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NASA NTRS2023

Modeling and Simulation of the Angel Upper Limb Offload Device: Branching Into New Methods

BACKGROUND: The Active Response Gravity Offload System (ARGOS) provides an analog environment for extravehicular activity (EVA) testing and training. Discomfort has been observed during longer suited test sessions. While the subject’s core is offloaded during surface EVA evaluations, his/her arms experience full Earth gravity and can become overly fatigued, especially during suited tests which involve reaching and prolonged arm extensions. A device (ARGOS Negation of Gravitational Effects on the Limbs: ANGEL) to offload the weight of the arms and suit sleeves is being developed by JSC’s Flight Systems Branch of the Software, Robotics, and Simulation Division. Previously we have shared preliminary modeling of that device and kinematics based on motion capture data. Here we present an alternative approach to determine device kinematics by calculating ANGEL component angles with an OpenSim plugin. We compare calculated angles to inverse kinematics (IK) derived ones with the goal of validating the model. This new method can be further informative for device design and analytically testing different configurations to achieve desired reduced gravity conditions (e.g., lunar gravity (Lg) or Martian gravity (Mg)). We have compared calculated angles with IK-derived angles in tests with a shirt-sleeve subject positioned in a test stand with a Mark-III Hard Upper Torso (HUT) and Portable Life Support System (PLSS) mockup and arm weights to emulate the weight of the suit sleeve as well as a suited subject in ARGOS with a Mark-III suit. A variety of upper body tasks were completed in the former and full-body tasks in the latter. METHODS AND RESULTS: To model the offload device, we augment the OpenSim human model topology with the offload mechanism components and joints, using CAD models to represent the mechanism graphically. The joint angles of the device are calculated in the OpenSim plugin by modeling how the components configure themselves under the offloading spring tension given a particular IK-derived arm position. There are four ANGEL components with a total of 5 degrees of freedom (DOFs), each component has a single DOF except for the cuff which is modeled as 2 DOFs. The sickle/yaw bracket and cuff rotation angles are determined statically based on the assumptions that the sickle will track the attachment point of the cuff and that the cuff will rotate such that the attachment point is at its highest point. The cuff tilt, linker and V-bracket angles are then determined by optimizing their positions to approach a mechanical equilibrium. The calculated linker angle is compared to three different methods of determining the linker line-of-force kinematically (from V-bracket to center-cuff, cuff highest point or marker-derived position). Given the joint angles of the device, the spring force and resulting force on the arm is computed by the plugin and applied as an external load in inverse dynamics (ID) to enable study of overall shoulder joint torques as well as offload achieved. We verify the calculated joint angles by using the inverse kinematic data. The average difference in angles is the smallest for the V-bracket and linker, around 1 to 5 degrees for most trials. The resulting offload and shoulder torque are comparable between calculated and IK-derived angles. In summary, we have developed a method to calculate the joint angles of an exoskeleton-like upper limb offloading device currently in development. We have also developed a custom plugin which will be a valuable tool to optimize device configurations for a desired gravitational environment, probe the offload achieved for motions recorded outside of our test suite, and inform future design improvements.

L B Nilsson↗

NASA NTRS2023

Modeling and Simulation of The Angel Upper Limb Offload Device: Branching into New Methods

