Motion design of a hybrid wheeled/legged robot for lunar exploration

The robot consists of a quadruped mechanism and two active dual-wheel casters possesses the advantages of wheeled and legged mechanism, and can quickly move on the relatively plane ground with the wheeled mechanism, and can walk on the extremely uneven terrain with the legged mechanism. The effectiveness of the motion design of the hybrid robot is iHustrated by simulation results.

Lunar Exploration and Development Vision

By summarizing the history,human achievements in lunar exploration,the vision and prospect of the con-strucion of a lunar base for the further development in lunar exploration is proposed.The idea of building a"beehive"lunar vllage is proposed,and the promotion of future lunar exploration along with the impact on the development of science,technology and the economy is analyzed in this paper。

Return to the Moon:New perspectives on lunar exploration

Lunar exploration is deemed crucial for uncovering the origins of the Earth-Moon system and is the first step for advancing humanity’s exploration of deep space.Over the past decade,the Chinese Lunar Exploration Program(CLEP),also known as the Chang’e(CE)Project,has achieved remarkable milestones.It has successfully developed and demonstrated the engineering capability required to reach and return from the lunar surface.Notably,the CE Project has made historic firsts with the landing and on-site exploration of the far side of the Moon,along with the collection of the youngest volcanic samples from the Procellarum KREEP Terrane.These achievements have significantly enhanced our understanding of lunar evolution.Building on this success,China has proposed an ambitious crewed lunar exploration strategy,aiming to return to the Moon for scientific exploration and utilization.This plan encompasses two primary phases:the first crewed lunar landing and exploration,followed by a thousand-kilometer scale scientific expedition to construct a geological cross-section across the lunar surface.Recognizing the limitations of current lunar exploration efforts and China’s engineering and technical capabilities,this paper explores the benefits of crewed lunar exploration while leveraging synergies with robotic exploration.The study refines fundamental lunar scientific questions that could lead to significant breakthroughs,considering the respective engineering and technological requirements.This research lays a crucial foundation for defining the objectives of future lunar exploration,emphasizing the importance of crewed missions and offering insights into potential advancements in lunar science.

Latest Scientific Results of China's Lunar and Deep Space Exploration(2022–2024)

China has successfully launched six lunar probes so far.From Chang'E-1 to Chang'E-4,they completed the circling,landing and roving exploration,of which Chang'E-4 was the first landing on the far side of the Moon in human history.Chang'E-5 was launched in December 2020,bringing back 1731 g of lunar soil samples.Through the detailed analysis of the samples,the scientists understand the history of late lunar volcanism,specifically extending lunar volcanism by about 800 million to 1 billion years,and proposed possible mechanisms.In addition,there are many new understandings of space weathering such as meteorite impacts and solar wind radiation on the Moon.China's first Mars exploration mission Tianwen-1 was successfully launched in July 2021.Through the study of scientific data,a number of important scientific achievements have been made in the topography,water environment and shallow surface structure of Mars.This paper introduces the main scientific achievements of Chang'E-4,Chang'E-5 and Tianwen-1 in the past two years,excluding technical and engineering contents.Due to the large number of articles involved,this paper only introduces part of the results.

Innovative developments in lunar and planetary science promoted by China's lunar exploration

As the only natural satellite of the earth, the Moon has always been the first choice for human exploration of the solar system. China's lunar exploration project(Chang'e project) was launched in 2004. At present, it has created a perfect end to the three phases of “orbiting, landing and returning”. A series of remarkable research achievements have been made on the basic issues of current lunar scientific research, such as the Earth-Moon space environment, lunar surface material, morphology,geological structure, lunar subsurface and internal structure, and the origin and evolution of the Moon, further deepening the human understanding of the Moon. This paper briefly reviews the development process of China's lunar exploration project,summarizes the main research results and scientific understanding, and finally prospects to the future development of China's lunar and planetary exploration.

