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NASA NTRSDate not supplied

Adjusting a Full Body Model to Mitigate Inverse Kinematics Artifacts in Opensim

BACKGROUND: In support of Vibration Isolation and Stabilization (VIS) system development for Human Health Countermeasures (HHC) exercise systems in space, such as the European Enhanced Exploration Exercise Device (E4D) [1], dynamic quantities required to model the response of a proposed VIS while considering the effect of VIS motion on the forces between the human and VIS platform were obtained using motion capture data [2]. On occasion, large-amplitude oscillatory spikes were found in the subject’s linear and angular momentum derivatives, affecting analyses that depend on forces and moments derived from motion capture. The purpose of this investigation was to identify causes of these artifacts and techniques for their resolution. METHODS AND RESULTS: To obtain the required human dynamic quantities to drive the VIS simulation, motion capture data was collected containing recorded trajectories of passive retroreflective markers on body landmarks of an exercising subject. Since the full body Rajagopal model [3] was originally used to enhance gait analysis, upper body joints did not require large Ranges of Motion (ROM). We thus modified the Rajagopal model [4, 5] to allow it to be used for upper body intensive exercises like those common to the E4D. OpenSim Inverse Kinematics (IK) [6] was performed using these scaled subject models to generate the joint angles throughout the exercise while minimizing marker error. At times, the arms were observed to ‘snap’ from one configuration to another, causing spike artifacts. Following IK, a custom OpenSim plugin [7] was used to determine the required dynamic quantities including the rates of change of the linear and angular momenta of the human. Since motion capture is recorded at a larger time step than required by the VIS simulation, the human center of mass location was fit with splines and a second derivative taken to obtain the momentum derivative, allowing the VIS simulation to maintain conservation of momentum when appropriate. In a few cases during this stage, artifacts much larger than the expected noise of the second derivatives were introduced. Investigation of cases containing artifacts revealed several modifications that could be made to the OpenSim model to improve IK results. Since OpenSim models use Euler angles and rotation sequences, ‘gimbal lock’ would be encountered in the arms when raised 90 degrees to the side (e.g., T-pose, some hang clean exercise, etc.). This was resolved by reorienting the horizontal axes at the shoulder joint by 45 degrees, placing ‘gimbal lock’ outside common arm ROM, with the arm ROMs adjusted following this change. Elbow and wrist ROMs could also be adjusted to allow realistic motion while at the same time limiting the likelihood of unrealistic orientations. On occasion, the arms flipped backwards when raised above the head. This was prevented by using medial elbow markers in scaling and IK. When medial markers were not available, the acromial joint location in the unscaled model was shifted before model scaling to better align the arm with available markers. Lastly, artifacts which became apparent after taking the second derivatives of spline-fit data were found to occur in cases when the pelvis rotation limit prevented the full range of motion of an exercise. These issues were resolved by unclamping the pelvis rotation limit. Through this investigation, an understanding of conditions leading to IK artifacts was acquired allowing the automation of artifact detection. These artifact detection and mitigation techniques can be applied toward modeling of upper body motions in aerospace and other fields for improved IK results.

C A Bell↗
NASA NTRS1974

Solving multiple scattering problems in planetary atmospheres

Multiple scattering problems, radiative transfer problems in planetary atmospheres within extended visible portion of the spectrum, are examined. The direct and inverse problems and the extinction coefficient are defined, along with other scattering characteristics. Albedos in semi-infinite and finite atmospheres are considered, as well as surface illumination, energy deposition, and polarization. The Eddington approximation figures prominently in the calculations. Precise numerical methods and analytical solutions are included.

Irvine, W. M.↗
NASA NTRS1984

Reflectance spectroscopy - Quantitative analysis techniques for remote sensing applications

The empirical methods and scattering theories that are important for solving remote sensing problems are among the methods for remotely sensed reflectance data analysis presently compared. In the case of the photon mean optical path length concept's implications for reflectance spectra modeling, it is shown that the mean optical path length in a particulate surface is in roughly inverse proportion to the square root of the absorption coefficient. Absorption bands, which are Gaussian in shape when plotted as true absorptance vs photon energy, are also Gaussians in apparent absorptance, although they have a smaller intensity. An apparent continuum in a reflectance spectrum is modeled as a mathematical function that is used to isolate a particular absorption feature for analysis, and it is noted that this continuum should be removed by dividing it into the reflectance spectrum.

