Explanipedia

A Novel Two-Stage Gas-Excitation Sampling and Sample Delivery Device: Simulation and Experiments Open

Yang Xu, Dewei Tang, Qiquan Quan, Zongquan Deng · 2025

Asteroids are remnants of primordial material from the early stages of solar system formation, approximately 4.6 billion years ago, and they preserve invaluable records of the processes underlying planetary evolution. Investigating asteroi…

Dimensionality reduction method based on energy order distribution for multi-nonlinearity-coupled rotor-bearing system Open

Runchao Zhao, Yinghou Jiao, Zekun Zhao, Zhigang Chen, Hongwei Guo , et al. · 2025

Hybrid deep learning enables multi-institutional delineation of active bone marrow for gynecologic radiotherapy Open

Zhe Zhang, Xiao Lu, Sicheng He, Huang Tao, Shaobin Wang , et al. · 2025

MMSearch-R1: Incentivizing LMMs to Search Open

Jinming Wu, Zongquan Deng, Wei Li, Yiding Liu, Bo You , et al. · 2025

Robust deployment of large multimodal models (LMMs) in real-world scenarios requires access to external knowledge sources, given the complexity and dynamic nature of real-world information. Existing approaches such as retrieval-augmented g…

Whole-Body Constrained Learning for Legged Locomotion via Hierarchical Optimization Open

Ruyi Zhou, Tie Liu, Zhelin Zhang, Peng Xu, Zongquan Deng · 2025

Reinforcement learning (RL) has demonstrated impressive performance in legged locomotion over various challenging environments. However, due to the sim-to-real gap and lack of explainability, unconstrained RL policies deployed in the real …

Online Estimation Method and Verification of Sampling Mass for Lunar Drilling in the Chang’E-6 Mission Open

Zhang Gao, Lei Guo, Weiwei Zhang, Shengyuan Jiang, Xiangjin Deng , et al. · 2025

The Chang’E-6 lunar mission successfully collected the lunar back surface and subsurface lunar regolith by excavating and drilling and returned the lunar regolith samples to the earth. Drilling–sampling system exhibits highly nonlinear cha…

Research on Control Strategy of 3-DOF Electro-Hydraulic Servo Manipulator Based on Active Disturbance Rejection Controller Open

Chungeng Sun, Zongquan Deng, Zhijie Duan · 2025

To address the high-precision control requirements of a three-degree-of-freedom (3-DOF) electro-hydraulic servo robotic arm, this paper innovatively integrates the funnel control (FC) concept into the compensation structure of an active di…

Modeling and Experimental Study of a Directly Coil-Actuated Swashplate-Less Rotorcraft Open

Qi Wu, Qiquan Quan, Dewei Tang, Zongquan Deng · 2025

A General Method to Synthesize Customizable-Stiffness Triangular-Prism Deployable Arms Open

Jian Feng, Hui Yang, Yan Wang, Bo Li, Zongquan Deng · 2025

Optimization for Mars Rotorcraft Blade: Weighted Ensemble Neural Networks and Spatial Discretization Open

Haoyu Zheng, Bo Tang, Qiquan Quan, Kaiyi Wang, Dewei Tang , et al. · 2025

Compared to the Mars rover, the Mars rotorcraft’s ability to take off and land vertically makes it more capable of performing missions on Mars, as its detection missions are not restricted by terrain and its detection efficiency is higher.…

Modeling and Experimental Study of a Directly Coil-Actuated Swashplate-Less Rotorcraft Open

Qi Wu, Qiquan Quan, Dewei Tang, Zongquan Deng · 2025

Quantifying 3d Ejecta Velocities During High-Velocity Impact Experiments into Concrete Open

Sohanjit Ghosh, Zongquan Deng, G.M. Kim, Colin Goodman, Justin Moreno , et al. · 2025

Automated Gas Influx Handling Model and Mechanisms During Deep High-Temperature and High-Pressure Well Drilling Open

Yanbin Zang, Wenping Zhang, Zhengming Xu, Jiayi Lu, Zongquan Deng · 2024

The exploration and development of oil and gas resources in deep formations is a key strategic priority for national energy production. However, manual methods for handling gas kicks suffer from low operating accuracy and inefficiency duri…

Imitation-Enhanced Reinforcement Learning With Privileged Smooth Transition for Hexapod Locomotion Open

Zhelin Zhang, Liu Tie, Liang Ding, Haoyu Wang, Peng Xu , et al. · 2024

Bionic Robot with Multifunctional Leg–Arm Mechanism for In-Orbit Assembly of Space Trusses Open

Yuetian Shi, Qingzhang Xu, Run Shi, Haohang Liu, Meiyang Zhang , et al. · 2024

This article aims to address the in-orbit assembly needs of truss structures in space missions by designing a robot capable of moving on trusses and manipulating parts. To enhance the stability of the robot during movement and part manipul…

Fast automatic docking control for electric tractors Open

Pengpeng Li, Yu Bai, Weihua Li, Bowen Chen, Bindi You , et al. · 2024

In this study, we investigate the automatic docking of an electric tractor with a semi-trailer in narrow and long-distance scenarios. We propose an automatic docking method based on a multi-sensor fusion high-precision positioning algorith…