System design and validation of Queqiao-2 lunar relay communication satellite

In order to provide relay communication supports for future Chinese lunar exploration program,Queqiao-2 relay communication satellite was developed.Queqiao-2 can perform scientific observations with three kinds of scientific instruments on board.The system design of Queqiao-2,including mission orbit and transfer orbit design,configuration and layout design,housekeeping and information flow design,power supply and distribution design,GNC and propulsion system design,communication links design,etc.,was accomplished through comprehensive tradeoff and evaluation on technical maturity,availability,schedule,cost,and so on.With a view to reducing development risk,both the platform and relay communication payloads were developed based on significant heritage from previous Queqiao relay satellite and other relevant spacecraft.Queqiao-2 features flexible system architecture to support multiple frequencies,modulations,data rates and software reconfigurations to meet new user requirements.Subsequent to a successful launch on March 20,2024,by means of 5 orbit maneuvers,Queqiao-2 was inserted into a highly elliptical frozen mission orbit around the moon with a 24h period on schedule.Following on-orbit tests and calibrations,Queqiao-2 has possessed the capacity to provide reliable relay communication services to multiple lunar exploration missions,as well as the capacity to perform scientific observations.Under the support of Queqiao-2,Chang′e-6 achieved its ambitious mission goal to collect and return samples from the moon′s mysterious far side.In the meanwhile,Queqiao-2 has also paved the way for the following Chinese lunar exploration missions including Chang′e-7 and Chang′e-8.The design life time of Queqiao-2 is more than 8 years.Benefit from flexibility and extensibility of relay communication system design,it is convenient to provide relay communication services for future lunar exploration missions of both China and other countries.In addition,innovative scientific observations would be performed during the period that no relay communication task is arranged.The system design of Queqiao-2 reflects the development philosophy of technical innovations and inheritance integration.Based on highly flexible and extensible system architecture,multiple and concurrent relay communication mission requirements can be met.It can provide strong supports for future lunar exploration missions.Successful launching,orbit entering and on-orbit tests of Queqiao-2 verified the correct design principle and versatility.By means of Queqiao-2,more innovative scientific outcomes are anticipated and lunar exploration activities can be facilitated.

China’s Lunar and Deep Space Exploration Program for the Next Decade(2020–2030)

China has carried out four unmanned missions to the Moon since it launched Chang’E-1,the first lunar orbiter in 2007.With the implementation of the Chang’E-5 mission this year,the three phases of the lunar exploration program,namely orbiting,landing and returning,have been completed.In the plan of follow-up unmanned lunar exploration missions,it is planned to establish an experimental lunar research station at the lunar south pole by 2030 through the implementation of several missions,laying a foundation for the establishment of practical lunar research station in the future.China successfully launched its first Mars probe on 23 July 2020,followed in future by an asteroid mission,second Mars mission,and a mission to explore Jupiter and its moons.

A Brief Introduction to the International Lunar Research Station Program and the Interstellar Express Mission

China has planned and implemented a series of lunar and deep space exploration programs since the first lunar exploration satellite Chang’E-1 launched in 2007.In the future,China has initiated the international lunar research station program,which aims to build a shared platform on the Moon jointly with many other countries for long-term and continuous lunar exploration,lunar-based observations and experiments,as well as in-situ resource utilization.In addition,China has also proposed an interstellar express mission to unveil the mysteries of the outer heliosphere,nearby interstellar space,and their interactions.This paper gives a brief introduction to the International Lunar Research Station program and the Interstellar Express mission.

FEM-DEM coupled modeling of cone penetration tests in lunar soil

Cone penetration test(CPT)is an appropriate technique for quickly determining the geotechnical properties of lunar soil,which is valuable for in situ lunar exploration.Utilizing a typical coupling method recently developed by the authors,a finite element method(FEM)-discrete element method(DEM)coupled model of CPTs is obtained.A series of CPTs in lunar soil are simulated to qualitatively reveal the flow of particles and the development of resistance throughout the penetration process.In addition,the effects of major factors,such as penetration velocity,penetration depth,cone tip angle,and the low gravity on the Moon surface are investigated.

New celestial assisted INS initial alignment method for lunar explorer

In the future lunar exploration programs of China, soft landing, sampling and returning will be realized. For lunar explorers such as Rovers, Landers and Ascenders, the inertial navigation system （INS） will be used to obtain high-precision navigation information. INS propagates position, velocity and attitude by integration of sensed accelerations, so initial alignment is needed before INS can work properly. However, traditional ground-based initial alignment methods cannot work well on the lunar surface because of its low rotation rate （0.55°/h）. For solving this problem, a new autonomous INS initial alignment method assisted by celestial observations is proposed, which uses star observations to help INS estimate its attitude, gyroscopes drifts and accelerometer biases. Simulations show that this new method can not only speed up alignment, but also improve the alignment accuracy. Furthermore, the impact factors such as initial conditions, accuracy of INS sensors, and accuracy of star sensor on alignment accuracy are analyzed in details, which provide guidance for the engineering applications of this method. This method could be a promising and attractive solution for lunar explorer＇s initial alignment.

