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| 1 | High precision landing site mapping and rover localization for Chang'e-3 mission显示文摘This paper presents the comprehensive results of landing site topographic mapping and rover localization in Chang’e-3 mission.High-precision topographic products of the landing site with extremely high resolutions(up to 0.05 m)were generated from descent images and registered to CE-2 DOM.Local DEM and DOM with 0.02 m resolution were produced routinely at each waypoint along the rover traverse.The lander location was determined to be(19.51256°W,44.11884°N,-2615.451 m)using a method of DOM matching.In order to reduce error accumulation caused by wheel slippage and IMU drift in dead reckoning,cross-site visual localization and DOM matching localization methods were developed to localize the rover at waypoints;the overall traveled distance from the lander is 114.8 m from cross-site visual localization and 111.2 m from DOM matching localization.The latter is of highest accuracy and has been verified using a LRO NAC image where the rover trajeactory is directly identifiable.During CE-3 mission operations,landing site mapping and rover localization products including DEMs and DOMs,traverse maps,vertical traverse profiles were generated timely to support teleoperation tasks such as obstacle avoidance and rover path planning. | LIU ZhaoQin DI KaiChang PENG Man WAN WenHui LIU Bin LI LiChun YU TianYi WANG BaoFeng ZHOU JianLiang CHEN HongMin | 2015 | Science China(Physics,Mechanics & Astronomy)2015，58，1： | 15 |
| 2 | Progress and Applications of Visual SLAM显示文摘Visual simultaneous localization and mapping (SLAM) provides mapping and self-localization results for a robot in an unknown environment based on visual sensors, that have the advantages of small volume, low power consumption, and richness of information acquisition. Visual SLAM is essential and plays a significant role in supporting automated and intelligent applications of robots. This paper presents the key techniques of visual SLAM, summarizes the current research status, and analyses the new trends of visual SLAM research and development. Finally, specific applications of visual SLAM in restricted environments, including deep space and indoor scenarios, are discussed. | Kaichang DI Wenhui WAN Hongying ZHAO Zhaoqin LIU Runzhi WANG Feizhou ZHANG | 2019 | Journal of Geodesy and Geoinformation Science2019，2，2： | 11 |
| 3 | Geospatial technologies for Chang’e-3 and Chang’e-4 lunar rover missions显示文摘This paper presents a brief overview of the geospatial technologies developed and applied in Chang’e-3 and Chang’e-4 lunar rover missions.Photogrammetric mapping techniques were used to produce topographic products of the landing site with meter level resolution using orbital images before landing,and to produce centimeter-resolution topographic products in near real-time after landing.Visual positioning techniques were used to determine the locations of the two landers using descent images and orbital basemaps immediately after landing.During surface operations,visual-positioning-based rover localization was performed routinely at each waypoint using Navcam images.The topographic analysis and rover localization results directly supported waypoint-to-waypoint path planning,science target selection and scientific investigations.A GIS-based digital cartography system was also developed to support rover teleoperation. | Kaichang Di Zhaoqin Liu Wenhui Wan Man Peng Bin Liu Yexin Wang Sheng Gou Zongyu Yue | 2020 | Geo-Spatial Information Science2020，23，1： | 3 |
| 4 | Landing site topographic mapping and rover localization for Chang’e-4 mission显示文摘This paper presents the techniques and results of landing-site topographic mapping and rover localization using orbital,descent and rover images in the Chang’e-4 mission.High-resolution maps of the landing site are generated from orbital and descent images.Local digital elevation models and digital orthophoto maps with 0.02 m resolution are generated at each waypoint.The location of the lander is determined as(177.588?E,45.457?S)using festure-matching techniques.The cross-site visual localization method is routinely used to localize the rover at each waypoint to reduce error accumulation from wheel slippage and IMU drift in dead reckoning.After the first five lunar days,the rover travels 186.66 m from the lander,according to the cross-site visual localization.The developed methods and results have been directly utilized to support the mission’s operations.The maps and localization information are also valuable for supporting multiple scientific explorations of the landing site. | Zhaoqin LIU Kaichang DI Jian LI Jianfeng XIE Xiaofeng CUI Luhua XI Wenhui WAN Man PENG Bin LIU Yexin WANG Sheng GOU Zongyu YUE Tianyi YU Lichun LI Jia WANG Chuankai LIU Xin XIN Mengna JIA Zheng BO Jia LIU Runzhi WANG Shengli NIU Kuan ZHANG Yi YOU Bing LIU Jiangang LIU | 2020 | Science China(Information Sciences)2020，63，4： | 3 |