L B Nilsson↗

NASA NTRS2007

Robotics

Lunar robotic functions include: 1. Transport of crew and payloads on the surface of the moon; 2. Offloading payloads from a lunar lander; 3. Handling the deployment of surface systems; with 4. Human commanding of these functions from inside a lunar vehicle, habitat, or extravehicular (space walk), with Earth-based supervision. The systems that will perform these functions may not look like robots from science fiction. In fact, robotic functions may be automated trucks, cranes and winches. Use of this equipment prior to the crew s arrival or in the potentially long periods without crews on the surface, will require that these systems be computer controlled machines. The public release of NASA's Exploration plans at the 2nd Space Exploration Conference (Houston, December 2006) included a lunar outpost with as many as four unique mobility chassis designs. The sequence of lander offloading tasks involved as many as ten payloads, each with a unique set of geometry, mass and interface requirements. This plan was refined during a second phase study concluded in August 2007. Among the many improvements to the exploration plan were a reduction in the number of unique mobility chassis designs and a reduction in unique payload specifications. As the lunar surface system payloads have matured, so have the mobility and offloading functional requirements. While the architecture work continues, the community can expect to see functional requirements in the areas of surface mobility, surface handling, and human-systems interaction as follows: Surface Mobility 1. Transport crew on the lunar surface, accelerating construction tasks, expanding the crew s sphere of influence for scientific exploration, and providing a rapid return to an ascent module in an emergency. The crew transport can be with an un-pressurized rover, a small pressurized rover, or a larger mobile habitat. 2. Transport Extra-Vehicular Activity (EVA) equipment and construction payloads. 3. Transport habitats and power modules over long distances, pre-positioning them for the arrival of crew on a subsequent lander. Surface Handling 1. Offload surface system payloads from the lander, breaking launch restraints and power/data connections. Payloads may be offloaded to a wheeled vehicle for transport. 2. Deploy payloads from a wheeled vehicle at a field site, placing the payloads in their final use site on the ground or mating them with existing surface systems. 3. Support regolith collection, site preparation, berm construction, or other civil engineering tasks using tools and implements attached to rovers. Human-Systems Interaction 1. Provide a safe command and control interface for suited EVA to ride on and drive the vehicles, making sure that the systems are also safe for working near dismounted crew. 2. Provide an effective control system for IV crew to tele-operate vehicles, cranes and other equipment from inside the surface habitats with evolving independence from Earth. .. Provide a supervisory system that allows machines to be commanded from the ground, working across the Earth-Lunar time delays on the order of 5-10 seconds (round trip) to support operations when crew are not resident on the surface. Technology Development Needs 1. Surface vehicles that can dock, align and mate with outpost equipment such as landers, habitats and fluid/power interfaces. 2. Long life motors, drive trains, seals, motor electronics, sensors, processors, cable harnesses, and dash board displays. 3. Active suspension control, localization, high speed obstacle avoidance, and safety systems for operating near dismounted crew. 4. High specific energy and specific power batteries that are safe, rechargeable, and long lived.

Ambrose, Robert O.↗

NASA NTRS2016

Holodeck Testbed Project

The main objective of the Holodeck Testbed is to create a cost effective, realistic, and highly immersive environment that can be used to train astronauts, carry out engineering analysis, develop procedures, and support various operations tasks. Currently, the Holodeck testbed allows to step into a simulated ISS (International Space Station) and interact with objects; as well as, perform Extra Vehicular Activities (EVA) on the surface of the Moon or Mars. The Holodeck Testbed is using the products being developed in the Hybrid Reality Lab (HRL). The HRL is combining technologies related to merging physical models with photo-realistic visuals to create a realistic and highly immersive environment. The lab also investigates technologies and concepts that are needed to allow it to be integrated with other testbeds; such as, the gravity offload capability provided by the Active Response Gravity Offload System (ARGOS). My main two duties were to develop and animate models for use in the HRL environments and work on a new way to interface with computers using Brain Computer Interface (BCI) technology. On my first task, I was able to create precise computer virtual tool models (accurate down to the thousandths or hundredths of an inch). To make these tools even more realistic, I produced animations for these tools so they would have the same mechanical features as the tools in real life. The computer models were also used to create 3D printed replicas that will be outfitted with tracking sensors. The sensor will allow the 3D printed models to align precisely with the computer models in the physical world and provide people with haptic/tactile feedback while wearing a VR (Virtual Reality) headset and interacting with the tools. Getting close to the end of my internship the lab bought a professional grade 3D Scanner. With this, I was able to replicate more intricate tools at a much more time-effective rate. The second task was to investigate the use of BCI to control objects inside the hybrid reality ISS environment. This task looked at using an Electroencephalogram (EEG) headset to collect brain state data that could be mapped to commands that a computer could execute. On this Task, I had a setback with the hardware, which stopped working and was returned to the vendor for repair. However, I was still able to collect some data, was able to process it, and started to create correlation algorithms between the electrical patterns in the brain and the commands we wanted the computer to carry out. I also carried out a test to investigate the comfort of the headset if it is worn for a long time. The knowledge gained will benefit me in my future career. I learned how to use various modeling and programming tools that included Blender, Maya, Substance Painter, Artec Studio, Github, and Unreal Engine 4. I learned how to use a professional grade 3D scanner and 3D printer. On the BCI Project I learned about data mining and how to create correlation algorithms. I also supported various demos including a live demo of the hybrid reality lab capabilities at ComicPalooza. This internship has given me a good look into engineering at NASA. I developed a more thorough understanding of engineering and my overall confidence has grown. I have also realized that any problem can be fixed, if you try hard enough, and as an engineer it is your job to not only fix problems but to embrace coming up with solutions to those problems.

Arias, Adriel↗

NASA NTRS1983

Space station autonomy requirements

Several concepts of autonomy have emerged from space station technology and mission studies. Unifying these concepts is important to enabling the needs for and requirements of autonomous systems for a space station to be explored. One purpose of autonomy related to a space station is to offload routine, demonstrated, precisely specifiable tasks and functions from humans to machines in order to increase habitability, increase human-machine system productivity, or to decrease operational costs. Defining incremental roles, functions, and technical capabilities for autonomy leads to identification of computing systems technologies needed to enable various degrees of autonomy.

