Overloading of Landing Based on the Deformation of the Lunar Lander

Along with the progress of sciences and technologies, a lot of explorations are taken in many countries or organizations in succession. Lunar, the natural satellite of the earth, become a focus of the space discovery again recently because of its abundant resource and high value in use. Lunar exploration is also one of the most important projects in China. A primary objective of the probe in lunar is to soft-land a manned spacecraft on the lunar surface. The soft-landing system is the key composition of the lunar lander. In the overall design of lunar lander, the analysis of touchdown dynamics during landing stage is an important work. The rigid-flexible coupling dynamics of a system with flexible cantilevers attached to the main lander is analyzed. The equations are derived from the subsystem method. Results show that the deformations of cantilevers have considerable effect on the overloading of the lunar lander system.

美国Landers地震和Hector Mine地震前震源机制与主震机制一致现象的研究

用美国南加州地区的震源机制资料,研究了以1992年Landers Mw7.3和1999年Hector Mine Mw7.1地震矩心为圆心,分别以300、250、200、150、100和50km为半径的圆形区域内10年内地震震源机制相对主震震源机制平均空间旋转角的变化。结果表明,两个地震前均有小震震源机制趋于主震机制的现象。震前小震震源机制与主震震源机制的平均空间旋转角约在大震前半年开始减小,搜索平均空间旋转角降低的最优半径分别为250km和100km。震前所出现的平均空间旋转角最小值均低于其2倍标准差。该标准似乎可以作为大地震危险性增加的判据。

基因组装配中存在重复序列叠加时重叠群计数的推广的Lander-Waterman定理

针对基因组组装算法理论进行了改进,该研究对于经典的Lander-Waterman定理在repeatcollapse存在的情况下进行了推广,对于判断基因组组装的contig的个数是否合理,组装质量是否可靠有重要的参考价值。

数据不确定性与背景应力场差应力的可靠约束——以1992年Landers地震为例

以1992年美国南加州Landers MW7.3地震为例,通过利用主震前后应力场和主震位错引起的应力变化来约束背景应力场差应力的方法,系统研究了数据不确定性与差应力约束可靠性的关系.通过实际地震数据结合数据模拟研究,发现由于数据的不确定性(主要是震源机制解不确定性和发震节面的难确定性),该方法得到的原始约束结果与真实差应力存在系统偏差,原始约束值不能反映真实的差应力水平.数据模拟统计曲线表明,原始约束值和真实差应力存在两段线性关系:上升段和水平段,上升段对差应力有约束能力,水平段对差应力没有约束能力.利用上升段的线性关系对原始差应力约束值调整,得到的调整约束值在一定区间消除了与真实差应力的系统偏差.在不同的分析地点(分析点),本质上是主震位错引起的不同应力变化,数据不确定性对差应力约束结果影响也不同,不同分析点在差应力约束上有优劣性.本文采用Rv、Tv、λ等三个客观评价参数来挑选分析点,在Rv≤9,|Tv|≥17.5,λ<1的条件下挑选出24个分析点,得到Landers地震背景应力场差应力的最佳约束结果是-12.2±2.6 MPa.通过对评价参数的不同取值来检验约束结果的稳定性,以及通过数据模拟的综合分析来检验约束结果的可靠性,发现该最佳约束结果是稳定和可靠的.

Dynamic model building and simulation for mechanical main body of lunar lander

Focused on the dynamics problems of a lunar lander during landing process, the whole process was analysed in detail, and the linear elastic model of the moon soil was established by means of experiments-analogic method. Combining the way of elastic impact with the way of velocity replacement, the dynamics model of damping free vibration dynamics model with 3-degree of freedom(DOF) for lunar lander is obtained according to the vibration mechanics elementary theory. Based on Lagrange equations and the energy principle, the damping free vibration differential equations for the lunar lander with 3-DOF are derived and the equations are solved in simulation ways by means of ADAMS software. The conclusions obtained can be used for the design and manufacture of lunar lander.