Clark, R. N.↗
NASA NTRS1989

Remote sensing of the atmospheric aerosols and noctilucent clouds from space

The method for the determination of the optical density of tropospheric and mesospheric aerosols and for the estimation of the scattering phase function in the forward directions (0 to 30 deg) is proposed. The method is based on measurements of the brightness of the twilight horizon with the high resolution limb camera having five separated fields of view. In some detail the features of the camera are described and the mathematical aspects of remote sensing data inversion are discussed.

Avaste, O.↗
NASA NTRS1989

On the simulation of space based manipulators with contact

An efficient method of simulating the motion of space based manipulators is presented. Since the manipulators will come into contact with different objects in their environment while carrying out different tasks, an important part of the simulation is the modeling of those contacts. An inverse dynamics controller is used to control a two armed manipulator whose task is to grasp an object floating in space. Simulation results are presented and an evaluation is made of the performance of the controller.

Walker, Michael W.↗
NASA NTRS1994

Space Station racks weight and CG measurement using the rack insertion end-effector

The objective was to design a method to measure weight and center of gravity (C.G.) location for Space Station Modules by adding sensors to the existing Rack Insertion End Effector (RIEE). Accomplishments included alternative sensor placement schemes organized into categories. Vendors were queried for suitable sensor equipment recommendations. Inverse mathematical models for each category determine expected maximum sensor loads. Sensors are selected using these computations, yielding cost and accuracy data. Accuracy data for individual sensors are inserted into forward mathematical models to estimate the accuracy of an overall sensor scheme. Cost of the schemes can be estimated. Ease of implementation and operation are discussed.

Brewer, William V.↗
NASA NTRS2003

Optimization Of Ocean Color Algorithms: Application To Satellite And In Situ Data Merging

The objective of our program is to develop and validate a procedure for ocean color data merging which is one of the major goals of the SIMBIOS project (McClain et al., 1995). The need for a merging capability is dictated by the fact that since the launch of MODIS on the Terra platform and over the next decade, several global ocean color missions from various space agencies are or will be operational simultaneously. The apparent redundancy in simultaneous ocean color missions can actually be exploited to various benefits. The most obvious benefit is improved coverage (Gregg et al., 1998; Gregg & Woodward, 1998). The patchy and uneven daily coverage from any single sensor can be improved by using a combination of sensors. Beside improved coverage of the global ocean the merging of ocean color data should also result in new, improved, more diverse and better data products with lower uncertainties. Ultimately, ocean color data merging should result in the development of a unified, scientific quality, ocean color time series, from SeaWiFS to NPOESS and beyond. Various approaches can be used for ocean color data merging and several have been tested within the frame of the SIMBIOS program (see e.g. Kwiatkowska & Fargion, 2003, Franz et al., 2003). As part of the SIMBIOS Program, we have developed a merging method for ocean color data. Conversely to other methods our approach does not combine end-products like the subsurface chlorophyll concentration (chl) from different sensors to generate a unified product. Instead, our procedure uses the normalized waterleaving radiances (LwN( )) from single or multiple sensors and uses them in the inversion of a semianalytical ocean color model that allows the retrieval of several ocean color variables simultaneously. Beside ensuring simultaneity and consistency of the retrievals (all products are derived from a single algorithm), this model-based approach has various benefits over techniques that blend end-products (e.g. chlorophyll): 1) it works with single or multiple data sources regardless of their specific bands, 2) it exploits band redundancies and band differences, 3) it accounts for uncertainties in the LwN( ) data and, 4) it provides uncertainty estimates for the retrieved variables.

Maritorena, Stephane↗
NASA NTRS2001

Quantum Dots Investigated for Solar Cells

The NASA Glenn Research Center has been investigating the synthesis of quantum dots of CdSe and CuInS2 for use in intermediate-bandgap solar cells. Using quantum dots in a solar cell to create an intermediate band will allow the harvesting of a much larger portion of the available solar spectrum. Theoretical studies predict a potential efficiency of 63.2 percent, which is approximately a factor of 2 better than any state-of-the-art devices available today. This technology is also applicable to thin-film devices--where it offers a potential four-fold increase in power-to-weight ratio over the state of the art. Intermediate-bandgap solar cells require that quantum dots be sandwiched in an intrinsic region between the photovoltaic solar cell's ordinary p- and n-type regions (see the preceding figure). The quantum dots form the intermediate band of discrete states that allow sub-bandgap energies to be absorbed. However, when the current is extracted, it is limited by the bandgap, not the individual photon energies. The energy states of the quantum dot can be controlled by controlling the size of the dot. Ironically, the ground-state energy levels are inversely proportional to the size of the quantum dots. We have prepared a variety of quantum dots using the typical organometallic synthesis routes pioneered by Ba Wendi et al., in the early 1990's. The most studied quantum dots prepared by this method have been of CdSe. To produce these dots, researchers inject a syringe of the desired organometallic precursors into heated triocytlphosphine oxide (TOPO) that has been vigorously stirred under an inert atmosphere (see the following figure). The solution immediately begins to change from colorless to yellow, then orange and red/brown, as the quantum dots increase in size. When the desired size is reached, the heat is removed from the flask. Quantum dots of different sizes can be identified by placing them under a "black light" and observing the various color differences in their fluorescence (see the photograph).

