The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or rovers.Planetary WMRs are among the most intelli...The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or rovers.Planetary WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) synergetically.This article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic systems.Double-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is introduced.The challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be key.Double-level virtual simulation architecture to realize virtint is proposed.Key technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction mechanics.This generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay.展开更多
The harsh and remote environments of polar regions,such as the Arctic and Antarctica,pose significant challenges for scientific exploration,particularly in ice sampling.Extreme conditions,including low temperatures,ic...The harsh and remote environments of polar regions,such as the Arctic and Antarctica,pose significant challenges for scientific exploration,particularly in ice sampling.Extreme conditions,including low temperatures,ice,snow,and natural obstacles,make access to these areas difficult.However,ice sampling from glaciers,ice sheets,and icebergs is critical for scientific research,necessitating the development of specialized equipment.Unmanned ice-drilling systems offer a promising solution by enabling safe and efficient ice core sample collection in remote locations.Advances in extraterrestrial ice-drilling technology have inspired the development of automated drilling systems for Earth’s polar regions,with recent efforts focusing on lightweight,electric or solar-powered rovers which can tow or mount drilling systems.This paper introduces the concept of a robotic drilling system designed at Jilin University,China,for shallow drilling operations from an unmanned polar rover,highlighting its design and operational features.展开更多
On lunar exploration missions, the rovers which can move and explore directly are considered by various agency like NASA （National Aeronautics and Space Administration）, JAXA （Japan Aerospace Exploration Agency）, ...On lunar exploration missions, the rovers which can move and explore directly are considered by various agency like NASA （National Aeronautics and Space Administration）, JAXA （Japan Aerospace Exploration Agency）, ESA （European Space Agency）. Lunar rovers are required to move on rough terrains such as craters and rear cliffs where it is scientifically very important to explore. However, there is a problem that the rovers have possibility of stack because of the lunar surface is covered with loose soil named Regolith. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration rovers and loose soil. And then, this paper proposed a flexible wheel to solve like that problems. The flexible wheel has the surface which can be changed flexibly toward rough terrain. Running experiments on loose soil which imitated regolith were carried out to observe the traversability of the flexible wheel using slip ratio. Traversality of flexible wheel was better than the circular rigid wheel. The authors believe that stress distribution is important. The stress distribution of the flexible wheels is horizontally long and stress value is small. However, the stress distribution can be changed by loaded more weight. Therefore, the relationship between the stress and the running performance was considered using this differential stress distribution. In experiments, the authors used the flexible wheel with simple structure （3 limbs）. From these considerations, the relationship between the stress of the flexible wheel and the running performance was described.展开更多
基金supported by the National Natural Science Foundation of China(Grant No.61370033)National Basic Research Program of China(Grant No.2013CB035502)+4 种基金Foundation of Chinese State Key Laboratory of Robotics and Systems(Grant Nos.SKLRS201401A01,SKLRS-2014-MS-06)the Fundamental Research Funds for the Central Universities(Grant No.HIT.BRETIII.201411)Harbin Talent Programme for Distinguished Young Scholars(No.2014RFYXJ001)Postdoctoral Youth Talent Foundation of Heilongjiang Province,China(Grant No.LBH-TZ0403)the"111 Project"(Grant No.B07018)
文摘The great success of the Sojourner rover in the Mars Pathfinder mission set off a global upsurge of planetary exploration with autonomous wheeled mobile robots(WMRs),or rovers.Planetary WMRs are among the most intelligent space systems that combine robotic intelligence(robint),virtual intelligence(virtint),and human intelligence(humint) synergetically.This article extends the architecture of the three-layer intelligence stemming from successful Mars rovers and related technologies in order to support the R&D of future tele-operated robotic systems.Double-layer human-machine interfaces are suggested to support the integration of humint from scientists and engineers through supervisory(Mars rovers) or three-dimensional(3D) predictive direct tele-operation(lunar rovers).The concept of multilevel autonomy to realize robint,in particular,the Coupled-Layer Architecture for Robotic Autonomy developed for Mars rovers,is introduced.The challenging issues of intelligent perception(proprioception and exteroception),navigation,and motion control of rovers are discussed,where the terrains' mechanical properties and wheel-terrain interaction mechanics are considered to be key.Double-level virtual simulation architecture to realize virtint is proposed.Key technologies of virtint are summarized:virtual planetary terrain modeling,virtual intelligent rover,and wheel-terrain interaction mechanics.This generalized three-layer intelligence framework is also applicable to other systems that require human intervention,such as space robotic arms,robonauts,unmanned deep-sea vehicles,and rescue robots,particularly when there is considerable time delay.
基金supported by the National Key Research and Development Project of the Ministry of Science and Technology of China(Grant nos.2023YFC2812602 and 2021YFC2801401)the National Natural Science Foundation of China(Grant no.41941005).
文摘The harsh and remote environments of polar regions,such as the Arctic and Antarctica,pose significant challenges for scientific exploration,particularly in ice sampling.Extreme conditions,including low temperatures,ice,snow,and natural obstacles,make access to these areas difficult.However,ice sampling from glaciers,ice sheets,and icebergs is critical for scientific research,necessitating the development of specialized equipment.Unmanned ice-drilling systems offer a promising solution by enabling safe and efficient ice core sample collection in remote locations.Advances in extraterrestrial ice-drilling technology have inspired the development of automated drilling systems for Earth’s polar regions,with recent efforts focusing on lightweight,electric or solar-powered rovers which can tow or mount drilling systems.This paper introduces the concept of a robotic drilling system designed at Jilin University,China,for shallow drilling operations from an unmanned polar rover,highlighting its design and operational features.
文摘On lunar exploration missions, the rovers which can move and explore directly are considered by various agency like NASA （National Aeronautics and Space Administration）, JAXA （Japan Aerospace Exploration Agency）, ESA （European Space Agency）. Lunar rovers are required to move on rough terrains such as craters and rear cliffs where it is scientifically very important to explore. However, there is a problem that the rovers have possibility of stack because of the lunar surface is covered with loose soil named Regolith. Therefore, this paper investigates a mechanism of kinetic behavior between the wheels of the exploration rovers and loose soil. And then, this paper proposed a flexible wheel to solve like that problems. The flexible wheel has the surface which can be changed flexibly toward rough terrain. Running experiments on loose soil which imitated regolith were carried out to observe the traversability of the flexible wheel using slip ratio. Traversality of flexible wheel was better than the circular rigid wheel. The authors believe that stress distribution is important. The stress distribution of the flexible wheels is horizontally long and stress value is small. However, the stress distribution can be changed by loaded more weight. Therefore, the relationship between the stress and the running performance was considered using this differential stress distribution. In experiments, the authors used the flexible wheel with simple structure （3 limbs）. From these considerations, the relationship between the stress of the flexible wheel and the running performance was described.
