Subsurface Sampling Robot for Time-limited Asteroid Exploration
Subsurface Sampling Robot for Time-limited Asteroid Exploration
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DOI：
10.1109/iros45743.2020.9340645
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发表时间：
2020-10
期刊：
影响因子：
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通讯作者：
H. Kato;Y. Satou;K. Yoshikawa;M. Otsuki;H. Sawada;Takeshi Kuratomi;Nana Hidaka
中科院分区：
文献类型：
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作者：
H. Kato;Y. Satou;K. Yoshikawa;M. Otsuki;H. Sawada;Takeshi Kuratomi;Nana Hidaka
本文提出了一种在严格的时间限制下采样地下小行星风化层的新方法。必须在几小时内完成的采样操作需要能够管理可能遇到的地下障碍物的技术。由于我们对风化层性质缺乏了解而带来的巨大不确定性也使采样变得困难。为了帮助应对这些挑战，使用触觉反馈的基于机器学习的检测方法可以检测到比探头长度更深的岩石的存在，确保在畅通地区进行可靠的采样。此外，考虑到土壤硬度的变异性和可用的时间很短，已经开发出一种取芯喷射器，它使用一种特殊的形状记忆合金在大约一分钟内收集风化土。进行了地下障碍物探测和射芯弹射试验，验证了该方法的有效性。
This paper presents a novel approach to sampling subsurface asteroidal regolith under severe time constraints. Sampling operations that must be completed within a few hours require techniques that can manage subsurface obstructions that may be encountered. The large uncertainties due to our lack of knowledge of regolith properties also make sampling difficult. To aid in managing these challenges, machine learning-based detection methods using tactile feedback can detect the presence of rocks deeper than the length of the probe, ensuring reliable sampling in unobstructed areas. In addition, given the variability of soil hardness and the short time available, a corer shooting mechanism has been developed that uses a special shape-memory alloy to collect regolith in about a minute. Experiments on subsurface obstacle detection and shooting-corer ejection tests were conducted to demonstrate the functionality of this approach.