Reconfigurable origami-inspired multistable metamorphous structures Open

Chunlong Wang, Hongwei Guo, Rongqiang Liu, Zongquan Deng, Yan Chen , et al. · 2024

Origami-inspired metamorphous structures can adjust their shapes and mechanical behaviors according to operational requirements. However, they are typically composed of nonrigid origami, where required facet deformation complicates actuati…

Lunar rock investigation and tri-aspect characterization of lunar farside regolith by a digital twin Open

Liang Ding, Ruyi Zhou, Tianyi Yu, Huaiguang Yang, Ximing He , et al. · 2024

Yutu-2 rover conducted an exciting expedition on the 41st lunar day to investigate a fin-shaped rock at Longji site (45.44°S, 177.56°E) by extending its locomotion margin on perilous peaks. The varied locomotion encountered, especially mul…

Virtual Decomposition Based Modeling for Multi-DOF Manipulator With Flexible Joint Open

Kerui Xia, Hongjun Xing, Liang Ding, Haibo Gao, Guang Jun Liu , et al. · 2024

This paper discusses a problem that has plagued researchers for a long time regarding the dynamic modeling of a multiple degree-of-freedom (multi-DOF) manipulator such that its manipulation exhibits a higher computational efficiency and ac…

Virtual Decomposition Based Modeling for Multi-DOF Manipulator With Flexible Joint Open

Kerui Xia, Hongjun Xing, Liang Ding, Haibo Gao, Guang Jun Liu , et al. · 2024

This paper discusses a problem that has plagued researchers for a long time regarding the dynamic modeling of a multiple degree-of-freedom (multi-DOF) manipulator such that its manipulation exhibits a higher computational efficiency and ac…

Dynamic Finite Element Modeling and Simulation of Soft Robots Open

Liang Ding, Lizhou Niu, Yang Su, Huaiguang Yang, Guang Jun Liu , et al. · 2024

Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material level. An increasing number of researchers are interested in their de…

Highly Accurate Visual Method of Mars Terrain Classification for Rovers Based on Novel Image Features Open

Fengtian Lv, Chuankai Liu, Haibo Gao, Liang Ding, Zongquan Deng , et al. · 2024

It is important for Mars exploration rovers to achieve autonomous and safe mobility over rough terrain. Terrain classification can help rovers to select a safe terrain to traverse and avoid sinking and/or damaging the vehicle. Mars terrain…

Dynamic Finite Element Modeling and Simulation of Soft Robots Open

Liang Ding, Lizhou Niu, Yang Su, Huaiguang Yang, Guang Jun Liu , et al. · 2024

Soft robots have become important members of the robot community with many potential applications owing to their unique flexibility and security embedded at the material level. An increasing number of researchers are interested in their de…

Highly Accurate Visual Method of Mars Terrain Classification for Rovers Based on Novel Image Features Open

Fengtian Lv, Chuankai Liu, Haibo Gao, Liang Ding, Zongquan Deng , et al. · 2024

It is important for Mars exploration rovers to achieve autonomous and safe mobility over rough terrain. Terrain classification can help rovers to select a safe terrain to traverse and avoid sinking and/or damaging the vehicle. Mars terrain…

Heating Patterns and Temperature Distribution of Projectile Surface in Lunar Soil Penetration Open

Cheng Chi, Shengyuan Jiang, Guanxin Chi, Junyue Tang, Junxiao Xiao , et al. · 2024

Vibration-Based Recognition of Wheel–Terrain Interaction for Terramechanics Model Selection and Terrain Parameter Identification for Lugged-Wheel Planetary Rovers Open

Fengtian Lv, Nan Li, Haibo Gao, Liang Ding, Zongquan Deng , et al. · 2023

Identifying terrain parameters is important for high-fidelity simulation and high-performance control of planetary rovers. The wheel–terrain interaction classes (WTICs) are usually different for rovers traversing various types of terrain. …

Review of Key Technologies of Rotary-Wing Mars UAVs for Mars Exploration Open

Pengyue Zhao, Ruihan Li, Peng Wu, Huan Liu, Xifeng Gao , et al. · 2023

The sparse atmosphere on the surface of Mars provides the necessary flight conditions for Mars unmanned aerial vehicles (UAVs) to perform low-altitude flights. This work presents a comprehensive overview of key technologies in the developm…

SoSpider: A bio-inspired multimodal untethered soft hexapod robot for planetary lava tube exploration Open

Lizhou Niu, Liang Ding, ShengJie Zhang, Huaiguang Yang, Haibo Gao , et al. · 2023

Machine Learning Assisted Prediction of Airfoil Lift-to-Drag Characteristics for Mars Helicopter Open

Pengyue Zhao, Xifeng Gao, Bo Zhao, Huan Liu, Jianwei Wu , et al. · 2023

The aerodynamic properties of rotor systems operating within low Reynolds number flow field conditions are profoundly influenced by their geometric and flight parameters. Precise estimation of optimal airfoil parameters at different angles…

Development and Rotation Characteristics Analysis of a Large-Scale Deployable Arm Open

Huawei Chen, Chuang Shi, Hongwei Guo, Rongqiang Liu, Yin Dezheng , et al. · 2023

In the spin-off acceleration stage during high-speed rotation in space, the deployable arm of the space gravity simulation device must withstand a large axial centrifugal force and a driving torque. In this paper, a large-scale high-speed …

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