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NASA NTRS2019

Space Research Project Management Can Benefit from Engineering Technology Selection Methods

Many engineering methods have been developed to help management select technology for a system design or further research. The simplest way to compare technologies is to use a checklist containing all the more or less important selection criteria, so that nothing is overlooked. The criteria usually include cost, safety, reliability and maintainability, and potential problems such as noise generation and microgravity sensitivity. The next step typically is to weight and score all the criteria. The process of weighting and scoring is helpful in bringing out different priorities and reaching a shared point of view. Group technology selection methods are designed to highlight initial disagreements and produce a shared consensus. Often a frank discussion led by management rather than decision analysts can be more effective. The final selection depends on management and engineering judgment and may include programmatic and organizational factors that are beyond the engineering checklist. The objective of engineering technology selection methods is to provide engineering information to assist management in making sound decisions. Project management and technology selection are assumed to use rational engineering analytic methods, but they often do not. The reason is that human insight, intuition, and “gut feel,” rather than logic, more frequently determine our decisions. Project selection and management are strongly influenced by nonrational psychological influences, which can produce unjustified confidence and determination. Nevertheless, there is a strong need for space projects to do rational project analysis and selection. Demonstrating a rational spirit is necessary for a scientific and technical organization. Professional ethics at its best requires an open, honest, and fair process, without damaging politics. Rational analysis can help improve good projects and avoid selecting bad ones. A sanity check using rational analysis guided by a checklist can help avoid egregious and damaging errors.

Jones, Harry W.↗

NASA NTRS1995

MRI of bone marrow in the distal radius: in vivo precision of effective transverse relaxation times

The effective transverse relaxation time T2* is influenced by the presence of trabecular bone, and can potentially provide a measure of bone density as well as bone structure. We determined the in vivo precision of T2* in repeated bone marrow measurements. The T2* measurements of the bone marrow of the distal radius were performed twice within 2 weeks in six healthy young volunteers using a modified water-presaturated 3D Gradient-Recalled Acquisition at Steady State (GRASS) sequence with TE 7, 10, 12, 20, and 30; TR 67; flip angle (FA) 90 degrees. An axial volume covering a length of 5.6 cm in the distal radius was measured. Regions of interest (ROIs) were determined manually and consisted of the entire trabecular bone cross-section extending proximally from the radial subchondral endplate. Reproducibility of T2* and area measurements was expressed as the absolute precision error (standard deviation [SD] in ms or mm2) or as the relative precision error (SD/mean x 100, or coefficient of variation [CV] in %) between the two-point measurements. Short-term precision of T2* and area measurements varied depending on section thickness and location of the ROI in the distal radius. Absolute precision errors for T2* times were between 1.3 and 2.9 ms (relative precision errors 3.8-9.5 %) and for area measurements between 20 and 55 mm2 (relative precision errors 5.1-16.4%). This MR technique for quantitative assessment of trabecular bone density showed reasonable reproducibility in vivo and is a promising future tool for the assessment of osteoporosis.

NASA Discipline Musculoskeletal↗

NASA NTRS1992

Probability effects on stimulus evaluation and response processes

This study investigated the effects of probability information on response preparation and stimulus evaluation. Eight subjects responded with one hand to the target letter H and with the other to the target letter S. The target letter was surrounded by noise letters that were either the same as or different from the target letter. In 2 conditions, the targets were preceded by a warning stimulus unrelated to the target letter. In 2 other conditions, a warning letter predicted that the same letter or the opposite letter would appear as the imperative stimulus with .80 probability. Correct reaction times were faster and error rates were lower when imperative stimuli confirmed the predictions of the warning stimulus. Probability information affected (a) the preparation of motor responses during the foreperiod, (b) the development of expectancies for a particular target letter, and (c) a process sensitive to the identities of letter stimuli but not to their locations.