Anderson, J. L.↗

NASA NTRS2023

NASA Space Environment Analog for Training, Engineering, Science, and Technology (SEATEST) 6 Detailed Final Report

After more than 50 years since the last crewed lunar landing, plans for more missions to the moon are in development. For these missions, efficient and sustainable logistics will be critical. Additionally, innovative methods of cargo transfer to and from a lunar outpost should be considered for successfully establishing a permanent presence on the moon. SEATEST (Space Environment Analog for Training, Engineering, Science, and Technology) is an immersive mission-analogous operational atmosphere where buoyancy effects and supplemental weights can simulate partial gravity conditions similar to those astronauts will experience on the moon. SEATEST 6 took place at the University of Southern California (USC) Wrigley Marine Science Center on Santa Catalina Island from July 18-30, 2023. The analog was used to collect preliminary logistics data on two different offloading conceptual methods (a davit and a zipline) during a simulated lunar mission. Pre-test analysis indicated for a crew of two on a 14-day mission, approximately three Medium Pressurized Logistics Containers (MPLC) sized logistics containers (or a total of 37.5 single Cargo Transfer Bag Equivalents (CTBE)) would be needed to support a mission. A Computer-Aided Design (CAD) analysis was employed on the SEATEST airlock mockup to determine how many logistic containers would fit with two suited crewmembers, don/doff stands, and hatch operations. It was determined that for SEATEST, a total of 15 1.0 Small Pressurized Logistics Containers (SPLCs) and 8 2.0 SPLCs would adequately fit into the approximate 9.5 cubic meter airlock volume. This does not fully represent a complete 14-day logistic supply; however, it does provide a preliminary estimate to initiate design conversations between logistics teams and crew at this early stage of development. Data were collected in eight logistics transfer scenarios over two days with four scenarios per day. Five test subject crew participated in scenarios as pairs. Scenarios included two sizes of logistics containers – 1.0 SPLC (equivalent to a single Cargo Transfer Bag (CTB) and 2.0 SPLC (equivalent to two CTBs). Planed evaluations included the use of a logistics port compared to transfer through an Airlock hatch, offloading methods based on either a davit or a zipline system, choreography of cargo in the airlock to permit ingress and suit doffing, and dust removal protocols for an understanding of the overall impact to transfer ops. Data collected included objective data (task times for conducting overall tasks and subtasks, full audio/video of test activities, and inadvertent “dings” on hardware) and subjective data (crew consensus of: task acceptability and capability assessment ratings related to best practices, considerations, and constraints for EVA-driven logistics transfer ConOps, sim quality of the test environment, and more general debrief comments). The two logistic offloading transfer concepts (davit, zipline) presented both advantages and limitations. The davit’s flexibility in allowing the crew to pick up the containers without physical interaction was well regarded by the crew. Some limitations of select davit hardware components were noted, but the overall concept was acceptable. The zipline system proved to be the most efficient way of moving logistics from the lander to the airlock and eliminated the need for dust operations. However, extended and repetitive lifting of containers to the line could be fatiguing. In conclusion, logistics transfer could hypothetically be achieved without an offloading method; however, the time requirement for such operations would be prohibitive. Results of crew subjective feedback proposed a combined or hybrid davit/zipline method to increase efficiency.

Logistics↗

NASA NTRS2002

Systems Architecture for Fully Autonomous Space Missions

The NASA Goddard Space Flight Center is working to develop a revolutionary new system architecture concept in support of fully autonomous missions. As part of GSFC's contribution to the New Millenium Program (NMP) Space Technology 7 Autonomy and on-Board Processing (ST7-A) Concept Definition Study, the system incorporates the latest commercial Internet and software development ideas and extends them into NASA ground and space segment architectures. The unique challenges facing the exploration of remote and inaccessible locales and the need to incorporate corresponding autonomy technologies within reasonable cost necessitate the re-thinking of traditional mission architectures. A measure of the resiliency of this architecture in its application to a broad range of future autonomy missions will depend on its effectiveness in leveraging from commercial tools developed for the personal computer and Internet markets. Specialized test stations and supporting software come to past as spacecraft take advantage of the extensive tools and research investments of billion-dollar commercial ventures. The projected improvements of the Internet and supporting infrastructure go hand-in-hand with market pressures that provide continuity in research. By taking advantage of consumer-oriented methods and processes, space-flight missions will continue to leverage on investments tailored to provide better services at reduced cost. The application of ground and space segment architectures each based on Local Area Networks (LAN), the use of personal computer-based operating systems, and the execution of activities and operations through a Wide Area Network (Internet) enable a revolution in spacecraft mission formulation, implementation, and flight operations. Hardware and software design, development, integration, test, and flight operations are all tied-in closely to a common thread that enables the smooth transitioning between program phases. The application of commercial software development techniques lays the foundation for delivery of product-oriented flight software modules and models. Software can then be readily applied to support the on-board autonomy required for mission self-management. An on-board intelligent system, based on advanced scripting languages, facilitates the mission autonomy required to offload ground system resources, and enables the spacecraft to manage itself safely through an efficient and effective process of reactive planning, science data acquisition, synthesis, and transmission to the ground. Autonomous ground systems in turn coordinate and support schedule contact times with the spacecraft. Specific autonomy software modules on-board include mission and science planners, instrument and subsystem control, and fault tolerance response software, all residing within a distributed computing environment supported through the flight LAN. Autonomy also requires the minimization of human intervention between users on the ground and the spacecraft, and hence calls for the elimination of the traditional operations control center as a funnel for data manipulation. Basic goal-oriented commands are sent directly from the user to the spacecraft through a distributed internet-based payload operations "center". The ensuing architecture calls for the use of spacecraft as point extensions on the Internet. This paper will detail the system architecture implementation chosen to enable cost-effective autonomous missions with applicability to a broad range of conditions. It will define the structure needed for implementation of such missions, including software and hardware infrastructures. The overall architecture is then laid out as a common thread in the mission life cycle from formulation through implementation and flight operations.

