A reconfigurable modular robot was developed for a free-flying robot project. This robot was composed of 6 same modular joints and one gripper. In order to save space and cost for transporting it into the space, the r...A reconfigurable modular robot was developed for a free-flying robot project. This robot was composed of 6 same modular joints and one gripper. In order to save space and cost for transporting it into the space, the robot should be folded overall and locked. A big central hole in the modular joint was designed for the placement of the cables and plugs in the robot arm, which prevented them from damage of high temperature, radiation in the space environment and the motion of the robot. Multiple sensors were integrated into the fully modular joint, such as joint torque sensor, joint position sensor and temperature sensors, which made the joint more intelligent. A zero gravity experimental system was developed to verify the functions of the robot under zero gravity environment.展开更多
Surface and borehole gravity data contain complementary information.Thus,the joint inversion of these two data types can help retrieve the real spatial distributions of density bodies.When a sharp boundary exists betw...Surface and borehole gravity data contain complementary information.Thus,the joint inversion of these two data types can help retrieve the real spatial distributions of density bodies.When a sharp boundary exists between an anomalous density body and its surrounding rock,the interface recovered by smooth inversion with Tikhonov regularization is not clear,leading to difficulties in the subsequent geological interpretation.In this work,we develop a joint inversion of surface and borehole gravity data using zeroth-order minimum entropy regularization.The method takes advantage of the complementary information from surface and borehole gravity data to enhance the imaging resolution of density bodies.It also produces a focused imaging of bodies through the zeroth-order minimum entropy regularization without requiring a preselection of a proper focusing parameter.We apply the developed joint inversion approach to three diff erent synthetic data sets.Inversion results show that the focusing inversion with the zeroth-order minimum entropy regularization provides a good description of the true spatial extent of anomalous density bodies.Meanwhile,the joint focusing inversion reconstructs a more reliable density model with a relatively high resolution when a density body is passed through by one or more boreholes.展开更多
文摘A reconfigurable modular robot was developed for a free-flying robot project. This robot was composed of 6 same modular joints and one gripper. In order to save space and cost for transporting it into the space, the robot should be folded overall and locked. A big central hole in the modular joint was designed for the placement of the cables and plugs in the robot arm, which prevented them from damage of high temperature, radiation in the space environment and the motion of the robot. Multiple sensors were integrated into the fully modular joint, such as joint torque sensor, joint position sensor and temperature sensors, which made the joint more intelligent. A zero gravity experimental system was developed to verify the functions of the robot under zero gravity environment.
基金financially supported by the National Key Research and Development Program of China(no.2018YFC0603300)the National Natural Science Foundation of China(no.42004054)。
文摘Surface and borehole gravity data contain complementary information.Thus,the joint inversion of these two data types can help retrieve the real spatial distributions of density bodies.When a sharp boundary exists between an anomalous density body and its surrounding rock,the interface recovered by smooth inversion with Tikhonov regularization is not clear,leading to difficulties in the subsequent geological interpretation.In this work,we develop a joint inversion of surface and borehole gravity data using zeroth-order minimum entropy regularization.The method takes advantage of the complementary information from surface and borehole gravity data to enhance the imaging resolution of density bodies.It also produces a focused imaging of bodies through the zeroth-order minimum entropy regularization without requiring a preselection of a proper focusing parameter.We apply the developed joint inversion approach to three diff erent synthetic data sets.Inversion results show that the focusing inversion with the zeroth-order minimum entropy regularization provides a good description of the true spatial extent of anomalous density bodies.Meanwhile,the joint focusing inversion reconstructs a more reliable density model with a relatively high resolution when a density body is passed through by one or more boreholes.
