Research Projects


Multi-Rod Planetary Regolith Drilling Robot

Multi-rod drilling robot prototype — four-stage operation sequence

Silhouette of the multi-rod cyclic operation sequence on the prototype

A deep-regolith sampling system for lunar exploration. Independently completed full-stack R&D across control system design, motion planning, soil-tool interaction modeling, and deep learning.

  • Role — Project Lead · Master’s Thesis · NSFC Project
  • Lab — GDUT Biomimetic & Intelligent Robotics Lab
  • Timeline — 2023.06 – Present

Key contributions

  1. Control System — Built a 9-DOF drilling robot platform with EtherCAT + Modbus dual-bus architecture; HMI features 5-thread parallelism, 7-state FSM, and safety interlocks.
  2. Motion Planning — Modeled multi-rod cooperative sequencing as an RCPSP problem; solved via Petri net + MILP + CP-SAT for globally optimal rod scheduling (≥4.9% improvement).
  3. Mechanics Modeling — Proposed a multi-component coupled soil-tool interaction model (Janssen + Terzaghi + PFRT + Coulomb); experimentally validated with ±18% prediction error.
  4. Deep Learning — Built a physics-guided classification model with physical-prior force-ratio features; achieved cross-domain transfer F1 = 0.736 (+16.7 pp over baseline).
EtherCAT + Modbus dual-bus control architecture PRFINet — physics-guided deep learning architecture

Left: Dual-bus control system architecture  ·  Right: PRFINet deep learning model

Tech stack — EtherCAT Modbus Qt / C++ PyTorch OR-Tools Petri Net SQLite Optuna

Output — 1 prototype, 2 invention patents (1 granted), 1 software copyright, 1 EI conference paper, 2 SCI journal papers.


Vacuum-Cryogenic Drill Temperature Monitoring System

Instrumented ice-drill prototype

Instrumented ice-drill prototype with thermocouple wiring

Thermocouple embedding on spiral drill bit Multi-channel temperature scanner PCB

Left: Thermocouple embedding on spiral drill bit  ·  Right: Multi-channel temperature scanner board

Commissioned by Beijing Institute of Satellite Manufacturing (Factory 529). Delivered a full temperature monitoring solution for lunar water-ice drilling at −190 °C under vacuum — covering system design, hardware/software development, and mechanical integration.

  • Role — System Architect & Project Lead
  • Client — Beijing Institute of Satellite Manufacturing (Factory 529)
  • Timeline — 2025.07 – Present

Key contributions

  1. System Design — Designed a 10-channel micro-thermocouple embedding scheme with slip-ring routing and anti-wear protection for reliable signal acquisition under extreme conditions.
  2. Hardware — Designed a multi-channel temperature scanner based on STM32G030 + ZAM6218, with Modbus / RS-485 uplink.
  3. Software — Developed a cross-platform acquisition application supporting 100 Hz sampling, 5M+ data points, multi-point calibration, and CSV import/export.
  4. Thermal Analysis — Built a thermal-resistance / thermal-capacitance equivalent model; performed coupled thermal-structural verification with SolidWorks Simulation.

Tech stack — STM32 ZAM6218 Modbus RTU RS-485 Tauri Web Serial API Thermal Modeling

Output — 1 instrumented ice-drill prototype, 1 monitoring system, 1 software copyright, 1 invention patent.


Compact EtherCAT Servo Drive

Compact EtherCAT servo drive PCB Assembled servo drive with EtherCAT module

Left: PCB layout with three-phase inverter  ·  Right: Assembled unit with EtherCAT module

A compact, high-performance servo drive for brushless motors, designed to serve as the actuator controller in the multi-rod drilling robot system. Implements field-oriented control (FOC) with EtherCAT real-time communication for multi-axis coordination.

  • Role — Hardware & Firmware Developer
  • Timeline — 2024.09 – Present
  • Platform — STM32, three-phase MOSFET inverter, magnetic encoder (SPI), EtherCAT slave module

Key contributions

  1. Hardware — Designed a compact 4-layer PCB integrating three-phase inverter, current sampling, magnetic encoder interface, EtherCAT communication module, and OLED display.
  2. FOC Algorithm — Implemented field-oriented control with Park/Clarke transforms, PI current loop at 20 kHz PWM, supporting torque / velocity / position cascade control modes.
  3. EtherCAT Integration — Achieved deterministic real-time communication via SPI-based EtherCAT slave, enabling synchronized multi-axis motion in the drilling robot.
  4. Calibration & Diagnostics — Built motor parameter auto-identification, encoder calibration routines, and a command-line shell for real-time debugging.

Tech stack — STM32 FOC EtherCAT FreeRTOS SPI CAN PCB Design

Output — 1 functional drive board, integrated into the drilling robot control system.


Portable Folding Hand-Held Drill for Astronaut Use

Portable folding hand-held drill prototypes

A foldable hand-held drill stand for astronaut coring operations, featuring automatic feed, compact triple-fold frame, and extreme-environment tolerance.

  • Role — Mechanical Design & Drive System Selection
  • Client — Beijing Institute of Satellite Manufacturing (Factory 529)
  • Timeline — 2025.03 – 2025.06
  • Key work — Rope-drive auto-feed module, triple-fold frame, motor/drive selection (Maxon + Elmo), simulation-based strength & stiffness verification
  • Output — 1 engineering prototype, validated by ground tests


Internship Experience


Beijing Institute of Satellite Manufacturing (Factory 529)

Engineering Systems R&D Intern  ·  2025.06 – 2025.09

  • Hardware & software development of temperature monitoring for drill tools under vacuum-cryogenic conditions
  • Independent thermocouple integration design and vacuum chamber test setup
  • Multi-channel real-time data acquisition software development
  • 3D modeling, test coordination, and technical documentation


Guangzhou Quality Supervision & Testing Institute

Quality Inspection Intern  ·  2023.08 – 2023.09

  • Optical thickness measurement of insulation and sheath materials for cable products
  • Tensile, crack-resistance, thermal-aging, and ductility tests per national standards
  • Resistance measurement and co-authoring inspection reports