Esper, Jamie↗

NASA NTRS2005

Finite Element Analysis and Test Correlation of a 10-Meter Inflation-Deployed Solar Sail

Under the direction of the NASA In-Space Propulsion Technology Office, the team of L Garde, NASA Jet Propulsion Laboratory, Ball Aerospace, and NASA Langley Research Center has been developing a scalable solar sail configuration to address NASA's future space propulsion needs. Prior to a flight experiment of a full-scale solar sail, a comprehensive phased test plan is currently being implemented to advance the technology readiness level of the solar sail design. These tests consist of solar sail component, subsystem, and sub-scale system ground tests that simulate the vacuum and thermal conditions of the space environment. Recently, two solar sail test articles, a 7.4-m beam assembly subsystem test article and a 10-m four-quadrant solar sail system test article, were tested in vacuum conditions with a gravity-offload system to mitigate the effects of gravity. This paper presents the structural analyses simulating the ground tests and the correlation of the analyses with the test results. For programmatic risk reduction, a two-prong analysis approach was undertaken in which two separate teams independently developed computational models of the solar sail test articles using the finite element analysis software packages: NEiNastran and ABAQUS. This paper compares the pre-test and post-test analysis predictions from both software packages with the test data including load-deflection curves from static load tests, and vibration frequencies and mode shapes from vibration tests. The analysis predictions were in reasonable agreement with the test data. Factors that precluded better correlation of the analyses and the tests were uncertainties in the material properties, test conditions, and modeling assumptions used in the analyses.

Sleight, David W.↗

NASA NTRS2005

Structural Analysis of an Inflation-Deployed Solar Sail With Experimental Validation

Under the direction of the NASA In-Space Propulsion Technology Office, the team of L Garde, NASA Jet Propulsion Laboratory, Ball Aerospace, and NASA Langley Research Center has been developing a scalable solar sail configuration to address NASA s future space propulsion needs. Prior to a flight experiment of a full-scale solar sail, a comprehensive phased test plan is currently being implemented to advance the technology readiness level of the solar sail design. These tests consist of solar sail component, subsystem, and sub-scale system ground tests that simulate the vacuum and thermal conditions of the space environment. Recently, two solar sail test articles, a 7.4-m beam assembly subsystem test article and a 10-m four-quadrant solar sail system test article, were tested in vacuum conditions with a gravity-offload system to mitigate the effects of gravity. This paper presents the structural analyses simulating the ground tests and the correlation of the analyses with the test results. For programmatic risk reduction, a two-prong analysis approach was undertaken in which two separate teams independently developed computational models of the solar sail test articles using the finite element analysis software packages: NEiNastran and ABAQUS. This paper compares the pre-test and post-test analysis predictions from both software packages with the test data including load-deflection curves from static load tests, and vibration frequencies and mode shapes from structural dynamics tests. The analysis predictions were in reasonable agreement with the test data. Factors that precluded better correlation of the analyses and the tests were uncertainties in the material properties, test conditions, and modeling assumptions used in the analyses.