Development of High-energy Particle Detectors for Space Exploration

Space environment exploration is a hot topic globally.The scope of space exploration ranges from near-Earth space to the moon,other planets in the solar system,and even the heliosphere and interplanetary space.It is used for various crucial applications,including aerospace technology development,space weather research,understanding the origin and evolution of the universe,searching for extraterrestrial life,and finding human livable places.Although China’s space environment exploration started late,its progress has been rapid.China is gradually narrowing the gap with advanced countries and may eventually lead the world in space research.This article briefly reviews the development history of China’s space environmental detectors.

国际月球科研站

As the closest celestial body to the Earth, the moon is a hot spot for international space science research at present. Countries around the world have conducted lunar exploration time after time, among which, China’s Lunar Exploration Program has achieved 6 consecutive successful lunar missions. China has made a series of significant achievements in deep space exploration, and its cooperation with international partners is increasingly strengthened. In order to gather global space power and scientists’ wisdom, the International lunar Research Station(ILRS) is proposed by China and will be jointly constructed by many countries, which will be equipped with the support capabilities of energy supply, central control, communications and navigation, space-Earth round-trip transportation, lunar surface scientific research, and ground support. All international partners are encouraged to jointly develop and build the ILRS, and to jointly initiate the establishment of the International Lunar Research Station Cooperation Organization(ILRSCO) to achieve the long-term effective, operation and management of the station. The vast universe sparks the exploration dream of humankind, so let’s set sail together.

Fuel-Optimal Trajectory Planning for Lunar Vertical Landing

In this paper we consider a trajectory planning problem arising from a lunar vertical landing with minimum fuel consumption.The vertical landing requirement is written as a final steering angle constraint,and a nonnegative regularization term is proposed to modify the cost functional.In this way,thefinal steering angle constraint will be inherently satisfied according to Pontryagin's Minimum Principle.As a result,the modified optimal steering angle has to be determined by solving a transcendental equation.To this end,a transforming procedure is employed,which allows forfinding the desired optimal steering angle by a simple bisection method.Consequently,the vertical landing trajectory can be found offline by the indirect shooting method.Finally,some numerical examples are presented to demonstrate and verify the developments of the paper.

Development and characterization of the PolyU-1 lunar regolith simulant based on Chang’e-5 returned samples

Leading national space exploration agencies and private enterprises are actively engaged in lunar exploration initiatives to accomplish manned lunar landings and establish permanent lunar bases in the forthcoming years.With limited access to lunar surface materials on Earth,lunar regolith simulants are crucial for lunar exploration research.The Chang’e-5(CE-5)samples have been characterized by state-of-the-art laboratory equipment,providing a unique opportunity to develop a high-quality lunar regolith simulant.We have prepared a high-fidelity PolyU-1 simulant by pulverizing,desiccating,sieving,and blending natural mineral materials on Earth based on key physical,mineral,and chemical characteristics of CE-5 samples.The results showed that the simulant has a high degree of consistency with the CE-5 samples in terms of the particle morphology,mineral and chemical composition.Direct shear tests were conducted on the simulant,and the measured internal friction angle and cohesion values can serve as references for determining the mechanical properties of CE-5 lunar regolith.The PolyU-1 simulant can contribute to experimental studies involving lunar regolith,including the assessment of interaction between rovers and lunar regolith,as well as the development of in-situ resource utilization(ISRU)technologies.

中国的深空探测

At present,the moon and Mars are the main focus of deep space exploration,scientific pursuits are the initial goal,and extensive cooperation leads to a greater prospect.China has made many scientific achievements and built considerable infrastructure through its lunar and Mars exploration activities.In the future,China will continue to carry out deep space exploration activities with scientific goals as the driving force,develop the International Lunar Research Station,explore the sun,inner planets and asteroids,discover exoplanets and build an asteroid defence system.In order to support future deep space exploration missions,China will construct an integrated communication,navigation and remote sensing constellation and develop heavy-lift launch vehicles.China offers a wide range of opportunities for cooperation,upholds the central role of Committee on the Peaceful Uses of Outer Space(UNCOPUOS),and welcomes all countries in the world to participate in deep space exploration activities.