Bailey, Sheila G.↗
NASA NTRS2021

Integration of an Arm Kinematics Hot Patch onboard the Curiosity Rover

NASA's Mars Science Laboratory (MSL) mission has updated the Curiosity rover's flight software multiple times since landing on Mars on August 6, 2012. The most common patching method has been a hot patch, in which running flight software is modified after being copied into RAM from its persistent storage. The latest hot patch to be installed on Curiosity fixed an issue in the robotic arm software that computes generalized inverse kinematics. Additional unit testing performed since the start of the surface mission revealed that this software can sometimes produce erroneous solutions.The cause was identified as numerical instability in a quartic root finder. When the inputs to that solver are not well conditioned, floating-point numerical issuescan cause erroneous roots to be reported. In theory, this could result in the robotic arm turret instruments being commanded to unintended positions, for example, below the terrain surface. Out of approximately 3.7 million unit test cases, 97.2\% of the position errors were below 5 mm. However, there were 16 test cases where theposition error was greater than 20 cm, and the maximum position error was 1.2 meters.The patch was uploaded to Curiosity on sol 2642 (January 11, 2020) after the solution was developed, re-implemented as a hot patch, and validated and verified using Earth-based Curiosity testbeds. A checkout test of the patch was performed on Curiosity on sol 2657, and nominal use of the patch began on sol 2658. In this paper, we describe the steps that led to integrating the arm kinematic hot patch into Curiosity's flight software, from the discovery of the bug to the nominal use of the patch in flight.

Maimone, Mark↗
NASA NTRS1977

Spectroscopic determination of electrical conductivity in an MHD duct from absolute intensity measurements

Measurements of the electrical conductivity in the NASA Lewis cesium seeded, H2-O2 MHD duct have been previously reported. In order to corroborate the above measurements and to analyze the possibility of nonuniform seed injection as a cause of the deviations, a spectroscopic investigation of the plasma conductivity has been undertaken. Transverse profiles of the absolute integrated intensity were measured from the optically thin lines of CSI-.5664 microns and .5636 microns. Radial profiles of emission coefficient were obtained from the measured transverse profiles of intensity by Abel inversion. Radial profiles of electrical conductivity were then obtained under two different assumptions. In the first, the Cs seed fraction is assumed uniform and equal to the measured flow rate at the time when the temperature and conductivity were obtained. In the second method, the local temperature and pressure are taken to be those given by a one-dimensional channel calculation including heat transfer and friction. In this case profiles of conductivity and seed fractions are obtained. The results of the two methods are compared to the previously measured conductivity.

Wang, S. Y.↗
NASA NTRS1977

Spectroscopic determination of electrical conductivity in an MHD duct from absolute intensity measurements

Measurements of the electrical conductivity in the NASA Lewis cesium seeded, H2-O2 MHD duct made by applying a voltage across the channel from one end electrode to the other, measuring the current, and using the inner electrodes as probes to monitor the voltage distribution along the channel were found to be in good agreement with theory except at low combustion pressures and/or high ratios of seed/oxygen mass flows. To corroborate these measurements and to analyze the possibility of nonuniform seed injection as a cause of the above deviations, a spectroscopic investigation of the plasma conductivity was undertaken. Radial profiles of emission coefficient were obtained from measured transverse profiles of the absolute integrated intensity by Abel inversion. Radial profiles of electrical conductivity were then obtained under two different assumptions. In the first the Cs seed fraction is assumed uniform and equal to the measured flow rate at the time when the temperature and conductivity were obtained. In the second method the local temperature and pressure are taken to be those given by a one-dimensional channel calculation including heat transfer and friction. The results of the two methods are compared to the previously measured conductivity.