Sleight, David W.↗

NASA NTRS2021

Analysis of Exercise Loads to Inform Vibration Isolation System Design

BACKGROUND: This study was conducted with the primary interest of providing data that would inform Vibration Isolation and Stabilization (VIS) system design and performance for the European Enhanced Exploration Exercise Device (E4D). In preparation for the International Space Station (ISS) in-flight demonstration, a list of critical Human Health Countermeasures (HHC) exercises was compiled [1]. The goal of this study was to assess the ground reaction forces and moments imposed by an exercising subject in each of the six VIS Degrees of Freedom (DOFs) during a comprehensive set of these critical exercises performed on the E4D. METHODS AND RESULTS: The ISS in-flight demonstration list of critical exercises included seated aerobic rowing, bent-over rowing, cycling, front squats, back squats, conventional deadlifts, Romanian deadlifts, heel raises, overhead presses, reverse chops, and power clean presses. At the NASA Johnson Space Center (JSC) Prototype Immersive Technology (PIT) laboratory, motion capture data were collected on critical E4D exercises for six subjects. At the NASA JSC Active Response Gravity Offload System (ARGOS) facility, additional motion capture and load cell data were collected on offloaded trials for four subjects. Select data were extrapolated to represent a 5th percentile female subject and a 95th percentile male subject. A previous investigation comparing the forces obtained from the load cell and from motion capture based data found a satisfactory level of agreement between the two measurements [2]. The motion capture based data were analyzed for this study since it is driven by the subject’s trajectory alone, automatically excluding any forces exerted on the subject by the ARGOS offloading harness. The OpenSim [3, 4] biomechanical simulation inverse kinematics tool was used to calculate the joint angles based on the locations of motion capture markers placed at key positions on the subject’s body. An OpenSim plugin was then used to obtain the forces and moments generated by the subject during each trial, with the moments computed relative to the equilibrium location of the subject’s feet [5]. The force of gravity was also removed to simulate the loads generated by the exercise when performed in microgravity. The load plots for each trial were generated and visually analyzed to obtain the magnitudes of the peak loads for each exercise in each DOF. The typical period of exercise for each trial was also estimated and used to calculate the frequency for each trial. The exercise loads data was then organized in multiple ways to capture different aspects of the data. As a result of this study, we present a summary of the load magnitudes observed during these critical exercises utilizing the E4D.

C A Bell↗

NASA NTRS2008

Lunar Applications in Reconfigurable Computing

NASA s Constellation Program is developing a lunar surface outpost in which reconfigurable computing will play a significant role. Reconfigurable systems provide a number of benefits over conventional software-based implementations including performance and power efficiency, while the use of standardized reconfigurable hardware provides opportunities to reduce logistical overhead. The current vision for the lunar surface architecture includes habitation, mobility, and communications systems, each of which greatly benefit from reconfigurable hardware in applications including video processing, natural feature recognition, data formatting, IP offload processing, and embedded control systems. In deploying reprogrammable hardware, considerations similar to those of software systems must be managed. There needs to be a mechanism for discovery enabling applications to locate and utilize the available resources. Also, application interfaces are needed to provide for both configuring the resources as well as transferring data between the application and the reconfigurable hardware. Each of these topics are explored in the context of deploying reconfigurable resources as an integral aspect of the lunar exploration architecture.

Somervill, Kevin↗

NASA NTRS1993

High-performance mass storage system for workstations

Reduced Instruction Set Computer (RISC) workstations and Personnel Computers (PC) are very popular tools for office automation, command and control, scientific analysis, database management, and many other applications. However, when using Input/Output (I/O) intensive applications, the RISC workstations and PC's are often overburdened with the tasks of collecting, staging, storing, and distributing data. Also, by using standard high-performance peripherals and storage devices, the I/O function can still be a common bottleneck process. Therefore, the high-performance mass storage system, developed by Loral AeroSys' Independent Research and Development (IR&D) engineers, can offload a RISC workstation of I/O related functions and provide high-performance I/O functions and external interfaces. The high-performance mass storage system has the capabilities to ingest high-speed real-time data, perform signal or image processing, and stage, archive, and distribute the data. This mass storage system uses a hierarchical storage structure, thus reducing the total data storage cost, while maintaining high-I/O performance. The high-performance mass storage system is a network of low-cost parallel processors and storage devices. The nodes in the network have special I/O functions such as: SCSI controller, Ethernet controller, gateway controller, RS232 controller, IEEE488 controller, and digital/analog converter. The nodes are interconnected through high-speed direct memory access links to form a network. The topology of the network is easily reconfigurable to maximize system throughput for various applications. This high-performance mass storage system takes advantage of a 'busless' architecture for maximum expandability. The mass storage system consists of magnetic disks, a WORM optical disk jukebox, and an 8mm helical scan tape to form a hierarchical storage structure. Commonly used files are kept in the magnetic disk for fast retrieval. The optical disks are used as archive media, and the tapes are used as backup media. The storage system is managed by the IEEE mass storage reference model-based UniTree software package. UniTree software will keep track of all files in the system, will automatically migrate the lesser used files to archive media, and will stage the files when needed by the system. The user can access the files without knowledge of their physical location. The high-performance mass storage system developed by Loral AeroSys will significantly boost the system I/O performance and reduce the overall data storage cost. This storage system provides a highly flexible and cost-effective architecture for a variety of applications (e.g., realtime data acquisition with a signal and image processing requirement, long-term data archiving and distribution, and image analysis and enhancement).

