuators is an ideal mobility approach for surface exploration of small solar system bodies. Without thrust control and grasping mechanisms, a hopping rover is mechanically simple to design and less prone to mechanical failures, but faces challenges during soft landing. It may rebound from the surface, causing deviations from its original landing site. In this paper, landing of a hopping rover on the surface of an asteroid is investigated, and a strategy using only attitude control to shorten the landing distance is proposed. Based on rigid body impact dynamics, the edge impact configuration is investigated in detail. The factors that affect the impact states of a cube-shaped hopping rover are studied. Then, controlled edge landing is analyzed, in which the post-impact velocity of the hopping rover is changed by controlling its attitude prior to impact. Three guidance schemes are developed, followed by attitude profile generation and finite time stable attitude control. Finally, simulations are performed on an ideal flat surface and uneven terrain. The results show that controlled edge landing can effectively reduce the landing distance and settling time, compared with uncontrolled landing. This study on hopping motion on the surface of an irregular-shaped asteroid with attitude control, can provide a reference for hopper trajectory plan in future asteroid surface explorations.