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NASA NTRS2016

Usable Translational Hand Controllers for NASA's Habitability Design Center

This summer I was given the opportunity to work at the Habitability Design Center (HDC). NASA Johnson Space Center's HDC is currently developing Cislunar and Mars spacecraft mockups. I contributed to this effort by designing from scratch low cost, functional translational hand controllers (THCs) that will be used in spacecraft mission simulation in low to medium fidelity exploration spacecraft mockups. This project fell under the category of mechatronics, a combination of mechanical, electrical, and computer engineering. Being an aerospace engineering student, I was out of my comfort zone. And that was a wonderful thing. The autonomy that my mentor, Dr. Robert Howard, allowed me gave me the opportunity to learn by trying, failing, and trying again. This project was not only a professional success for me, but a significant learning experience. I appreciated the freedom that I had to take the time to learn new things for myself rather than blindly follow instructions. I was the sole person working on this project, and was required to work independently to solve the many hardware and software challenges that the project entailed. I researched THCs that have been used on the ISS, the Space Shuttle, and the Orion MPVC and based my design off of these. I worked through many redesigns before finding an optimal configuration of the necessary mechanisms and electrical components for the THC. Once I had a functional hardware design, I dove into the challenge of getting an Arduino Uno, an extremely low cost and easily programmable microcontroller, to behave as a human interface device. The THCs I built needed to be able to integrate to a mission simulation designed by NASA's Graphics and Visualization Lab. This proved to be the most challenging aspect of the project. To accomplish this I learned how to change the firmware of the USB serial converter microcontroller. The process was very complicated as it involved multiple software programs and manual flashing of pins on the Arduino itself. When I successfully achieved the goal I wrote an instructions manual for the process so that the HDC will be able to do this easily in the future for any human interface device they may want to create. I also created a detailed CAD model of my THC design with construction instructions. My THC utilizes three ultrasonic sensors, one for each axis of motion. I wrote a code that stimulates these sensors continuously and feeds back values from each axis ranging from -%100 to %100 of the min/max position in relation to the neutral position of each axis. This was the data that the Graphics and Visualization Lab required to interface with their simulation. I truly enjoyed working in the HDC surrounded by passionate, proactive, and brilliantly creative people. I felt valued and respected as a part of their team. I was given the time and support of my mentor whenever I asked for it. Beyond my positive project experience, I was fortunate enough to be able to take advantage of many of the extra activities that JSC has to offer. I took Russian Phase One during my lunch break every day and can now read Russian and accomplish basic verbal communication. I was heavily involved with the co-tern music video, which led to numerous incredible experiences and friendships. I saw every facility, attended every lecture, and met everyone that I could. I had coffee with Lauri Hansen. I played on an intern volleyball team at the Gilruth. I traveled to Michoud, Stennis, NOLA, and Big Bend National Park. I had the time of my life and I fell in love with JSC. In the next month I will return to Maryland and start my senior year of my undergraduate degree. As I work through it I will remember that all of the studying I do, all of the concentration I give, and all of the sacrifices that I make for school are so that I can work at a place like JSC where I am proud and excited to go into work every day. This internship was an invaluable experience for me, both professionally and personally.