Non-NASA Center↗

NASA NTRS2005

Design Concept for a Reusable/Propellantless MXER Tether Space Transportation System

The Momentum Exchange/Electrodynamic Reboost (MXER) tether facility is a transformational concept that significantly reduces the fuel requirements (and associated costs) in transferring payloads above low earth orbit (LEO). Facility reboost is accomplished without propellant by driving current against a voltage created by a conducting tether's interaction with the Earth's magnetic field (electrodynamic reboost). This system can be used for transferring a variety of payloads (scientific, cargo, and human space vehicles) to multiple destinations including geosynchronous transfer orbit, the Moon or Mars. MXER technology advancement requires development in two key areas: survivable, high tensile strength non-conducting tethers and reliable, lightweight payload catch/release mechanisms. Fundamental requirements associated with the MXER non-conducting strength tether and catch mechanism designs will be presented. Key requirements for the tether design include high specific-strength (tensile strength/material density), material survivability to the space environment (atomic oxygen and ultraviolet radiation), and structural survivability to micrometeoroid/orbital debris (MM/OD) impacts. The driving mechanism key,gequirements include low mass-to-capture-volume ratio, positional and velocity error tolerance, and operational reliability. Preliminary tether and catch mechanism design criteria are presented, which have been used as guidelines to "screen" and down-select initial concepts. Candidate tether materials and protective coatings are summarized along with their performance in simulated space environments (e.g., oxygen plasma, thermal cycling). A candidate catch mechanism design concept is presented along with examples of demonstration hardware.

McCandless, B., II↗

NASA NTRS2010

Orion Optical Navigation for Loss of Communication Lunar Return Contingencies

The Orion Crew Exploration Vehicle (CEV) will replace the Space Shuttle and serve as the next-generation spaceship to carry humans back to the Moon for the first time since the Apollo program. For nominal lunar mission operations, the Mission Control Navigation team will utilize radiometric measurements to determine the position and velocity of Orion and uplink state information to support Lunar return. However, in the loss of communications contingency return scenario, Orion must safely return the crew to the Earth's surface. The navigation design solution for this loss of communications scenario is optical navigation consisting of lunar landmark tracking in low lunar orbit and star- horizon angular measurements coupled with apparent planetary diameter for Earth return trajectories. This paper describes the optical measurement errors and the navigation filter that will process those measurements to support navigation for safe crew return.

Getchius, Joel↗

NASA NTRSDate not supplied

Neuro-Vestibular Examination During and Following Spaceflight (Vestibular Health)

BACKGROUND Adaptation to microgravity during spaceflight causes neurological disturbances that are either directly or indirectly mediated by the vestibular system. These disturbances can include space motion sickness, spatial disorientation, and cognitive impairment, as well as changes in head-eye coordination, vestibulo-ocular reflexes, and control of posture and locomotion. Otolith-mediated reflex gains appear to adapt rapidly during spaceflight and after landing. However, animal studies have shown that structural modifications of the vestibular sensory apparatus develop during long-duration spaceflight. To date, no studies have characterized the severity of vestibular syndromes experienced by astronauts as a function of the duration of spaceflight or whether the effects are caused by changes at the peripheral end organs, midbrain, cerebellum, or vestibular cortex. OBJECTIVES We are investigating temporal vestibular changes in crewmembers of short, 6-month, and one-year missions to identify trends in adaptation of vestibular health and performance in orbit and after landing. We are also differentiating between peripheral and central vestibular forms of vertigo and oculomotor disorders. METHODS Recordings of eye, head, and body movements, as well as subjective reports of perception of motion, are being used to determine the presence of abnormal eye movements, dysmetria, motion sickness symptoms, and illusions of motion during head or body movements. This includes characterization of temporal trends in central compensation for vestibular (otolith) asymmetry. In-flight examinations are being performed early in the mission (Flight Days 1 and 30) and once every 2-3 months thereafter. Postflight examinations are performed after return (R) from the mission on R+0, R+4, R+9, and R+30. The inflight and postflight motion sickness questionnaires are customized to support data sharing across related studies. Ground-based control testing has been performed on healthy volunteers(18 females, 14 males;38.6 ± 9.2 years) in the laboratory to estimate mean normative responses, and on patients with bilateral vestibulopathy (BVP) (17 females, 13 males; 60.6 ± 13.0 years) at the University of Caen. RESULTS As of September 2024, two crewmembers have completed all preflight, inflight, and postflight testing. Additional crewmembers are currently enrolled and data collection is currently ongoing. For ground testing, BVP patients performed similarly to previous postflight astronauts on R+0 in various walking performance tasks. Three additional body movement perception tasks have been tested. For the Triangle Completion Task, BVP patients had a larger mean angle of deviation and longer mean distance than healthy controls. For the Self-Rotation Task and Distance Perception Task, BVP patients had larger errors than healthy controls. These data suggest that vestibular deficiencies impact all aspects of body movement perception tested; whereas previous studies suggest that vestibular deficiencies are only associated with directional errors, not with overall trajectories/path lengths. These data will be compared to those of crewmembers during early postflight readaptation. RELEVANCE If the observed symptoms in crewmembers are more deleterious after the year-long missions than those documented after 6-month missions, then relevant countermeasures will be required to maintain the health and operational performance of astronauts during longer missions. Depending on the etiology of the vestibular syndrome revealed by these tests, countermeasures will be proposed based on vestibular rehabilitation therapies currently used in patients with vestibular disorders, such as habituation, gaze stabilization, and/or balance training exercises. ACKNOWLEDGEMENT This work is supported by NASA’s Human Research Program Human Health Countermeasures Element.