Study on displacement field generated by aftershocks in Landers earthquake fault zone and its adjacent areas

The displacement field generated by aftershocks in Landers earthquake fault zone and its adjacent areas is calculated in this study. The result is compared with the displacement field of the main shock calculated by co-seismic slip model of Wald and Heaton (1994). The result shows that the direction of displacement generated by aftershocks in Landers seismic fault plane and its adjacent areas is consistent with that generated by main shock. The rupture of aftershock is generally inherited from main shock. The displacement generated by aftershocks is up to an order of centimeter and can be measured by GPS sites nearby. So when we use geodetic data measured after earthquake to study the geophysical problems such as crustal viscosity structure, afterslip distribution, etc., only the displacement field generated by aftershocks considered, can uncertainty be reduced to minimum and realistic result be obtained.

Preface: The Chang'e-3 lander and rover mission to the Moon

The Chang＇e-3 （CE-3） lander and rover mission to the Moon was an in- termediate step in China＇s lunar exploration program, which will be followed by a sample return mission. The lander was equipped with a number of remote-sensing instruments including a pair of cameras （Landing Camera and Terrain Camera） for recording the landing process and surveying terrain, an extreme ultraviolet camera for monitoring activities in the Earth＇s plasmasphere, and a first-ever Moon-based ultravi- olet telescope for astronomical observations. The Yutu rover successfully carried out close-up observations with the Panoramic Camera, mineralogical investigations with the VIS-NIR Imaging Spectrometer, study of elemental abundances with the Active Particle-induced X-ray Spectrometer, and pioneering measurements of the lunar sub- surface with Lunar Penetrating Radar. This special issue provides a collection of key information on the instrumental designs, calibration methods and data processing pro- cedures used by these experiments with a perspective of facilitating further analyses of scientific data from CE-3 in preparation for future missions.

Innovative Benthic Lander for Macroalgae Monitoring in Shallow-Water Environments

The colonization of underwater environments by exotic seaweeds is causing major ecological problems around the world.This project,referred to AMALIA,aims to transform this current ocean threat into an opportunity by adding value to the macroalgae present off the northwest of the Iberian Peninsula.To do so and to observe the presence of seaweeds in situ,an ocean modular submersible platform was developed.This platform was designed to be capable of detecting and surveying surges of invasive seaweeds while withstanding sea conditions.Conceptual designs followed by a screening process were performed,taking into consideration criteria such as operational range and modularity.An open-frame lander was considered and further developed using buckling criteria.In parallel,a state-of-the-art monitoring system was created using spectral imaging,allowing for the future creation of a macroalgae identification system.In addition,sensorial systems for characterizing growth conditions were introduced.Laboratory trials were executed to assess the capability of the system,and sea trials are currently being performed.Numerical simulations and laboratory trials indicate that the structure is fully capable of being deployed for shallow-water environments with a state-of-the-art invasive seaweed monitoring system while maintaining a high degree of modularity.

Task-Oriented Topology System Synthesis of Reconfigurable Legged Mobile Lander Integrating Active and Passive Metamorphoses

To explore hostile extraterrestrial landforms and construct an engineering prototype,this paper presents the task-oriented topology system synthesis of reconfigurable legged mobile lander(ReLML)with three operation modes from adjusting,landing,to roving.Compared with our preceding works,the adjusting mode with three rotations(3R)provides a totally novel exploration approach to geometrically matching and securely arriving at complex terrains dangerous to visit currently;the landing mode is redefined by two rotations one translation(2R1T),identical with the tried-and-tested Apollo and Chang'E landers to enhance survivability via reasonable touchdown buffering motion;roving mode also utilizes 2R1T motion for good motion and force properties.The reconfigurable mechanism theory is first brought into synthesizing legged mobile lander integrating active and passive metamorphoses,composed of two types of metamorphic joints and metamorphic execution and transmission mechanisms.To reveal metamorphic principles with multiple finite motions,the finite screw theory is developed to present the procedure from unified mathematical representation,modes and source phase derivations,metamorphic joint and limb design,to final structure assembly.To identify the prototype topology,the 3D optimal selection matrix method is proposed considering three operation modes,five evaluation criteria,and two topological subsystems.Finally,simulation verifies the whole task implementation process to ensure the reasonability of design.

Optimum design of lander structure based on finite element method

Three kinds of possible structures of legged lander including monocoqe, semi-monocoqe and space frame are compared, and the lightest space frame structure is selected as the lander's structure. Then, a new lander with four-legged truss structure is proposed. In the premise of ensuring that the main and assistant structures of landing legs are not changed, six possible lander body structures of the new lander are put forward. Taking the section size of each component of lander as design variables, and taking the total mass of the structure as the objective function, the six structures are analyzed by using the software Altair. OptiStruct and the results show that the mass of the basic structure is the lightest, and it is selected as the final design scheme of lander due to its simple structure and convenient manufacture. The optimization on the selected lander structure is conducted, and the detailed results are presented.