Westbrook, Kimberly↗
NASA NTRS2016

Compiling a Comprehensive EVA Training Dataset for NASA Astronauts

Training for a spacewalk or extravehicular activity (EVA) is considered a hazardous duty for NASA astronauts. This places astronauts at risk for decompression sickness as well as various musculoskeletal disorders from working in the spacesuit. As a result, the operational and research communities over the years have requested access to EVA training data to supplement their studies. The purpose of this paper is to document the comprehensive EVA training data set that was compiled from multiple sources by the Lifetime Surveillance of Astronaut Health (LSAH) epidemiologists to investigate musculoskeletal injuries. The EVA training dataset does not contain any medical data, rather it only documents when EVA training was performed, by whom and other details about the session. The first activities practicing EVA maneuvers in water were performed at the Neutral Buoyancy Simulator (NBS) at the Marshall Spaceflight Center in Huntsville, Alabama. This facility opened in 1967 and was used for EVA training until the early Space Shuttle program days. Although several photographs show astronauts performing EVA training in the NBS, records detailing who performed the training and the frequency of training are unavailable. Paper training records were stored within the NBS after it was designated as a National Historic Landmark in 1985 and closed in 1997, but significant resources would be needed to identify and secure these records, and at this time LSAH has not pursued acquisition of these early training records. Training in the NBS decreased when the Johnson Space Center in Houston, Texas, opened the Weightless Environment Training Facility (WETF) in 1980. Early training records from the WETF consist of 11 hand-written dive logbooks compiled by individual workers that were digitized at the request of LSAH. The WETF was integral in the training for Space Shuttle EVAs until its closure in 1998. The Neutral Buoyancy Laboratory (NBL) at the Sonny Carter Training Facility near JSC opened in March 1997 and is the current site for US EVA training. Other space agencies also have used water to simulate weightlessness and train for EVAs. Russia has a training facility similar to the NBL named the Hydro Lab. The Hydro Lab began operations at the Gagarin Cosmonaut Training Center (GCTC) in 1980 and has been used extensively to the present. Although a majority of training in the Hydro Lab uses the Russian Orlan suit, a small number of sessions have been conducted using a NASA suit. The Japanese Weightlessness Environment Test System (WETS) went into service at the Tsukuba Space Center in 1997 but was closed in 2011 due to extensive earthquake damage. Several sessions were performed using a NASA suit, but these sessions were short and considered "development" runs. LSAH has assembled records from the WETF, NBL and Hydro Lab. Recording of the EVA training data has changed considerably from 1967 to present. The goal of early record keeping was to track use of hardware components, and the person involved was treated as a suited operator, not as a focus of interest. Records from the past two decades are fairly precise with the person, date, suit type and size noted. On occasion the length of the session was listed, but this data is not included on all records. Records were merged from data sources and extensive cleaning of the records was required since the multiple sources frequently overlapped and duplicated records. To date the LSAH EVA training dataset includes over 12,500 EVA training sessions performed by NASA astronauts since 1981. The following variables are included for most records: Name, Sex, Event date, Event name, HUT type, HUT size, Facility, and Estimated run time. For a smaller subset of records, the following variables are available: Actual run time, Time inverted, and the suit components Waist bearing type, Shoulder harness, Shoulder pads, and Teflon inserts. The LSAH dataset is currently the most complete resource for data regarding EVA training sessions performed by NASA astronauts. However, it is not 100 percent complete since the WETS (Japan) and NBS (Marshall) training facility data were not included. This dataset has been compiled by LSAH to study the relationship of EVA training to musculoskeletal injuries but has many other non-medical applications. This dataset can be provided to other groups in order to respond to program and research questions with appropriate board approvals.

Laughlin, M. S.↗
NASA NTRS1992

Metabolic energy requirements for space flight

The international space community, including the USSR, Japan, Germany, the European Space Agency, and the US, is preparing for extended stays in space. Much of the research planned for space will be tended by humans, thus, maintaining adequate nutritional status during long stays in space has lately become an issue of much interest. Historically, it appears that minimum nutritional requirements are being met during stays in space. Thus far, crewmembers have been able to consume food adequate for maintaining nominal performance in microgravity. The physiological data obtained from ground-based and flight research that may enable us to understand the biochemical alterations that effect energy utilization and performance. Focus is on energy utilization during the Apollo lunar missions, Skylab's extended space lab missions, and Space Shuttle flights. Available data includes those recorded during intra- and extravehicular activities as well as during microgravity simulation (bed rest). Data on metabolism during flight and during bed rest are discussed, with a follow-up on human gastrointestinal function.