T R Macaulay↗

NASA NTRS1991

Collision avoidance sensor skin

The objective was to totally eliminate the possibility of a robot (or any mechanism for that matter) inducing a collision in space operations. We were particularly concerned that human beings were safe under all circumstances. This was apparently accomplished, and it is shown that GSFC has a system that is ready for space qualification and flight. However, it soon became apparent that much more could be accomplished with this technology. Payloads could be made invulnerable to collision avoidance and the blind spots behind them eliminated. This could be accomplished by a simple, non-imaging set of 'Capaciflector' sensors on each payload. It also is evident that this system could be used to align and dock the system with a wide margin of safety. Throughout, lighting problems could be ignored, and unexpected events and modeling errors taken in stride. At the same time, computational requirements would be reduced. This can be done in a simple, rugged, reliable manner that will not disturb the form factor of space systems. It will be practical for space applications. The lab experiments indicate we are well on the way to accomplishing this. Still, the research trail goes deeper. It now appears that the sensors can be extended to end effectors to provide precontact information and make robot docking (or any docking connection) very smooth, with minimal loads impacted back into the mating structures. This type of ability would be a major step forward in basic control techniques in space. There are, however, baseline and restructuring issues to be tackled. The payloads must get power and signals to them from the robot or from the astronaut servicing tool. This requires a standard electromechanical interface. Any of several could be used. The GSFC prototype shown in this presentation is a good one. Sensors with their attendant electronics must be added to the payloads, end effectors, and robot arms and integrated into the system.

Source record↗

NASA NTRS1993

Automated system function allocation and display format: Task information processing requirements

An important consideration when designing the interface to an intelligent system concerns function allocation between the system and the user. The display of information could be held constant, or 'fixed', leaving the user with the task of searching through all of the available information, integrating it, and classifying the data into a known system state. On the other hand, the system, based on its own intelligent diagnosis, could display only relevant information in order to reduce the user's search set. The user would still be left the task of perceiving and integrating the data and classifying it into the appropriate system state. Finally, the system could display the patterns of data. In this scenario, the task of integrating the data is carried out by the system, and the user's information processing load is reduced, leaving only the tasks of perception and classification of the patterns of data. Humans are especially adept at this form of display processing. Although others have examined the relative effectiveness of alphanumeric and graphical display formats, it is interesting to reexamine this issue together with the function allocation problem. Currently, Johnson Space Center is the test site for an intelligent Thermal Control System (TCS), TEXSYS, being tested for use with Space Station Freedom. Expert TCS engineers, as well as novices, were asked to classify several displays of TEXSYS data into various system states (including nominal and anomalous states). Three different display formats were used: fixed, subset, and graphical. The hypothesis tested was that the graphical displays would provide for fewer errors and faster classification times by both experts and novices, regardless of the kind of system state represented within the display. The subset displays were hypothesized to be the second most effective display format/function allocation condition, based on the fact that the search set is reduced in these displays. Both the subset and the graphic display conditions were hypothesized to be processed more efficiently than the fixed display conditions.