Chiang, T.↗

NASA NTRS1979

Concepts leading to the IMAGE-100 hybrid interactive system

As LACIE Procedure 1 evolved from the Classification and Mensuration Subsystem smallfields procedures, it became evident that two computational systems would have merit-the LACIE/Earth Resources Interactive Processing System based on a large IBM-360 computer oriented for operational use with high computational throughput, and a smaller, highly interactive system based on a PDP 11-45 minicomputer and its display system, the IMAGE-100. The latter had advantages for certain phases; notably, interactive spectral aids could be implemented quite rapidly. This would allow testing and development of Procedure 1 before its implementation on the LACIE/Earth Resources Interactive Processing System. The resulting minicomputer system, called the Classification and Mensuration Subsystem IMAGE-100 Hybrid System, allowed Procedure-1 operations to be performed interactively, except for clustering, classification, and automatic selection of best acquisitions, which were offloaded to the LACIE/Earth Resources Interactive Processing System.

Mackin, T. F.↗

NASA NTRS2013

The Evaluation of a Test Device for Human Occupant Restraint (THOR) Under Vertical Loading Conditions: Part 1 - Experimental Setup and Results

A series of 16 vertical tests were conducted on a Test Device for Human Occupant Restraint (THOR) - NT 50th percentile Anthropomorphic Test Device (ATD) at NASA Langley Research Center (LaRC). The purpose of the tests conducted at NASA LaRC was threefold. The first was to add vertical response data to the growing test database for THOR-NT development and validation. Second, the THOR-NT analytical computational models currently in development must be validated for the vertical loading environment. The computational models have been calibrated for frontal crash environments with concentration on accurately replicating head/neck, thoracic, and lower extremity responses. Finally, familiarity with the THOR ATD is necessary because NASA is interested in evaluating advanced ATDs for use in future flight and research projects. The THOR was subjected to vertical loading conditions ranging between 5 and 16 g in magnitude and 40 to 120 milliseconds (msec) in duration. It was also tested under conditions identical to previous tests conducted on the Hybrid II and III ATDs to allow comparisons to be made. Variations in the test setup were also introduced, such as the addition of a footrest in an attempt to offload some of the impact load into the legs. A full data set of the THOR-NT ATD will be presented and discussed. Results from the tests show that the THOR was largely insensitive to differences in the loading conditions, perhaps due in part to their small magnitudes. THOR responses, when compared to the Hybrid II and III in the lumbar region, demonstrated that the THOR more closely resembled the straight spine Hybrid setup. In the neck region, the THOR behaved more like the Hybrid III. However in both cases, the responses were not identical, indicating that the THOR would show differences in response than the Hybrid II and III ATDs when subjected to identical impact conditions. The addition of a footrest did not significantly affect the THOR response due to the nature of how the loading conditions were applied.

Littell, Justin D.↗

NASA NTRS1996

Distribution of a Generic Mission Planning and Scheduling Toolkit for Astronomical Spacecraft

Work is progressing as outlined in the proposal for this contract. A working planning and scheduling system has been documented and packaged and made available to the WIRE Small Explorer group at JPL, the FUSE group at JHU, the NASA/GSFC Laboratory for Astronomy and Solar Physics and the Advanced Planning and Scheduling Branch at STScI. The package is running successfully on the WIRE computer system. It is expected that the WIRE will reuse significant portions of the SWAS code in its system. This scheduling system itself was tested successfully against the spacecraft hardware in December 1995. A fully automatic scheduling module has been developed and is being added to the toolkit. In order to maximize reuse, the code is being reorganized during the current build into object-oriented class libraries. A paper describing the toolkit has been written and is included in the software distribution. We have experienced interference between the export and production versions of the toolkit. We will be requesting permission to reprogram funds in order to purchase a standalone PC onto which to offload the export version.