Lane, Helen W.↗
NASA NTRS2011

DAQ: Software Architecture for Data Acquisition in Sounding Rockets

A multithreaded software application was developed by Jet Propulsion Lab (JPL) to collect a set of correlated imagery, Inertial Measurement Unit (IMU) and GPS data for a Wallops Flight Facility (WFF) sounding rocket flight. The data set will be used to advance Terrain Relative Navigation (TRN) technology algorithms being researched at JPL. This paper describes the software architecture and the tests used to meet the timing and data rate requirements for the software used to collect the dataset. Also discussed are the challenges of using commercial off the shelf (COTS) flight hardware and open source software. This includes multiple Camera Link (C-link) based cameras, a Pentium-M based computer, and Linux Fedora 11 operating system. Additionally, the paper talks about the history of the software architecture's usage in other JPL projects and its applicability for future missions, such as cubesats, UAVs, and research planes/balloons. Also talked about will be the human aspect of project especially JPL's Phaeton program and the results of the launch.

Ahmad, Mohammad↗
NASA NTRS1998

Electronics Manufacturer Provided With Testing and Evaluation Data Necessary to Obtain Additional Orders

A local electronics manufacturer, the Sterling Manufacturing Company, was presented with the opportunity to supply 30,000 automotive cellular antennas to a European subsidiary of a large U.S. auto manufacturer. Although the company built an antenna that they believed would meet the auto manufacturer's specifications, they were unable to conduct the necessary validation tests in-house. They decided to work with NASA Lewis Research Center's Space Electronics Division, which, as part of its technology development program, evaluates the performance of antennas in its Microwave Systems Lab to assess their capabilities for space communications applications. Data measured in Lewis' Microwave Systems Lab proved that Sterling's antenna performed better than specified by the auto manufacturer.

Source record↗
NASA NTRS1994

On Io's 2.788-micron band: Origin by SO2 or H2O?

Laboratory reflectance spectra of SO2 frost and ice and thin H2O frost show that the recently reported band at 2.788 microns in Io's disk-integrated spectrum can be qualitatively explained by the presence of solid SO2 on Io's surface. However, the reported width of the Io band is too great to be explained by SO2 frost or ice alone. Lab spectra presented here, and other data cited here, show clearly that solid SO2 has a strong band at 2.789 microns, and that Io should have such a band. These results do not support the claim of Bregman et al. that H2O is the primary cause of the Io band.

Nash, Douglas B.↗
NASA NTRS2003

Geoscience Laser Altimeter System: Characteristics and Performance of the Altimeter Receiver

The Geoscience Laser Altimeter System (GLAS) on board ICESat spacecraft measures the surface height (altimetry) via the time of flight of its 1064 nm laser pulse. The GLAS laser transmitter produces 6 ns wide pulses with 70 mJ energy at 1064 nm at a 40 Hz rate. The altimeter receiver consists of a telescope, aft optics, a silicon avalanche photodiode, and electronic amplifiers. The transmitted and echo pulse waveforms are digitized at 1 GHz rate. The laser pulse time of flight is determined on the ground from the two digitized pulse waveforms and their positions in the full waveform record (about 5.4 ms ong) by computing the pulse centroids or by curve fitting. The GLAS receiver algorithms in on board software selects the two waveform segments containing the transmitted and the echo pulses and sends them to ground. The probability of echo pulse detection and the accuracy of time of flight measurement depend on the received signal level, the background light within the receiver field of view, the inherent detector and amplifier noise, the quantization of the digitizer, and some times by cloud obscurations. A receiver model has been developed to calculate the probability of detection and accuracy of the altimeter measurements with these noise sources. From prelaunch testing, the minimum detectable echo pulse energy for 90% detection probability was about 0.1 fj/pulse onto the detector. Such a receiver sensitivity allows GLAS to measure the surface height through clouds with optical density less than 2. The echo pulse energy required to achieve 10 cm ranging accuracy was found to be about 3 times higher than the minimum detectable signal level. The smallest single shot range measurement error, which was determined by ranging to a fixed target with strong echo pulses and no background light, was 2 to 3cm. The maximum linear response echo pulse energy was 10 fJ/pulse for the strongest echo signals, assuming a Lambertian scattering snow surface, clear sky atmosphere transmission, and no pulse width spreading due to surface slopes. Results from the initial 38 days of GLAS operation on-orbit with Laser 1, showed the echo pulse energies varied, as expected, over a wide dynamic range due to the variability of atmosphere transmission and Earth surface characteristics. The receiver was able to reliably detect the ground surface echoes and measure time of flight under such dynamic conditions, except when there were dense clouds. When over Antarctica, the echo pulse energies were several times stronger than predicted. This suggests that the 1064 nm backscattering from the snow pack and ice-sheet &ce are not completely Lambertian but is somewhat peaked at opposit.ion. With Laser 1, the peak amplitude of the echo pulses from flat ice sheets under clear sky conditions exceeded the linear response range of the receiver, causing some pulse waveform distortion due to saturation. We have characterized the effects of receiver saturation on the time of flight, pulse width, and pulse energy measurements for flat surface by testing a night spare detector in the lab with simulated echo pulses. A data processing algorithm that minimizes the errors due to saturation for these measurements are described.