Czerwinski, Mary P.↗

NASA NTRS2013

Investigation of Control Inceptor Dynamics and Effect on Human Subject Performance

The control inceptor used in a vehicle simulation is an important part of adequately representing the dynamics of the vehicle. The inceptor characteristics are typically based on a second order spring mass damper system with damping, force gradient, breakout force, and natural frequency parameters. Changing these parameters can have a great effect on pilot control of the vehicle. A quasi transfer of training experiment was performed employing a high fidelity and a low fidelity control inceptor. A disturbance compensatory task was employed which involved a simple horizon line disturbed in roll by a sum of sinusoids presented in an out-the-window display. Vehicle dynamics were modeled as 1/s and 1/s2. The task was to maintain level flight. Twenty subjects were divided between the high and the low fidelity training groups. Each group was trained to a performance asymptote, and then transferred to the high fidelity simulation. RMS tracking error, a PSD analysis, and a workload analysis were performed to quantify the transfer of training effect. Quantitative results of the experiments show that there is no significant difference between the high and low fidelity training groups for 1/s plant dynamics. For 1/s2 plant dynamics there is a greater difference in tracking performance and PSD; and the subjects are less correlated with the input disturbance function

Stanco, Anthony A.↗

NASA NTRS2002

Work and fatigue characteristics of unsuited and suited humans during isolated isokinetic joint motions

The effects of a pressurized suit on human performance were investigated. The suit is known as an Extra-Vehicular Mobility Unit (EMU) and is worn by astronauts while working outside their spacecraft in a low earth orbit. Isolated isokinetic joint torques of three female and three male subjects (all experienced users of the suit in 1G gravity) were measured while working at 100% and 80% of their maximum voluntary torque (MVT, which is synonymous with maximum voluntary contraction (MVC)). It was found that the average decrease in the total amount of work (the sum of the work in each repetition until fatigue) done when the subjects were wearing the EMU were 48% and 41% while working at 100% and 80% MVT, respectively. There is a clear relationship between the MVT and the time and amount of work done until fatigue. Here, the time to fatigue is defined as the ending time of the repetition for which the computed work done during that repetition dropped below 50% of the work done during the first repetition. In general the stronger joints took longer to fatigue and did more work than the weaker joints. It was found that the EMU decreases the work output at the wrist and shoulder joints the most, due to the EMU joint geometry. The EMU also decreased the joint range of motion. The average total amount of work done by the test subjects increased by 5.2% (20.4%) for the unsuited (suited) case, when the test subjects decreased the level of effort from 100% to 80% MVT. Also, the average time to fatigue increased by 9.2% (25.6%) for the unsuited (suited) case, when the test subjects decreased the level of effort from 100% to 80% MVT. It was also found that the experimentally measured torque decay could be predicted by a logarithmic equation. The absolute average errors in the predictions were found to be 18.3% and 18.9% for the unsuited and suited subjects, respectively, when working at 100% MVT, and 22.5% and 18.8% for the unsuited and suited subjects, respectively, when working at 80% MVT. These results could be very useful in the design of future EMU suits and the planning of Extra-Vehicular Activity (EVA) for the future International Space Station assembly operations.

NASA Discipline Life Sciences Technologies↗

NASA NTRS1986

The role of impulse parameters in force variability

One of the principle limitations of the human motor system is the ability to produce consistent motor responses. When asked to repeatedly make the same movement, performance outcomes are characterized by a considerable amount of variability. This occurs whether variability is expressed in terms of kinetics or kinematics. Variability in performance is of considerable importance because for tasks requiring accuracy it is a critical variable in determining the skill of the performer. What has long been sought is a description of the parameter or parameters that determine the degree of variability. Two general experimental protocals were used. One protocal is to use dynamic actions and record variability in kinematic parameters such as spatial or temporal error. A second strategy was to use isometric actions and record kinetic variables such as peak force produced. What might be the important force related factors affecting variability is examined and an experimental approach to examine the influence of each of these variables is provided.

Carlton, L. G.↗

NASA NTRS1989

The visually guided control of simulated altitude

Simulated "flights" over three different ground textures were used to examine people's ability to extract optical information useful for active regulation of altitude. The textures were regularly spaced lines as follows: 1) orthogonal to the direction of flight (latitude texture); 2) parallel to the direction of flight (meridian texture); and 3) both parallel and orthogonal (square texture). Visual constant velocity forward flight simulations were displayed on a CRT screen, and subjects asked to maintain one of three initial altitudes using a rate control stick. This task was made difficult by the presence of lateral (irrelevant) and vertical (relevant) "wind gusts." The attitude never varied as winds, forward speed, and vertical rate control resulted in only translational movements. Adjusted root mean square errors (ARMSE) showed altitude regulation was more difficult at higher altitudes and when flying over meridian textures. Refined analysis of a single subject's data showed that this was due both to poorer regulation of the vertical wind disturbance and to a tendency to confuse the lateral wind disturbance for a vertical disturbance.

