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NASA NTRS1992

Algorithmic improvements for simulator motion drive

Contemporary simulator motion drive algorithms typically are designed in an analog (continuous) environment, but are implemented in a digital (discrete) environment. The intended continuous system, specified as frequency domain (Laplace transform) transfer functions, may not be represented properly by the algorithms used for digital implementation. The motion drive software in use with the Vertical Motion Simulator at Ames Research Center was investigated recently; the original algorithms (Euler) were changed to a state transition method. Comparison of the frequency responses of the original and new implementations showed that the state transition method more closely approximates the desired analog responses. In addition, test pilots who evaluated both implementations preferred the motions generated with the state transition method over those generated with the Euler integration method.

Laforce, Soren↗
NASA NTRS1992

Inertial navigation sensor integrated motion analysis for autonomous vehicle navigation

Recent work on INS integrated motion analysis is described. Results were obtained with a maximally passive system of obstacle detection (OD) for ground-based vehicles and rotorcraft. The OD approach involves motion analysis of imagery acquired by a passive sensor in the course of vehicle travel to generate range measurements to world points within the sensor FOV. INS data and scene analysis results are used to enhance interest point selection, the matching of the interest points, and the subsequent motion-based computations, tracking, and OD. The most important lesson learned from the research described here is that the incorporation of inertial data into the motion analysis program greatly improves the analysis and makes the process more robust.

Roberts, Barry↗
NASA NTRS1992

Equations of motion of slung-load systems, including multilift systems

General simulation equations are derived for the rigid body motion of slung-load systems. This work is motivated by an interest in trajectory control for slung loads carried by two or more helicopters. An approximation of these systems consists of several rigid bodies connected by straight-line cables or links. The suspension can be assumed elastic or inelastic. Equations for the general system are obtained from the Newton-Euler rigid-body equations with the introduction of generalized velocity coordinates. Three forms are obtained: two generalize previous case-specific results for single-helicopter systems with elastic and inelastic suspensions, respectively; and the third is a new formulation for inelastic suspensions. The latter is derived from the elastic suspension equations by choosing the generalized coordinates so that motion induced by cable stretching is separated from motion with invariant cable lengths, and by then nulling the stretching coordinates to get a relation for the suspension forces. The result is computationally more efficient than the conventional formulation, is readily integrated with the elastic suspension formulation, and is easily applied to the complex dual-lift and multilift systems. Results are given for two-helicopter systems; three configurations are included and these can be integrated in a single simulation. Equations are also given for some single-helicopter systems, for comparison with the previous literature, and for a multilift system. Equations for degenerate-body approximations (point masses, rigid rods) are also formulated and results are given for dual-lift and multilift systems. Finally, linearlized equations of motion are given for general slung-load systems are presented along with results for the two-helicopter system with a spreader bar.

Cicolani, Luigi S.↗
NASA NTRS1990

The neurochemical and neuropharmacological basis of motion sickness

An apparatus suitable for producing motion sickness in laboratory animals and constructed at the university is herein described. The apparatus is a modified version of that previously described by Fox and Daunton. It consists of a 66-inch steel arm anchored at the center to a wooden platform and attached to a motor that makes the arm move in a see-saw fashion. At each end of the steel arm is mounted an aluminum disc that can be rotated by a motorized device. Detachable cages are mounted on each disc for animal holding. The animal can then be exposed to rotational motion by rotation of the aluminum disc, or to see-saw motion simultaneously (Cross-coupled). The apparatus is presently being used in our laboratory to study the neuropharmacological basis of motion sickness in the rat. The device can be adapted for use with other animal species by modifying the cage mounted on the aluminum discs.

Walker, C. A.↗
NASA NTRS1992

Control of joint motion simulators for biomechanical research

The authors present a hierarchical adaptive algorithm for controlling upper extremity human joint motion simulators. A joint motion simulator is a computer-controlled, electromechanical system which permits the application of forces to the tendons of a human cadaver specimen in such a way that the cadaver joint under study achieves a desired motion in a physiologic manner. The proposed control scheme does not require knowledge of the cadaver specimen dynamic model, and solves on-line the indeterminate problem which arises because human joints typically possess more actuators than degrees of freedom. Computer simulation results are given for an elbow/forearm system and wrist/hand system under hierarchical control. The results demonstrate that any desired normal joint motion can be accurately tracked with the proposed algorithm. These simulation results indicate that the controller resolved the indeterminate problem redundancy in a physiologic manner, and show that the control scheme was robust to parameter uncertainty and to sensor noise.

Colbaugh, R.↗
NASA NTRS1993

Rapid ray motions in barium plasma clouds and auroras

On two evenings in 1968, anomalous field-aligned brightenings or emission enhancements of up to 3X were observed to move rapidly through three different Ba(+) clouds over Andoya, Norway. Similar effects were observed in Ba(+) clouds released from rockets launched from Poker Flat, Alaska, on March 21, 1973 and on March 22, 1980. On these occasions, auroras on or near the Ba(+) L shell also exhibited active rapid ray motions, which prompts the assumption that the two phenomena are related and the expectation that an explanation of the rapid ray motions in the Ba(+) clouds would lead to a better understanding of the physics of auroral ray motions and the auroral atmosphere. Seven possible mechanisms to produce the observed moving emission enhancements are discussed. The observations provide strong evidence for the existence of transient electric fields of order 100 mV/m at altitudes as low as 200 km during active aurora with rapid ray motions.