Sun, Xiao-Li↗
NASA NTRS2004

An Apparatus for Monitoring the Health of Electrical Cables

As with most elements of infrastructure, electrical wiring is innocuous; usually hidden away and unnoticed until it fails. Failure of infrastructure, however, sometimes leads to serious health and safety hazards. Electrical wiring fails when the polymeric (usually rubber) insulation material that sheathes the conductor gets embrittled with age from exposure to pressure, temperature or radiation cycling or when the insulation gets removed by the chafing of wires against each other. Miles of such wiring can be found in typical aircraft, with significant lengths of the wiring immersed in aviation fuel - a recipe for an explosion if a spark were to occur. Diagnosing the health of wiring is thus an important aspect of monitoring the health of aging aircraft. Stress wave propagation through wiring affords a quick and non-invasive method for health monitoring. The extent to which a stress wave propagating through the cable core gets attenuated depends on the condition of the surrounding insulation. When the insulation is in good condition - supple and pliable, there is more damping or attenuation of the waveform. As the insulation gets embrittled and cracked, the attenuation is likely to reduce and the waveform of the propagating stress wave is likely to change. The monitoring of these changes provides a potential tool to evaluate wiring or cabling in service that is not accessible for visual inspection. This experiment has been designed for use in an introductory mechanical or materials engineering instrumentation lab. Initial setup (after procuring all the materials) should take the lab instructor about 4 hours. A single measurement can be initiated and saved to disk in less than 3 minutes, allowing for all the students in a typical lab section to take their own data rather than share a single set of data for the entire class.

Pai, Devdas M.↗
NASA NTRS2006

The Use of Dynamic Visual Acuity as a Functional Test of Gaze Stabilization Following Space Flight

After prolonged exposure to a given gravitational environment the transition to another is accompanied by adaptations in the sensorimotor subsystems, including the vestibular system. Variation in the adaptation time course of these subsystems, and the functional redundancies that exist between them make it difficult to accurately assess the functional capacity and physical limitations of astro/cosmonauts using tests on individual subsystems. While isolated tests of subsystem performance may be the only means to address where interventions are required, direct measures of performance may be more suitable for assessing the operational consequences of incomplete adaptation to changes in the gravitational environment. A test of dynamic visual acuity (DVA) is currently being used in the JSC Neurosciences Laboratory as part of a series of measures to assess the efficacy of a countermeasure to mitigate postflight locomotor dysfunction. In the current protocol, subjects visual acuity is determined using Landolt ring optotypes presented sequentially on a computer display. Visual acuity assessments are made both while standing and while walking at 1.8 m/s on a motorized treadmill. The use of a psychophysical threshold detection algorithm reduces the required number of optotype presentations and the results can be presented immediately after the test. The difference between the walking and standing acuity measures provides a metric of the change in the subject s ability to maintain gaze fixation on the visual target while walking. This functional consequence is observable regardless of the underlying subsystem most responsible for the change. Data from 15 cosmo/astronauts have been collected following long-duration (approx. 6 months) stays in space using a visual target viewing distance of 4.0 meters. An investigation of the group mean shows a change in DVA soon after the flight that asymptotes back to baseline approximately one week following their return to earth. The performance of some subjects nicely parallels the stereotypical recovery curve observed in the group mean data. Others show dramatic changes in DVA from one test day to another. These changes may be indicative of a re-adaptation process that is not characterized by a steady improvement with the passage of time, but is instead a dynamic search for appropriate coordinative strategy to achieve the desired gaze stabilization goal. Ground-based data have been collected in our lab using DVA with one of the goals being to improve the DVA test itself. In one of these studies, the DVA test was repeated using a visual target viewing distance of 0.5 meters. While walking, the relative contributions of the otoliths and semi-circular canals that are required to stabilize gaze are affected by visual target viewing distance. It may be possible to exploit this using the current treadmill DVA test to differentially assess changes in these vestibular subsystems. The postflight DVA evaluations currently used have been augmented to include the near target version of the test. Preliminary results from these assessments, as well as the results from the ground-based tests will also be reported. DVA provides a direct measure of a subject's ability to see clearly in the presence of self-motion. The use of the current tests for providing a functionally relevant metric is evident. However, it is possible to expand the scope of DVA testing to include scenarios other than walking. A facility for measuring DVA in the presence of passive movements is being created. Using a mechanized platform to provide the perturbation, it should be possible to simulate aircraft and automobile vibration profiles. Used in conjunction with the far and near visual displays this facility should be able to assess a subject s ability to clearly see distant objects as well as those that appear on the dashboard or instrument control panel during functionally relevant situations.