Wang, S. Y.↗
NASA NTRS1989

A fully-coupled implicit method for thermo-chemical nonequilibrium air at sub-orbital flight speeds

A CFD technique is described in which the finite-rate chemistry in thermal and chemical nonequilibrium air is fully and implicitly coupled with the fluid motion. Developed for use in the suborbital hypersonic flight speed range, the method accounts for nonequilibrium vibrational and electronic excitation and dissociation, but not ionization. The steady-state solution to the resulting system of equations is obtained by using a lower-upper factorization and symmetric Gauss-Seidel sweeping technique through Newton iteration. Inversion of the left-hand-side matrices is replaced by scalar multiplications through the use of the diagonal dominance algorithm. The code, named CENS2H (Compressible-Euler-Navier-Stokes Two-Dimensional Hypersonic), is fully vectorized and requires about 8.8 x 10 to the -5th sec per node point per iteration using a Cray X-MP computer. Converged solutions are obtained after about 2400 iterations. Sample calculations are made for a circular cylinder and a 10 percent airfoil at 5 deg angle of attack. The calculated cylinder flow field agrees with that obtained experimentally. The code predicts a 10 percent change in lift, drag, and pitching moment for the airfoil due to the thermochemical phenomena.

Park, Chul↗
NASA NTRS1995

Unoccupied electronic resonances of Sc adsorbed on W(001) by k-resolved inverse photoemission

Scandium adsorbed on the (001) face of tungsten has been studied using Auger-electron spectroscopy, low-energy electron diffraction, k-resolved inverse photoelectron spectroscopy, work-function measurements, and relativistic-electronic-structure calculations. We find that the work function of W(001) does not decrease monotonically as a function of scandium adsorption but reaches a minimum value of Phi = 3.25 eV at 50% coverage. For a complete monolayer, an order 1 X 1 Sc overlayer is formed. Inverse photoemission in the isochromat mode was used to map the unoccupied energy levels of this overlayer along the bar-Gamma(bar-Mu) symmetry direction of the surface Brillouin zone. Local-density-functional calculations using the muffin-tin orbital method were performed for a 1 X 1 Sc overlayer on W and are compared with the experimental two-dimensional band structure.

Lamouri, A.↗
NASA NTRS1961

Applications of Power Spectral Analysis Methods to Maneuver Loads Obtained on Jet Fighter Airplanes During Service Operations

Power spectral densities of normal load factor have been obtained for two service operational training flights of a Republic F-84G airplane and three service operational training flights of a North American F-86A airplane in order to indicate the load-factor frequency content and possible uses of power spectral methods in analyzing maneuver load data. It was determined that the maneuvering load-factor time histories appeared to be described by a truncated normal distribution. The power spectral densities obtained were relatively level at frequencies below 0.03 cycle per second and varied inversely with approximately the cube of the frequency at the higher frequencies. In general, the frequency content was very low above 0.2 cycle per second. The load-factor peak distributions were estimated fairly well from the spectrum analysis. In addition, peak load data obtained during service operations of fighter-type airplanes with flight time totaling about 24,000 hours were examined and appeared to agree reasonably well with the type of equations obtained from spectrum peak-load distributions.

Mayer, John P.↗
NASA NTRS2013

Ensemble Data Assimilation Without Ensembles: Methodology and Application to Ocean Data Assimilation

Two methods to estimate background error covariances for data assimilation are introduced. While both share properties with the ensemble Kalman filter (EnKF), they differ from it in that they do not require the integration of multiple model trajectories. Instead, all the necessary covariance information is obtained from a single model integration. The first method is referred-to as SAFE (Space Adaptive Forecast error Estimation) because it estimates error covariances from the spatial distribution of model variables within a single state vector. It can thus be thought of as sampling an ensemble in space. The second method, named FAST (Flow Adaptive error Statistics from a Time series), constructs an ensemble sampled from a moving window along a model trajectory. The underlying assumption in these methods is that forecast errors in data assimilation are primarily phase errors in space and/or time.

