In-cabin Robot LINGSUO, 灵梭
SpaceContest, World Robot Contest 2024- Apr. 2024 - Present
- Assisting astronauts in their work - finding and delivering cargo; Lunar surface movement - lunar surface obstacle movement and opening tasks
- 1st Prize, World Robot Contest 2024, WRC [report]
Proj. Summary
Astronauts live and work in the space station cabin for a long time, which poses new challenges to them. The assistance of robots in the space station cabin can make the astronauts' lives richer and their work more fulfilling and efficient. The mission challenge group competition is mainly for robots in the space station cabin, so the application scenario of the robot is to assist astronauts in their lives and complete their tasks in the cabin.
In-cabin Teleoperation Assistant Robotic Arm
- Research Project
- Jan. 2024 - Present
- 7 DoF ARM: OMEGA Haptic-FRANKA Panda; Agile Hand: SENSEGlove-Libertec
Proj. Summary
Human-machine synergy can strongly affect the efficiency in the space. Teleoperation robots provide a feasible solution
- Free-Flying Cubic Robot for Space Station
- Conceptual Design for IAF-Space Universities CubeSat Challenge, SUCC
- Jun. 2023 - Present
- Self-propelled in-cabin assistant robot for astronauts in space stations with 6-DoF arm [code][pdf]
- 2nd Prize in SUCC [report]
Abstract
As astronauts conduct experiments more frequently on the space station, there is a growing trend in research on free-flying robots capable of assisting them with various tasks. This paper introduces a new class of free-flying robot named Bifang, designed to enhance astronauts' lives and improve their efficiency in space. Bifang is a deployable cubic robot that measures 20cm×20cm×20cm when folded. Once expanded, the robot offers a range of functions, including autonomous and remote-controlled flight capabilities, the ability to grasp and carry objects, expression recognition to regulate emotions, a simple and efficient UI interaction, and health management features. Double-gimbal fans enables the robot to have 6 DoF. SLAM mapping is used for in-cabin navigation. The PyTorch deep neural network is applied to monitoring astronauts's emotion. The prototype is still under development.
- Constant-Thrust Orbital Transfer about Binary Asteroids Using Bilinear Tangent Guidance
- Bachelor Thesis
- Dec. 2021 - May 2023
- This research tries to achieve efficient guidance for autonomous constant low-thrust guidance about binary asteroid systems.
- Published on IEEE Transactions on Aerospace and Electronic Systems, TAES:online doi: 10.1109/TAES.2024.3369005 [paper]
Abstract
By applying the bilinear tangent (BLT) guidance law, a near-optimal and computationally efficient BLT constant-thrust guidance (BCG) algorithm is introduced for orbital transfers about a binary asteroid system. This algorithm is accomplished by using BLT guidance law combined with Newton–Raphson predictor–corrector algorithm and manifold patching techniques. BCG can plan a variety of fuel efficient constant-thrust state/orbit to state/orbit transfers based on the types of the initial/target orbits and the selected maneuver types, including single burn transfers and multiple burn transfers leveraging manifolds. For the study case of 66391 Moshup, a 600 kg, BCG-guided spacecraft with a 24 mN thruster performed an aggressive non-coplanar transfer between L1 and L2 Halo orbits at the cost of only 3.38 g of fuel. Then the BCG-guided trajectories’ robustness is validated thoroughly by N=600 Monte Carlo simulations, respectively. Finally, BCG’s excellent tradeoff between computational efficiency and near-optimality is well demonstrated by comparison with well-established optimization methods. For example, in a coplanar transfer with a 1.5 mN thruster, BCG can converge over 200 times faster than interior point optimization with only a 9% cost surplus in fuel compared to the optimum. It is indicated that BCG algorithm is a promising option for autonomous orbital control in binary asteroid missions considering its computational and fuel efficiency.
- Multi-functional Electronic Scale with Quotation
- Leader, Course Project of Electrical and Electronic Experiment 2
- Sept. 2020 - Dec. 2020
- Proteus design, prototype made with 74 series and NE555. Score:95/100 [slide]
Abstract
Proteus design, prototype made by 74 series and NE555. Support functions: reading strain gauge weight, overweight alarm, delayed shutdown, unit conversion, tare module, unit price-total price display. Score:95/100.