面向视觉着陆的高精度结构化约束特征点研究

为提高视觉着陆过程中无人机的相对定位精度,选取视觉图像中的直线交点作为结构化约束特征点,设计了基于梯度一致性的边缘检测算法,并结合Shi-Tomasi角点检测算法进行结构化约束特征点的粗定位。对LSD直线检测算法进行改进并设计了亚像素角点定位精度改进算法,在结构化约束特征点粗定位的基础上,将其精度提高到亚像素级。基于实际场景中固有约束的结构化约束特征点具有鲁棒性、旋转和尺度不变性,抗干扰能力更强,其高精度定位有利于提高视觉着陆相对定位的精度与可靠性。     

Optimized design of high-efficiency lunar soil sampling tube structure based on stress–strain law

Understanding the influence of the sampling apparatus on in-situ lunar soil lamination information during the sampling process of the direct push-through lunar weathering layer is of great importance. This paper develops a discrete element model for direct push-through lunar weathering layer sampling using the CUG-1A simulated lunar soil developed by the China University of Geosciences as a simulation object and determines the stress–strain law of the inner wall of a sampling tube. A method for optimizing the inner wall structure of a sampling tube based on the stress–strain law is proposed. The structural disturbance of the marker layer and the lunar soil disturbance rate evaluation function are used to assess the degree of disturbance of the laminar information during the sampling process. The results show that the proposed method can effectively reduce the structural disturbance of the lunar soil in-situ laminar information. In addition, it can also optimize the structural information disturbance of the marker layer. The proposed method can decrease the simulated lunar soil disturbance rate from 0.31 to 0.251 and effectively reduce the penetration force load by 15–20% in the direct push-through sampling process.     

J312L结构胶空间辐射环境适应性研究

为考察空间辐射环境对J312L结构胶性能的影响，通过电子扫描电镜（SEM）、傅里叶红外光谱（FT-IR）、X射线光电子能谱（XPS）、热重分析仪（TGA）、差示扫描量热仪（DSC）、真空出气和力学性能测试，研究了辐射对J312L结构胶的微观形貌、分子结构、耐热特性、污染特性和力学性能的影响，并对材料辐射老化机制进行了分析。结果表明总剂量辐射对J312L结构胶耐热、真空污染和力学特性影响显著。1.5×10⁹ rad（Si）⁶⁰Co γ 射线辐射后胶黏剂拉伸剪切强度为4.8 MPa，真空总质量损失（TML）为2.36%。与初始相比，玻璃化转变温度和5%热分解温度分别降低了31和84 ℃，表明高剂量作用下胶黏剂以辐射降解为主。