Journal of Jilin University(Engineering and Technology Edition) ›› 2021, Vol. 51 ›› Issue (3): 1146-1152.doi: 10.13229/j.cnki.jdxbgxb20200108

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Mechanical performance identification for lunar soil in lunar surface sampling

Kang WANG1(),Meng YAO1,Li-ben LI2,Jian-qiao LI2,Xiang-jin DENG1,Meng ZOU2,Long XUE3()   

  1. 1.Beijing Institute of Spacecraft System Engineering，China Academy of Space Technology，Beijing 100094，China
    2.Key Laboratory of Bionic Engineering，Ministry of Education，Changchun 130022，China
    3.Key Laboratory of Modern Agricultural Equipment of Jiangxi Province，Jiangxi Agricultural University，Nanchang 330045，China
  • Received:2020-02-27 Online:2021-05-01 Published:2021-05-07
  • Contact: Long XUE E-mail:68wangkang@163.com;ultimata@163.com

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Abstract:

To ensure the safety of the sampling task on lunar surface， the lunar sampling arm should contact with lunar soil in advance to identify the lunar soil compactness. Based on geometric parameters of the indentation between the manipulator and lunar soil obtained by the stereo cameras， a model was established to identify mechanical performance of the lunar soil using least squares support vector machine. A total of 264 data were collected. The data was split into two data set randomly， one was calibration set （contains 96 data） and the other was prediction set （contains 48 data）. Indentation length， deep， area and cube were used as input parameters to establish the prediction model， and the accuracy of prediction set are 93.75% of CE5_1， 83.33% of CE5_2， and 87.50% of CE5_3， respectively. The results show that this prediction model can be used to identify mechanical performance quickly which can be used as a method to determine the sample’s depth for lunar soil surface.

Key words: bionic engineering, terramechanics, surface sampling, lunar regolith, image processing, support vector machine

CLC Number: 

  • TB17

Table 1

Relative density and soil porosity oflunar soil simulant"

模拟月壤状态相对密度/%孔隙比
松散301.45
中密501.16
密实700.94

Fig.1

Contact part of lunar sampling arm"

Fig.2

Schematic diagram of test process"

Fig.3

Image acquisition of indentationusing left camera"

Table 2

Test data statistics"

模拟月壤类型状态试验数量建模组预测组合计
CE5标称模拟月壤松散489648144
中密48
密实48
CE5挑战模拟月壤松散20362460
中密20
密实20
CE5极端模拟月壤松散20362460
中密20
密实20

Fig.4

Side view of indentation"

Fig.5

ROI of indentation and image binaryzation"

Table 3

Bulk density of CE5"

模拟月壤类型状态容重均值/(g·cm-3)
CE5标称模拟月壤松散1.577
中密1.630
密实1.709
CE5挑战模拟月壤松散1.595
中密1.632
密实1.714
CE5极端模拟月壤松散1.613
中密1.671
密实1.856

Fig.6

Discriminant results of three lunar soil simulant"

Table 4

Statistics of test results"

模拟月壤类型状态建模组预测组预测组准确率%
数量误判数量误判
CE5_1松散32316193.75
中密322162
密实321160
CE5_2松散1208183.33
中密12182
密实12181
CE5_3松散1218187.50
中密12282
密实12180
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