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Aiguo Song

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An Instrumented Wheel-On-Limb System of Planetary Rovers for Wheel-Terrain Interactions: System Conception and Preliminary Design

Apr 06, 2022
Lihang Feng, Xu Jiang, Aiguo Song

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Understanding the wheel-terrain interaction is of great importance to improve the maneuverability and traversability of the rovers. A well-developed sensing device carried by the rover would greatly facilitate the complex risk-reducing operations on sandy terrains. In this paper, an instrumented wheel-on-limb (WOL) system of planetary rovers for wheel-terrain interaction characterization is presented. Assuming the function of a passive suspension of the wheel, the WOL system allows itself to follow the terrain contour, and keep the wheel remain lowered onto the ground during rover motion including climbing and descending, as well as deploy and place the wheel on the ground before a drive commanding. The system concept, functional requirements, and pre-design work, as well as the system integration are presented.

* 2nd International Conference on Robotics and Control Engineering, ACM RobCE 2022, March 25, 2022, Nanjing, China 
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Structural Combinatorial of Network Information System of Systems based on Evolutionary Optimization Method

Feb 22, 2020
Tingting Zhang, Yushi Lan, Aiguo Song, Kun Liu, Nan Wang

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The network information system is a military information network system with evolution characteristics. Evolution is a process of replacement between disorder and order, chaos and equilibrium. Given that the concept of evolution originates from biological systems, in this article, the evolution of network information architecture is analyzed by genetic algorithms, and the network information architecture is represented by chromosomes. Besides, the genetic algorithm is also applied to find the optimal chromosome in the architecture space. The evolutionary simulation is used to predict the optimal scheme of the network information architecture and provide a reference for system construction.

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