Vision↗

NASA NTRS1998

Tutorial on the Psychophysics and Technology of Virtual Acoustic Displays

Virtual acoustics, also known as 3-D sound and auralization, is the simulation of the complex acoustic field experienced by a listener within an environment. Going beyond the simple intensity panning of normal stereo techniques, the goal is to process sounds so that they appear to come from particular locations in three-dimensional space. Although loudspeaker systems are being developed, most of the recent work focuses on using headphones for playback and is the outgrowth of earlier analog techniques. For example, in binaural recording, the sound of an orchestra playing classical music is recorded through small mics in the two "ear canals" of an anthropomorphic artificial or "dummy" head placed in the audience of a concert hall. When the recorded piece is played back over headphones, the listener passively experiences the illusion of hearing the violins on the left and the cellos on the right, along with all the associated echoes, resonances, and ambience of the original environment. Current techniques use digital signal processing to synthesize the acoustical properties that people use to localize a sound source in space. Thus, they provide the flexibility of a kind of digital dummy head, allowing a more active experience in which a listener can both design and move around or interact with a simulated acoustic environment in real time. Such simulations are being developed for a variety of application areas including architectural acoustics, advanced human-computer interfaces, telepresence and virtual reality, navigation aids for the visually-impaired, and as a test bed for psychoacoustical investigations of complex spatial cues. The tutorial will review the basic psychoacoustical cues that determine human sound localization and the techniques used to measure these cues as Head-Related Transfer Functions (HRTFs) for the purpose of synthesizing virtual acoustic environments. The only conclusive test of the adequacy of such simulations is an operational one in which the localization of real and synthesized stimuli are directly compared in psychophysical studies. To this end, the results of psychophysical experiments examining the perceptual validity of the synthesis technique will be reviewed and factors that can enhance perceptual accuracy and realism will be discussed. Of particular interest is the relationship between individual differences in HRTFs and in behavior, the role of reverberant cues in reducing the perceptual errors observed with virtual sound sources, and the importance of developing perceptually valid methods of simplifying the synthesis technique. Recent attempts to implement the synthesis technique in real time systems will also be discussed and an attempt made to interpret their quoted system specifications in terms of perceptual performance. Finally, some critical research and technology development issues for the future will be outlined.

Wenzel, Elizabeth M.↗

NASA NTRS2001

Comparing viewer and array mental rotations in different planes

Participants imagined rotating either themselves or an array of objects that surrounded them. Their task was to report on the egocentric position of an item in the array following the imagined rotation. The dependent measures were response latency and number of errors committed. Past research has shown that self-rotation is easier than array rotation. However, we found that imagined egocentric rotations were as difficult to imagine as rotations of the environment when people performed imagined rotations in the midsagittal or coronal plane. The advantages of imagined self-rotations are specific to mental rotations performed in the transverse plane.

NASA Center ARC↗

NASA NTRS2009

Assessing Satellite-Based Fire Data for use in the National Emissions Inventory

Biomass burning is significant to emission estimates because: (1) it can be a major contributor of particulate matter and other pollutants; (2) it is one of the most poorly documented of all sources; (3) it can adversely affect human health; and (4) it has been identified as a significant contributor to climate change through feedbacks with the radiation budget. Additionally, biomass burning can be a significant contributor to a regions inability to achieve the National Ambient Air Quality Standards for PM 2.5 and ozone, particularly on the top 20% worst air quality days. The United States does not have a standard methodology to track fire occurrence or area burned, which are essential components to estimating fire emissions. Satellite imagery is available almost instantaneously and has great potential to enhance emission estimates and their timeliness. This investigation compares satellite-derived fire data to ground-based data to assign statistical error and helps provide confidence in these data. The largest fires are identified by all satellites and their spatial domain is accurately sensed. MODIS provides enhanced spatial and temporal information, and GOES ABBA data are able to capture more small agricultural fires. A methodology is presented that combines these satellite data in Near-Real-Time to produce a product that captures 81 to 92% of the total area burned by wildfire, prescribed, agricultural and rangeland burning. Each satellite possesses distinct temporal and spatial capabilities that permit the detection of unique fires that could be omitted if using data from only one satellite.