Data Assimilation↗
NASA NTRS2011

Simultaneous Planck, Swift, and Fermi Observations of X-Ray and gamma-Ray Selected Blazars

We present simultaneous Planck, Swift, Fermi, and ground-based data for 105 blazars belonging to three samples with flux limits in the soft X-ray, hard X-ray, and -ray bands, and we compare our results to those of a companion paper presenting simultaneous Planck and multi-frequency observations of 104 radio-loud northern active galactic nuclei selected at radio frequencies. While we confirm several previous results, our unique data set has allowed us to demonstrate that the selection method strongly influences the results, producing biases that cannot be ignored. Almost all the BL Lac objects have been detected by Fermi Large Area Telescope (LAT), whereas 30 to 40% of the flat-spectrum radio quasars (FSRQs) in the radio, soft X-ray, and hard X-ray selected samples are still below the gamma ray detection limit even after integrating 27 months of Fermi-LAT data. The radio to sub-millimetre spectral slope of blazars is quite flat, with [alpha] approximately 0 up to about 70 GHz, above which it steepens to [alpha] approximately -0.65. BL Lacs have significantly flatter spectra than FSRQs at higher frequencies. The distribution of the rest-frame synchrotron peak frequency (v(sup IC) (sub (PEAK)), ranges from 10(sup 21) to 10(sup 22) HZ. The distribution of the rest-frame synchrotron peak frequency (v(sup s)(sub peak)) in the spectral energy distribution (SED) of FSRQs is the same in all the blazar samples with (v(sup s)(sub peak) = 10(sup 13:1 plus or minus 0.1) Hz, while the mean inverse-Compton peak frequency,(v(sup IC)(sub peak) ranges from 10(sup 21) to 10(sup 22) Hz. The distributions of v(sup S)(sub peak) and of v(sup IC)(sub peak) of BL Lacs are much broader and are shifted to higher energies than those of FSRQs; their shapes strongly depend on the selection method. The Compton dominance of blazars ranges from less than 0.2 to nearly 100, with only FSRQs reaching values larger than about 3. Its distribution is broad and depends strongly on the selection method, with gamma-ray selected blazars peaking at approximately 7 or more, and radio-selected blazars at values close to 1, thus implying that the common assumption that the blazar power budget is largely dominated by high-energy emission is a selection effect. A comparison of our multi-frequency data with theoretical predictions shows that simple homogeneous SSC models cannot explain the simultaneous SEDs of most of the gamma-ray detected blazars in all samples. The SED of the blazars that were not detected by Fermi-LAT may instead be consistent with SSC emission. Our data challenge the correlation between bolometric luminosity and v(sup S)(sub peak) predicted by the blazar sequence.

Giommi, P.↗
NASA NTRS2001

Retrieval of Polar Stratospheric Cloud Microphysical Properties From Lidar Measurements: Dependence on Particle Shape Assumptions

Knowledge of particle sizes and number densities of polar stratospheric clouds (PSCs) is highly important, because they are critical parameters for the modeling of the ozone chemistry of the stratosphere. In situ measurements of PSC particles are rare. the main instrument for the accumulation of PSC data are lidar systems. Therefore the derivation of some microphysical properties of PSCS from the optical parameters measured by lidars would be highly beneficial for ozone research. Inversion of lidar data obtained in the presence of PSCs formed from crystalline particles type 11 and the various nitric acid tri Ydrrate (NAT) types cannot be easily accomplished, because a suitable scattering theory for small faceted crystals has not been readily available tip to now. As a consequence, the T-matrix method is commonly used for the interpretation of these PSC lidar data. Here the assumption is made that the optical properties of an ensemble of spheroids resemble those of crystalline PSCs, and microphysical properties of the PSC are inferred from the optical signatures of the PSC at two or more wavelengths. The problem with the T-matrix approach is that the assumption of spheroidal instead of faceted particles can lead to dramatically wrong results: Usually cloud particle properties are deduced from analysis of lidar profiles of backscatter ratio and depolarization ratio. The particle contribution to the backscatter ratio is given by the product of the particle number density and the backscattering cross section. The latter is proportional to the value of the particle's scattering phase function at 180 degrees scattering angle. At 180 degrees however, the phase functions of rough, faceted crystals and of spheroids with same maximum dimension differ by a factor of 6. From this it follows that for a PSC consisting of faceted crystals, the particle number density is underestimated by roughly the same factor if spheroidal particles are unrealistically assumed. We are currently developing a retrieval technique for determining the microphysical parameters of crystalline PSCs that takes into account the faceted shape of the PSC particles. This approach utilizes finite-difference time-domain (FDTD) calculations of particle optical properties. The accuracy and the free choice of the shape of the scattering particle make the FDTD technique a promising tool for the inversion of PSC lidar data. A first comparison of FDTD and T-matrix calculations will be presented.

Reichardt, Susanne↗