Introduction to the TT&C Scheme for Chang’e⁃5 Mission

Chang’e-5 mission is China’s first lunar sample return mission.It contains several new flight phases compared with the previous lunar missions,such as the lunar take-off and orbit insertion phase,the rendezvous and docking phase,etc.Chang’e-5 mission is extremely complicated and full of new challenges.This paper sorts out the characteristics and the difficulties in telemetry,tracking,and command(TT&C)of Chang’e-5 mission.The main technical contribution is a reliable general design of the TT&C system,including the application of X-band TT&C in launch and early orbit phase(LEOP),multiple targets simultaneous TT&C in X-band,lunar surface benchmark calibration,high-precision and rapid orbit trajectory determination for the lunar surface take-off,remote guidance rendezvous and docking,the determination of the initial navigational value for the separation point of the Chang’e-5 orbiter and returner,and the design of the reentry measurement chain.Based on this scheme,a global deep space TT&C network and interplanetary reentry measurement chain have been established for China,and near-continuous TT&C support for China’s first extraterrestrial object sampling and return mission has been realized,ensuring reliable tracking,accurate measurement and accurate control.The global deep space network can provide TT&C support comparable to that of National Aeronautics and Space Administration(NASA)and European Space Agency(ESA)for subsequent lunar and deep space exploration missions.The techniques of rapid trajectory determination of lunar take-off and orbit entry,as well as high precision and remote guidance of lunar orbit rendezvous and docking can lay a technological foundation for the future manned lunar exploration missions and planetary sampling and return missions.

Development and calibration of the Moon-based EUV camera for Chang'e-3

The process of development and calibration for the first Moon-based ex- treme ultraviolet （EUV） camera to observe Earth＇s plasmasphere is introduced and the design, test and calibration results are presented. The EUV camera is composed of a multilayer film mirror, a thin film filter, a photon-counting imaging detector, a mech- anism that can adjust the direction in two dimensions, a protective cover, an electronic unit and a thermal control unit. The center wavelength of the EUV camera is 30.2 nm with a bandwidth of 4.6nm. The field of view is 14.7° with an angular resolution of 0.08°, and the sensitivity of the camera is 0.11 count s-1 Rayleigh-1. The geomet- ric calibration, the absolute photometric calibration and the relative photometric cal- ibration are carried out under different temperatures before launch to obtain a matrix that can correct geometric distortion and a matrix for relative photometric correction, which are used for in-orbit correction of the images to ensure their accuracy.

Technical advancements and significance of circumlunar return and reentry spacecraft

As one of the vital steps in the 3rd phase of China＇s lunar exploration program （CLEP）, the circumlunar return and reentry spacecraft, developed by China Academy of Space Technology （CAST）, is used to demonstrate the key technologies of by- per-speed return and reentry spacecraft. The system configuration and flight process are presented in this paper, as well as the analysis of mission characteristics, the key technologies and the technical advancement during the R＆D progress. The significance of circumlunar return and reentry spacecraft is given at the end.

Scheme design of the CHANG＇E-5T1 extended mission

Flight schemes for the CHANG＇E-5T1 extended mission are investigated in this paper.In the flight scheme and trajectory design, the remaining propellant of the CHANG＇E-5T1 mission is utilized. The CHANG＇E-5T1 mission is firstly introduced with feasible flight goals derived based on the terminal trajectory and satellite status. The flight schemes are designed to include a lunar return and the libration points in the Sun-Earth/Moon and Earth-Moon systems, with an emphasis on the Earth-Moon triangle libration point thus far unexplored. Secondly, three schemes are proposed for the CHANG＇E-5T1 extended mission with different flight goals. The direct libration point orbit transfer and injection method is adopted to solve the issue in the transfer trajectory design.Furthermore, an innovative concept is proposed to transfer from the Earth-Moon collinear libration point to the triangle point using the Sun-Earth/Moon libration point. Finally, the merits and drawbacks of the three schemes are discussed in terms of flight time, control energy and frequency, flight distance, and goal value. As a result, the scheme including a lunar return and the Earth-Moon L2 libration point is selected for the CHANG＇E-5T1 extended mission. A flight to the Earth-Moon libration point is achieved, replicating the achievement of the ARTEMIS mission.

Positioning reduction in the real-time phase of Chang'E-2 satellite

The precision of VLBI tracking delays and the positioning reduction results during the real-time tracking phase of the Chang'E-2 satellite are statistically analyzed.The application of the positioning reduction to the real-time monitoring of pivotal arcs of the Chang'E-2 satellite is discussed.The technical specifications of the tests of tracking and control systems in X-band are estimated and evaluated via the positioning reduction method.Useful methodology and software are prepared and practical experience in engineering and technology is accumulated for the follow-up lunar and deep space explorations of China.