A Footpad Structure with Reusable Energy Absorption Capability for Deep Space Exploration Lander:Design and Analysis

The footpad structure of a deep space exploration lander is a critical system that makes the initial contact with the ground,and thereby plays a crucial role in determining the stability and energy absorption characteristics during the impact process.The conventional footpad is typically designed with an aluminum honeycomb structure that dissipates energy through plastic deformation.Nevertheless,its effectiveness in providing cushioning and energy absorption becomes significantly compromised when the structure is crushed,rendering it unusable for reusable landers in the future.This study presents a methodology for designing and evaluating structural energy absorption systems incorporating recoverable strain constraints of shape memory alloys(SMA).The topological configuration of the energy absorbing structure is derived using an equivalent static load method(ESL),and three lightweight footpad designs featuring honeycomb-like Ni-Ti shape memory alloys structures and having variable stiffness skins are proposed.To verify the accuracy of the numerical modelling,a honeycomb-like structure subjected to compression load is modeled and then compared with experimental results.Moreover,the influence of the configurations and thickness distribution of the proposed structures on their energy absorption performance is comprehensively evaluated using finite element simulations.The results demonstrate that the proposed design approach effectively regulates the strain threshold to maintain the SMA within the constraint of maximum recoverable strain,resulting in a structural energy absorption capacity of 362 J/kg with a crushing force efficiency greater than 63%.

BMW X3 VS BMW X5 VS BMW 330i VS LAND ROVER Free Lander 2.5原形毕露

比 X5小一号、比330i 还高大,X3究竟有啥能耐?空间小于 X5、也比不上330i 的俊俏,X3还有什么?这些问号,是我们试车组试驾 X3之前,必要提出的强烈质疑。除此之外,我们也对 X3的越野能力感到好奇,因此,找来了具备远亲血统的LAND ROVER Free Lender 2.5...在试车组的照妖镜之前,这部宝蓝色 X3逐渐显出原形。

Chang'e 3 Lunar Lander Cameras Underwent Extended Tests

Chang’e 3 lunar lander conducted extended tests on the surface of the moon after awakening from its dormancy.It was announced in the late of January that the pointing mechanism of the cameras onboard Chang’e 3 underwent extended tests to confirm the moving performance and limit switch triggering of the pointing mechanism under various status while pitching,moving forward and backward.According to the analysis derived from the

Chang'e 3 Lander Completed Mechanical Test

Aground firing test of the Chang'e 3 lander was conducted recently to check the mechanical performance of the spacecraft. The test was vital before the propulsion system test of the Chang'e 3 lander and was also a very important precondition to verify whether the propulsion system design could meet the requirements for in-orbit operation.

Soft-landing control for a six-legged mobile repetitive lander

The primary mode of extraterrestrial exploration is a robotic system comprising a lander and a rover.However,the lander is immovable,and the rover has a restrictive detection area because of the difficulties of reaching complex terrains,such as those with deep craters.In this study,a six-legged mobile repetitive lander with landing and walking functions is designed to solve these problems.First,a six-legged mobile repetitive lander and its structure are introduced.Then,a soft-landing method based on compliance control and optimal force control is addressed to control the landing process.Finally,the experiments are conducted to validate the soft-landing method and its performances.Results show that the soft-landing method for the six-legged mobile repetitive lander can successfully control the joint torques and solve the soft-landing problem on complex terrains,such as those with steps and slopes.

Soft landing stability analysis of a Mars lander under uncertain terrain

Safe soft landing of the lander is vital to the Mars surface exploration mission. Analysis and verification of the landing stability under uncertain terrain play an important role in lander design. However, the effect of uncertain terrain is ignored in most existing studies, making the analysis incomprehensive and increasing the risk of landing failure in practice. In this paper, a Mars lander with 10 attitude control thrusters is introduced and its dynamics model is then established considering plastic deformation parts and nonlinear contact forces. The effectiveness and accuracy of the dynamics modeling method are verified by experiments with an average relative error of 10%.In order to carry out the dynamics simulation with high-fidelity terrain, a terrain generation method based on statistical data is proposed. Through Monte Carlo simulation under a 50 m × 50 m randomly generated landing terrain, the stability of the lander and the effects of attitude control thrusters are analyzed. The results show that the failure rate is 5.5%, in which the primary failure forms are overturning and abnormal attitude. When the landing simulations are repeated without thrusters, the stable ratio decreases from 94.5% to 90.7%, suggesting the positive effects of attitude control thrusters in improving landing stability under rough terrain.