Wescott, E. M.↗
NASA NTRS1992

Linear vestibuloocular reflex during motion along axes between nasooccipital and interaural

Linear vestibuloocular reflexes (LVORs), which stabilize retinal images by producing eye movements to compensate for linear head motion, are of two types: (1) responses to head tilt, which work primarily at low frequencies; and (2) responses to head translation, which act at higher frequencies. This work tested the hypothesis that reflexive eye movements would follow the same kinematics relative to the motion axis regardless of head orientation relative to linear motion. The experiments consisted of recording horizontal and vertical eye movements in squirrel monkeys during linear oscillations at 5 Hz along the head's nasooccipital (NO) axis and along axes lying within +/- 30 deg of the NO axis. It was found that LVORs followed the same kinematics regardless of the eye position in the head or the head orientation relative to motion.

Tomko, David L.↗
NASA NTRS1991

INS integrated motion analysis for autonomous vehicle navigation

The use of inertial navigation system (INS) measurements to enhance the quality and robustness of motion analysis techniques used for obstacle detection is discussed with particular reference to autonomous vehicle navigation. The approach to obstacle detection used here employs motion analysis of imagery generated by a passive sensor. Motion analysis of imagery obtained during vehicle travel is used to generate range measurements to points within the field of view of the sensor, which can then be used to provide obstacle detection. Results obtained with an INS integrated motion analysis approach are reviewed.

Roberts, Barry↗
NASA NTRS1992

Motion planning of mobile multi-limb robotic systems subject to force and friction constraints

A method is presented to generate motions for a class of multilimb robotic systems enabling them to apply large static forces over large ranges of motion without saturating actuator effort limits, system-environment friction constraints, kinematic joint limits, or geometric workspace obstacles. The approach, termed the force-workspace (FW) approach, maps these constraints into the system C-space to form constraint obstacles using a recursive subdivision process. To generate motions along which actuator efforts can be specified without violating system constraints, paths are planned that avoid these constraint obstacles. The method permits the shape of the paths to be controlled using any configuration-dependent performance criterion. The FW approach was applied to a proposed three-limb planar climbing robot whose task is to climb upwards between two vertical walls by pushing outwards to generate frictional support. Motions were planned automatically within the system FW, enabling it to lift itself upwards using two limbs at a time, and a gait was planned to enable it to switch limbs and climb continuously.

Madhani, Akhil↗
NASA NTRS1993

The velocity dispersion of the caustic network due to random motion of individual stars in the lensing galaxy

We present a method of computing the velocity distribution of the caustic network due to the random motion of stars in the lensing galaxy. This method is illustrated on the example of the two-point mass lens and then applied to a large sample of stars. We conclude that the proper motion of the stars increases significantly the frequency of the high magnification events in comparison with a static lens configuration with constant stream or constant bulk velocity. The stream velocity is the velocity of the star field relative to the global bulk velocity of the galaxy. We show that the global bulk and the stream velocity of the star field have to be considered separately for any microlensing situation. The higher the surface mass density of the stars in the lensing galaxy, the higher the influence of proper motion of stars on the statistics of high magnification events. The influence of a Gaussian velocity distribution of the stars in the lensing galaxy compared with a constant stream velocity of the stars increases the number of high magnification events by a factor 1.30 +/- 0.06 for a normalized surface density of the stars cr = 0.1 and by a factor 1.7 +/- 0.1 for sigma = 0.5. This means that for some microlensing situations the proper motion of the stars in a lensing galaxy has to be considered for exact microlensing predictions.

Kundik, Tomislav↗
NASA NTRS1993

A motion detection system for AXAF X-ray ground testing

The concept, implementation, and performance of the motion detection system (MDS) designed as a diagnostic for X-ray ground testing for AXAF are described. The purpose of the MDS is to measure the magnitude of a relative rigid body motion among the AXAF test optic, the X-ray source, and X-ray focal plane detector. The MDS consists of a point source, lens, centroid detector, transimpedance amplifier, and computer system. Measurement of the centroid position of the image of the optical point source provides a direct measure of the motions of the X-ray optical system. The outputs from the detector and filter/amplifier are digitized and processed using the calibration with a 50 Hz bandwidth to give the centroid's location on the detector. Resolution of 0.008 arcsec has been achieved by this system. Data illustrating the performance of the motion detection system are also presented.