Soja, Amber J.↗

NASA NTRS2013

Human Factors Evaluation of Conflict Detection Tool for Terminal Area

A conflict detection and resolution tool, Terminal-area Tactical Separation-Assured Flight Environment (T-TSAFE), is being developed to improve the timeliness and accuracy of alerts and reduce the false alert rate observed with the currently deployed technology. The legacy system in use today, Conflict Alert, relies primarily on a dead reckoning algorithm, whereas T-TSAFE uses intent information to augment dead reckoning. In previous experiments, T-TSAFE was found to reduce the rate of false alerts and increase time between the alert to the controller and a loss of separation over the legacy system. In the present study, T-TSAFE was tested under two meteorological conditions, 1) all aircraft operated under instrument flight regimen, and 2) some aircraft operated under mixed operating conditions. The tool was used to visually alert controllers to predicted Losses of separation throughout the terminal airspace, and show compression errors, on final approach. The performance of T-TSAFE on final approach was compared with Automated Terminal Proximity Alert (ATPA), a tool recently deployed by the FAA. Results show that controllers did not report differences in workload or situational awareness between the T-TSAFE and ATPA cones but did prefer T-TSAFE features over ATPA functionality. T-TSAFE will provide one tool that shows alerts in the data blocks and compression errors via cones on the final approach, implementing all tactical conflict detection and alerting via one tool in TRACON airspace.

Verma, Savita Arora↗

NASA NTRSDate not supplied

Evaluating the Use of High-Fidelity Simulator Research Methods to Study Airline Flight Crew Resilience

As it evolves, aviation will continue to require integration of a wide range of safety systems and practices, some of which are already in place and others that are yet to be developed. New concepts in system safety thinking have emerged to consider not only what may go wrong, but also what can be learned when things go right during commercial flight operations. Taken together, these complementary perspectives form a more comprehensive approach to systemsafety thinking that can help to recognize and preserve the resilient performance capabilities currently provided by humans. A need exists, however, for research methods to enable better understanding of the human contributions to aviation safety. NASA’s System-Wide Safety Project supports research on using flight simulation methods to study operator resilience and safety-producing behaviors. Building on prior NASA efforts investigating procedural non-adherences during area navigation standard terminal route arrivals, a high-fidelity commercial aviation line operational simulation (LOS) experiment has been designed to study how flight crews anticipate, monitor for, respond to, and learn from expected and unexpected disturbances during these operations. A diverse set of LOS scenarios were developed to simulate highly realistic, complex, but routinely encountered operational situations. Each scenario provided multiple opportunities to collect data on how flight crews manage threats and errors, as well as novel opportunities to observe resilient and safety-producing behaviors. The experimental design, implications for the study of safety-producing behaviors using simulation, and considerations for airline pilot training will be discussed.

Chad L Stephens↗

NASA NTRS2015

Spherical Coordinate Systems for Streamlining Suited Mobility Analysis

Introduction: When describing human motion, biomechanists generally report joint angles in terms of Euler angle rotation sequences. However, there are known limitations in using this method to describe complex motions such as the shoulder joint during a baseball pitch. Euler angle notation uses a series of three rotations about an axis where each rotation is dependent upon the preceding rotation. As such, the Euler angles need to be regarded as a set to get accurate angle information. Unfortunately, it is often difficult to visualize and understand these complex motion representations. It has been shown that using a spherical coordinate system allows Anthropometry and Biomechanics Facility (ABF) personnel to increase their ability to transmit important human mobility data to engineers, in a format that is readily understandable and directly translatable to their design efforts. Objectives: The goal of this project was to use innovative analysis and visualization techniques to aid in the examination and comprehension of complex motions. Methods: This project consisted of a series of small sub‐projects, meant to validate and verify a new method before it was implemented in the ABF's data analysis practices. A mechanical test rig was built and tracked in 3D using an optical motion capture system. Its position and orientation were reported in both Euler and spherical reference systems. In the second phase of the project, the ABF estimated the error inherent in a spherical coordinate system, and evaluated how this error would vary within the reference frame. This stage also involved expanding a kinematic model of the shoulder to include the rest of the joints of the body. The third stage of the project involved creating visualization methods to assist in interpreting motion in a spherical frame. These visualization methods will be incorporated in a tool to evaluate a database of suited mobility data, which is currently in development. Results: Initial results demonstrated that a spherical coordinate system is helpful in describing and visualizing the motion of a space suit. The system is particularly useful in describing the motion of the shoulder, where multiple degrees of freedom can lead to very complex motion paths.

Benson, Elizabeth↗