The physical properties, sequence structure and heat flow of planetary regolith are important information to enhance the scientific understanding of lunar evolution and the origin of life, as well as for future planetary activities and resource utilization. An inchworm drilling system for planetary subsurface exploration missions is proposed in this paper. The inchworm drilling system consists of an inchworm drill and a chip removal device, and this paper provides a detailed description of the system design. Reasonable drilling parameters in the regular drilling condition are recommended based on drilling load analysis, and a manipulation strategy is given for troubleshooting in the faulty drilling condition. Robotic drilling experiments were carried out on a lunar regolith simulant, and the drilling depth of the inchworm drill reached 850 millimeters in 106 min. In addition, parameter identification tests of the simulant mechanical parameters were carried out during drilling, and the shear strength parameters of the simulant cohesion and internal friction angle at 5 locations along the depth direction were measured. The experimental results show that the proposed inchworm drilling system can well achieve the mission target of drilling and exploration and is a feasible choice for future planetary exploration missions.

The fabrication of solar parabolic trough concentrators using flat elastic sheets presents a straightforward and cost-effective method. This paper introduces an optimization technique centered on stiffness adjustment, harnessing elastic buckling to attain precise parabolic shapes in these concentrators. Through an enhanced Particle Swarm Optimization-Genetic Algorithm (PSO-GA), strategically punched holes are optimized on the flat sheet, allowing for the attainment of perfect parabolic shapes by controlling the chord length with a positional rod or cable. The efficacy of this approach is showcased not only through interactive finite element analysis and ray tracing software simulations but also via experimental sunlight concentration. A geometric concentration ratio of up to 145.16 is achieved, underscoring the effectiveness of this innovative concept. This approach facilitates the simple fabrication and transportation of flat mirror elements to field sites, where they can be assembled into parabolic trough concentrators, offering potential cost reductions and highly efficient solar energy solutions.