Arenberg, Jonathan W.↗
NASA NTRS1993

Unsteady Navier-Stokes simulation of the canard-wing-body ramp motion

A time-accurate thin-layer Navier-Stokes simulation of the unsteady flowfield is performed for a typical canard-wing-body configuration undergoing ramp motions. The computations are made at a transonic Mach number of 0.90 and for ramp angles from 0 to 15 degrees. Accuracy is determined by comparisons with steady-state experimental data and with spatial and time-step refinement studies. During the ramp motion, the computational results show improved dynamic lift performance and a strong canard-wing interaction for the canard-on configuration. Formation of the canard leading-edge vortex is inhibited in the early stages of the ramp motion. An analysis performed on the transient flowfield after the ramp motion ends shows that the canard vortex rapidly gains strength and vortex breakdown eventually occurs. These characteristics of the canard vortex have significant influences on wing performance.

Tu, Eugene L.↗
NASA NTRS1990

Animal models in motion sickness research

Practical information on candidate animal models for motion sickness research and on methods used to elicit and detect motion sickness in these models is provided. Four good potential models for use in motion sickness experiments include the dog, cat, squirrel monkey, and rat. It is concluded that the appropriate use of the animal models, combined with exploitation of state-of-the-art biomedical techniques, should generate a great step forward in the understanding of motion sickness mechanisms and in the development of efficient and effective approaches to its prevention and treatment in humans.

Daunton, Nancy G.↗
NASA NTRS1985

Cloud motion derived winds: Their accuracy, coverage, and suggestions for future improvement

Nature has provided us with a natural and easily visible method of tracing atmospheric motion through the measurement of cloud velocities. This source of wind information has been available from geosynchronous satellites since the launch of the ATS-1 Spin Scan camera. This sensor provided adequate spatial and temporal resolution views of individual cloud systems that could represent the wind with useful accuracy. During the last decade, cloud motion derived winds have become part of the operational system as they are routinely provided to the National Meteorological Center as input to the global numerical models. The principal limitations of cloud motion winds are that they (1) can be measured within the limits that cloud motions can represent the wind only where trackable clouds exist, (2) require knowledge of the cloud height, (3) require high spatial and temporal resolution geosynchronous satellite systems with high attitude determination accuracy, and (4) need sophisticated interactive computer systems for the calculation of high resolution fields. These limitations are examined and suggestions are made for how this product could be improved. Also, uses of the data for mesoscale purposes are discussed.

Shenk, William E.↗
NASA NTRS1951

A study of the use of experimental stability derivatives in the calculation of the lateral disturbed motions of a swept-wing airplane and comparison with flight results

An investigation was made to determine the accuracy with which the lateral flight motions of a swept-wing airplane could be predicted from experimental stability derivatives, determined in the 6-foot-diameter rolling-flow test section and 6 by 6-foot curved-flow test section of the Langley stability tunnel. In addition, determination of the significance of including the nonlinear aerodynamic effects of sideslip in the calculations of the motions was desired. All experimental aerodynamic data necessary for prediction of the lateral flight motions are presented along with a number of comparisons between flight and calculated motions caused by rudder and aileron disturbances.

Bird, John D↗
NASA NTRS1955

Determination of lateral-stability derivatives and transfer-function coefficients from frequency-response data for lateral motions

A method is presented for determining the lateral-stability derivatives, transfer-function coefficients, and the modes for lateral motion from frequency-response data for a rigid aircraft. The method is based on the application of the vector technique to the equations of lateral motion, so that the three equations of lateral motion can be separated into six equations. The method of least squares is then applied to the data for each of these equations to yield the coefficients of the equations of lateral motion from which the lateral-stability derivatives and lateral transfer-function coefficients are computed. Two numerical examples are given to demonstrate the use of the method.

Donegan, James J↗
NASA NTRS1931

Combined pitching and yawing motion of airplanes

This report treats the following problems: The beginning of the investigated motions is always a setting of the lateral controls, i.e., the rudder or the ailerons. Now, the first interesting question is how the motion would proceed if these settings were kept unchanged for some time; and particularly, what upward motion would set in, how soon, and for how long, since therein lie the dangers of yawing. Two different motions ensue with a high rate of turn and a steep down slope of flight path in both but a marked difference in angle of attack and consequently different character in the resultant aerodynamic forces: one, the "corkscrew" dive at normal angle, and the other, the "spin" at high angle.

Baranoff, A V↗
NASA NTRS1988

Role of the area postrema in three putative measures of motion sickness in the rat

After thermal cauterization of the area postrema in rats, the absence of conditioned taste aversion of sucrose paired with lithium chloride (0.15M, 3.3 ml/kg) was used as a pharmacologic/behavioral index of area postrema damage. In a subsequent experiment the effects of area postrema lesions on three measures proposed as species-relevant measures of motion sickness were studied, using off-vertical rotation at 150 deg/s for either 30 or 90 min. Lesions of area postrema did not alter postrotational suppression of drinking or amount of defecation during motion. The initial acquisition of conditioned taste aversion to a novel cider vinegar solution paired with motion was not affected by lesioning of the area postrema, but these taste aversions extinguished more slowly in lesioned rats than in sham-operates or intact controls. Results are discussed in terms of proposed humoral factors which may induce motion sickness and in light of recent data on the role of the area postrema in similar measures in species possessing the complete emetic reflex.

Richard L Sutton↗