Kleiner, Steven C.↗

NASA NTRS2014

Use of Semi-Autonomous Tools for ISS Commanding and Monitoring

As the International Space Station (ISS) has moved into a utilization phase, operations have shifted to become more ground-based with fewer mission control personnel monitoring and commanding multiple ISS systems. This shift to fewer people monitoring more systems has prompted use of semi-autonomous console tools in the ISS Mission Control Center (MCC) to help flight controllers command and monitor the ISS. These console tools perform routine operational procedures while keeping the human operator "in the loop" to monitor and intervene when off-nominal events arise. Two such tools, the Pre-positioned Load (PPL) Loader and Automatic Operators Recorder Manager (AutoORM), are used by the ISS Communications RF Onboard Networks Utilization Specialist (CRONUS) flight control position. CRONUS is responsible for simultaneously commanding and monitoring the ISS Command & Data Handling (C&DH) and Communications and Tracking (C&T) systems. PPL Loader is used to uplink small pieces of frequently changed software data tables, called PPLs, to ISS computers to support different ISS operations. In order to uplink a PPL, a data load command must be built that contains multiple user-input fields. Next, a multiple step commanding and verification procedure must be performed to enable an onboard computer for software uplink, uplink the PPL, verify the PPL has incorporated correctly, and disable the computer for software uplink. PPL Loader provides different levels of automation in both building and uplinking these commands. In its manual mode, PPL Loader automatically builds the PPL data load commands but allows the flight controller to verify and save the commands for future uplink. In its auto mode, PPL Loader automatically builds the PPL data load commands for flight controller verification, but automatically performs the PPL uplink procedure by sending commands and performing verification checks while notifying CRONUS of procedure step completion. If an off-nominal condition occurs during procedure execution, PPL Loader notifies CRONUS through popup messages, allowing CRONUS to examine the situation and choose an option of how PPL loader should proceed with the procedure. The use of PPL Loader to perform frequent, routine PPL uplinks offloads CRONUS to better monitor two ISS systems. It also reduces procedure performance time and decreases risk of command errors. AutoORM identifies ISS communication outage periods and builds commands to lock, playback, and unlock ISS Operations Recorder files. Operation Recorder files are circular buffer files of continually recorded ISS telemetry data. Sections of these files can be locked from further writing, be played back to capture telemetry data that occurred during an ISS loss of signal (LOS) period, and then be unlocked for future recording use. Downlinked Operation Recorder files are used by mission support teams for data analysis, especially if failures occur during LOS. The commands to lock, playback, and unlock Operations Recorder files are encompassed in three different operational procedures and contain multiple user-input fields. AutoORM provides different levels of automation for building and uplinking the commands to lock, playback, and unlock Operations Recorder files. In its automatic mode, AutoORM automatically detects ISS LOS periods, then generates and uplinks the commands to lock, playback, and unlock Operations Recorder files when MCC regains signal with ISS. AutoORM also features semi-autonomous and manual modes which integrate CRONUS more into the command verification and uplink process. AutoORMs ability to automatically detect ISS LOS periods and build the necessary commands to preserve, playback, and release recorded telemetry data greatly offloads CRONUS to perform more high-level cognitive tasks, such as mission planning and anomaly troubleshooting. Additionally, since Operations Recorder commands contain numerical time input fields which are tedious for a human to manually build, AutoORM's ability to automatically build commands reduces operational command errors. PPL Loader and AutoORM demonstrate principles of semi-autonomous operational tools that will benefit future space mission operations. Both tools employ different levels of automation to perform simple and routine procedures, thereby offloading human operators to perform higher-level cognitive tasks. Because both tools provide procedure execution status and highlight off-nominal indications, the flight controller is able to intervene during procedure execution if needed. Semi-autonomous tools and systems that can perform routine procedures, yet keep human operators informed of execution, will be essential in future long-duration missions where the onboard crew will be solely responsible for spacecraft monitoring and control.