Conceptual design and analysis of legged landers with orientation capability

The lander with orientation capability is of fundamental importance for the“Returning”mission because its body can be the base with a suitable launching angle for the ascender lifting off.This paper proposes the conceptual design and verification of Landers with Orientation Capability(LOCs).Firstly,the topological composition of the lander is analyzed and expressed in the form of Lie group,which provides the fundamental principle for the type synthesis of LOCs.Then,the type synthesis approach for designing LOCs is proposed,which includes designing the Equivalent Parallel Mechanism(EPM)and the auxiliary limbs.Numerous mechanisms of LOCs with twodimensional rotational motions are obtained based on the type synthesis approach by developing and combining the EPMs and auxiliary limbs.Afterward,kinematics and Jacobian matrix of a typical legged lander are developed,the workspace is analyzed,singularity configurations are analyzed based on the wrench graph method,and finally,the orientation capability is analyzed.The pitch and yaw angle reach 17.5°,considering the permissible range of joints.The proposed types of LOCs offer potential candidate for the“Returning”mission of the exploration mission.

Sean Landers：借用毕加索

Sean Landers是一个很聪明的艺术家，虽然某些人会说他有些聪明过头了。他早期的自我思索式的文字绘画中虽然充满了拼写错误、语法错误和杂乱的思想，但却非常优秀，而且常常十分滑稽。此后他举办了一系列良莠不齐的展览，一部分还不错，一部分却让人失望。但Landers又再一次取得了进步。某些艺术家以自己的身体、性取向或是个人的政治倾向作为创作的素材，我们不得不疑惑他们是否自负过度以及为什么我们要去关心这些。

Orbit determination of Chang'E-3 and positioning of the lander and the rover

Chang’E-3 landed on the east of Sinus Iridum area on December 14,2013,performing China’s first successful soft landing on the lunar surface.We present the results on precision orbit determination and positioning of the lander and the rover.We describe the data,modeling,and methods used to achieve position knowledge over the period December 2–21,2014.In addition to the radiometric X-band range and Doppler tracking data,delta differential one-way ranging data are also used in the calculation,which show that they strongly improve the accuracy of the orbit reconstruction.Total position overlap differences are about 20 and 30 m for the 100 km 9 100 km and100 km9 15 km lunar orbit,respectively,increased by*50%with respect to CE-2 and at the same level as other lunar spacecrafts of recent era such as SELENE and lunar reconnaissance orbiter(LRO).The position error of the soft landing trajectory is less than 100 m.A kinematic statistical method is applied to determine the position of the lander and relative position of the rover with respect to the lander.The position difference of the lander is better than50 m compared to LRO photograph result.Compared with the delta very long baseline interferometry(VLBI)group delay between the lander and the rover,the delta VLBI phase delay can improve the relative position of the rover from*1,000 to*1 m.

Precise positioning of the Chang'E-3 lunar lander using a kinematic statistical method

A kinematic statistical method is proposed to determine the position for Chang'E-3(CE-3) lunar lander.This method uses both ranging and VLBI measurements to the lander for a continuous arc,combing with precise knowledge about the motion of the moon as provided by planetary ephemeris,to estimate the lander's position on the lunar surface with high accuracy.Accuracy analyses are carried out with simulation data using the software developed at Shanghai Astronomical Observatory in this study to show that measurement errors will dominate the position accuracy.Application of lunar digital elevation model(DEM) as constraints in the lander positioning is also analyzed.Simulations show that combing range/doppler and VLBI data,single epoch positioning accuracy is at several hundred meters level,but with ten minutes data accumulation positioning accuracy is able to be achieved with several meters.Analysis also shows that the information given by DEM can provide constraints in positioning,when DEM data reduce a 3-dimensional positioning problem to 2-dimensional.Considering the Sinus Iridum,CE-3 lander's planned landing area,has been observed with dedicated details during the CE-1 and CE-2 missions,and its regional DEM model accuracy may be higher than global models,which will certainly support CE-3's lander positioning.