| 5 | Mapping Lunar Olivine Using Clementine Spectral Indices and Chemical Composition Parameters显示文摘Olivine exposures at the central peak of Copernicus crater of the Earth's Moon have been confirmed by telescope observations and Clementine spectra data.Using these exposures as training sites,this study used a method of combining two spectral indices(950?nm/750?nm and 2000?nm/1500?nm),one maturity index(Is/FeO),and four chemical content indices(FeO,Mg,Al,Ca),through a decision tree classifier,to map olivine-rich units on the west lunar surface based on mosaicked Clementine image(500 m pixel size).Most classified olivine exposures are found inside craters or on their rays,suggesting that olivine exposures are directly associated with the impact processes.The results have been validated in several selected sites,though further validations with data from the newest missions are strongly needed. | YUE Zongyu XIE Hongjie DI Kaichang OUYANG Ziyuan | 2012 | Acta Geologica Sinica(English Edition)2012，86，1： | 2 |
| 6 | Hydrocode Simulation of the Impact Melt Layer Distribution underneath Xiuyan Crater, China显示文摘In this research, we studied the distribution of impact melt layers underneath Xiuyan crater using hydrocode simulation. The target was modeled by granite based on the rock type distribution around the crater and projector by iron, because most small and isolated terrestrial craters are formed by iron projectile. The simulated crater diameter and depth are 1 710 and 320 m, respectively, which are in good agreement with observations of 1 800 and 307 m(except for the postimpact lacustrine sedimentation). The validated model shows that impact melt materials were first formed along the transient crater floor and wall by highshock pressure, and then refilled inward the crater along with collapse of the crater wall. The final style of impact melt materials is interbedded with shock breccia underneath the crater center, which is verified through two layers in the borehole located in the crater center. | Zongyu Yue Kaichang Di | 2017 | Journal of Earth Science2017，28，1： | 2 |
| 7 | Investigation of chitosan-phenolics systems as wood adhesives显示文摘 | Svetlana Peshkova Kaichang Li | 2003 | Journal of Biotechnology2003，，102： | 1 |
| 8 | Improvement of inter-facial adhesion between wood and polypropylene in wood-polypropylene composites 显示文摘 | ZHANG Cheng LI Kaichang | 2004 | J Adhes Sci Technol2004，18，14： | 1 |
| 9 | Modification of soy protein for wood adhesives using mussel protein as a model :The influence of a mercapto group显示文摘 | Yuan Liu Kaichang Li | 2004 | Macromolecular Rapid Communications2004，25，： | 1 |
| 10 | Room temperature ionic liquids as lubricants for wood-polyethylene composites显示文摘 | LI Kaichang ZHOU Katie | 2007 | Materials Chemicals and Energy from Forest Biomass2007，11，： | 1 |
| 11 | A new method of making particle hoard with a formaldehyde-freesoy-based adhesive 显示文摘 | Li Kaichang | 2010 | Composites2010，，41： | 1 |
| 12 | Investigation of chitosan phenolics systems as wood adhesives显示文摘 | Svetlana P K Li Kaichang | 2003 | Journal of Biotechnology2003，102，2： | 1 |
| 13 | Partial replacement of silica with microcrystalline cellulose in rubber composites显示文摘 | Bai Wen Li Kaichang | 2009 | Composites Part A:Applied Science and Manufacturing2009，40，10： | 1 |
| 14 | Preparation and Properties of Nano-SiO_2/TDE-85/BMI/BAD Cy Composites显示文摘A new type of the nanometer particles and epoxy/bismaleimide-triazine nanocomposites were prepared using a nanometer silica (nano-SiO2), a 4,5-epoxycyclohexane 1,2-dicarboxylic acid dilycidyl (TDE-85) epoxy resin, a 4,4'-bismaleimidodiphenymethane (BMI) and a bisphenol a dicyanate (BADCy). The properties of nano-SiO2/TDE-85/BMI/BADCy composites, such as mechanical and thermal properties, were systemically investigated in detail by mechanical measurement, scanning electron microscope (SEM), dynamic mechanical analysis (DMA) and thermogravimetric analysis (TGA). The experimental results showed that the addition of the appropriate amount of nano-SiO2 could improve the impact strength and the flexural strength of the nano-SiO2/TDE-85/BMI/BADCy composites. Simultaneously, the thermal stability of the blends was found to be higher than that of the TDE-85/BMI/BADCy copolymers. | 吴广磊 KOU Kaichang CHAO Min ZHUO Longhai ZHANG Jiaoqiang | 2013 | Journal of Wuhan University of Technology(Materials Science)2013，28，2： | 1 |
| 15 | A new soy flour based adhesive for making interior type II plywood显示文摘 | Jian Huang Kaichang Li | 2008 | JAOCS2008，85，1： | 1 |
| 16 | Preparation and characterization of bismaleimide-triazine/epoxy interpenetrating polymer networks显示文摘 | Wu Guanglei Kou Kaichang Chao Min | | 0，，： | 1 |
| 17 | Critical flux enhancements with air sparging in axial hollow fibers cross-flow microfilration of biologically treated wastewater 显示文摘 | Yu Kaichang Wen Xianghua Bu Qingjie | 2003 | Journal of Membrane Science2003，224，12： | 1 |
| 18 | Coregistra- tion of ChangE-1 Stereo Images and Laser Altimeter Data with Crossover Adjustment and Image Sensor Model Refinement显示文摘 | DI Kaichang HU Wenmin LIU Yiliang | 2012 | Advances in Space Research2012，50，12： | 1 |
| 19 | Development and characterization of adhesives from soy protein for bonding wood 显示文摘 | Liu Yuan Li Kaichang | 2007 | Inter- national Journal of Adhesion & Adhesives2007，，27： | 1 |
| 20 | Relationships between activities of xylanases and xylan structure显示文摘 | KAICHANG L PARASTOO A ROBERT C | 2000 | Enzyme and Microbial Technology2000，27，： | 1 |
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