Brzezinski, Amy S.↗

NASA NTRSDate not supplied

Volumetric Assessment of UPRITE Exercises From Marker-Based Motion Capture

BACKGROUND Lack of volumetric data on full-body movement of exercises presents a challenge to ensuring the fit of crew member’s full range of motion on the International Space Station (ISS). The Upright Proprioception Retention via In-flight Training and Evaluation (UPRITE) is a sensorimotor countermeasure device designed for maintaining crew members’ proprioception in a microgravity environment. A footplate—attached to a static base—rotates in two degrees of freedom (pitch and roll) up to a 20 deg angle. An initial volumetric assessment assuming an upright standing posture produced a cone-like shape with a narrow bottom and wide top. Such general volumetric assessments risk creating an overly conservative volume estimate, taking up more space than is necessary on the already limited interior space of the ISS, and neglecting necessary volume due to oversimplifying assumptions. Rather, higher-fidelity volumetric assessments offer more comprehensive insights in an environment where every area counts. The main objective of this work is to provide the spatial parameters of exercises on the UPRITE such that it is placed on the ISS according to its volumetric demands or that usage is adjusted to fit the available space. METHODS In 2023, a data collection was performed originally to inform loads and dynamics of system use and was recently leveraged for volumetric assessment. Three human subjects representing different body types (~63-76 inches in stature) performed a variety of board manipulations using UPRITE with body weight offload. The test collected the 3D positional data of a modified full-body Plug-in Gait marker set [1] via a 16-camera OptiTrack MoCap system. After processing – filling marker gaps and trimming data – in OptiTrack Motive, the recorded marker location data, which included device markers, was exported to a readable trajectory file. To accurately represent the full volume defining landmarks, additional markers were digitally added to an unscaled Modified Full Body Model [2]. The model was then scaled according to its subject parameters upon which an inverse kinematics analysis was performed. A custom plugin yielded model marker location data files. Volumetric analyses were performed on the recorded trajectory and model trajectory files using a custom Python-built tool that extracted the marker location data and plotted it in a 3D space. Concerned with only the maximum volume of the motion, a 3D convex hull analysis was applied to the plot, extracting the vertices or external points of the eventual 3D CAD output, dubbed aptly as a “volume shell”. This overall approach was based on guidance in a NASA-STD-3001 Technical Brief [3]. RESULTS AND DISCUSSION Batch volumetric assessment on the exercises for each subject was performed, producing high-fidelity volume shells in minimal time. Preliminary results highlighted the value in higher-fidelity volumes based on collected data when possible. For example, revolving a single posture in the cone assessment would not have sufficiently captured a single leg stance; rather, it would need to involve swinging the leg both forward and back. Additional observations and the maximal dimensions of the volumes, including those based on scaled data for ISS anthropometric requirements, will be presented at the Human Research Program Investigator’s Workshop. CONCLUSIONS While this work’s primary objective was for the UPRITE-to-ISS integration, the tool built to conduct this analysis has wide applications for future exercise systems as an informational tool for optimal device placement. The tool and its findings also have implications for exercise device design and spacecraft interior considerations on Gateway, the Lunar Pressurized Rover, and beyond. REFERENCES [1] Bell, C. A., et al. (2023) Recent Improvements and Verification of a Full Body Model in OpenSim. NASA Human Research Program Investigator’s Workshop. https://ntrs.nasa.gov/citations/20230001080 [2] Lostroscio, K., et al (2023) The Digital Astronaut Simulation. AHFE International Conference on Human Factors in Design, Engineering, and Computing for All. [3] Exercise Overview. (2023) NASA-STD-3001 Technical Brief. https://www.nasa.gov/wp-content/uploads/2023/12/ochmo-tb-031-exercise-overview.pdf?emrc=9d454c?emrc=9d454c

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NASA NTRS2018

Advanced Multimodal Solutions for Information Presentation

High-workload, fast-paced, and degraded sensory environments are the likeliest candidates to benefit from multimodal information presentation. For example, during EVA (Extra-Vehicular Activity) and telerobotic operations, the sensory restrictions associated with a space environment provide a major challenge to maintaining the situation awareness (SA) required for safe operations. Multimodal displays hold promise to enhance situation awareness and task performance by utilizing different sensory modalities and maximizing their effectiveness based on appropriate interaction between modalities. During EVA, the visual and auditory channels are likely to be the most utilized with tasks such as monitoring the visual environment, attending visual and auditory displays, and maintaining multichannel auditory communications. Previous studies have shown that compared to unimodal displays (spatial auditory or 2D visual), bimodal presentation of information can improve operator performance during simulated extravehicular activity on planetary surfaces for tasks as diverse as orientation, localization or docking, particularly when the visual environment is degraded or workload is increased. Tactile displays offer a third sensory channel that may both offload information processing effort and provide a means to capture attention when urgently required. For example, recent studies suggest that including tactile cues may result in increased orientation and alerting accuracy, improved task response time and decreased workload, as well as provide self-orientation cues in microgravity on the ISS (International Space Station). An important overall issue is that context-dependent factors like task complexity, sensory degradation, peripersonal vs. extrapersonal space operations, workload, experience level, and operator fatigue tend to vary greatly in complex real-world environments and it will be difficult to design a multimodal interface that performs well under all conditions. As a possible solution, adaptive systems have been proposed in which the information presented to the user changes as a function of taskcontext-dependent factors. However, this presupposes that adequate methods for detecting andor predicting such factors are developed. Further, research in adaptive systems for aviation suggests that they can sometimes serve to increase workload and reduce situational awareness. It will be critical to develop multimodal display guidelines that include consideration of smart systems that can select the best display method for a particular contextsituation.The scope of the current work is an analysis of potential multimodal display technologies for long duration missions and, in particular, will focus on their potential role in EVA activities. The review will address multimodal (combined visual, auditory andor tactile) displays investigated by NASA, industry, and DoD (Dept. of Defense). It also considers the need for adaptive information systems to accommodate a variety of operational contexts such as crew status (e.g., fatigue, workload level) and task environment (e.g., EVA, habitat, rover, spacecraft). Current approaches to guidelines and best practices for combining modalities for the most effective information displays are also reviewed. Potential issues in developing interface guidelines for the Exploration Information System (EIS) are briefly considered.

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