Peters, B. T.↗
NASA NTRS2010

An Acoustical Comparison of Sub-Scale and Full-Scale Far-Field Measurements for the Reusable Solid Rocket Motor

Recently, members of the Marshall Space Flight Center (MSFC) Fluid Dynamics Branch and Wyle Labs measured far-field acoustic data during a series of three Reusable Solid Rocket Motor (RSRM) horizontal static tests conducted in Promontory, Utah. The test motors included the Technical Evaluation Motor 13 (TEM-13), Flight Verification Motor 2 (FVM-2), and the Flight Simulation Motor 15 (FSM-15). Similar far-field data were collected during horizontal static tests of sub-scale solid rocket motors at MSFC. Far-field acoustical measurements were taken at multiple angles within a circular array centered about the nozzle exit plane, each positioned at a radial distance of 80 nozzle-exit-diameters from the nozzle. This type of measurement configuration is useful for calculating rocket noise characteristics such as those outlined in the NASA SP-8072 "Acoustic Loads Generated by the Propulsion System." Acoustical scaling comparisons are made between the test motors, with particular interest in the Overall Sound Power, Acoustic Efficiency, Non-dimensional Relative Sound Power Spectrum, and Directivity. Since most empirical data in the NASA SP-8072 methodology is derived from small rockets, this investigation provides an opportunity to check the data collapse between a sub-scale and full-scale rocket motor.

Haynes, Jared↗
NASA NTRS2014

Potential Follow on Experiments for the Zero Boil Off Tank Experiment

Cryogenic Storage &Transfer are enabling propulsion technologies in the direct path of nearly all future human or robotic missions; It is identified by NASA as an area with greatest potential for cost saving; This proposal aims at resolving fundamental scientific issues behind the engineering development of the storage tanks; We propose to use the ISS lab to generate & collect archival scientific data:, raise our current state-of-the-art understanding of transport and phase change issues affecting the storage tank cryogenic fluid management (CFM), develop and validate state-of-the-art CFD models to innovate, optimize, and advance the future engineering designs

Thermodynamics↗
NASA NTRS2016

Aerosol Optical Properties at the Lulin Atmospheric Background Station in Taiwan and the Influences of Long-Range Transport of Air Pollutants

The Lulin Atmospheric Background Station (LABS, 23.47 deg. N 120.87 deg. E, 2862 m ASL) in Central Taiwan was constructed in 2006 and is the only high-altitude background station in the western Pacific region for studying the influence of continental outflow. In this study, extensive optical properties of aerosols, including the aerosol light scattering coefficient [Sigma(sub s)] and light absorption coefficient [Sigma(sub a)], were collected from 2013 to 2014. The intensive optical properties, including mass scattering efficiency [Sigma(sub s)], mass absorption efficiency [Sigma(sub a)] single scattering albedo (Omega), scattering Angstrom exponent (A), and backscattering fraction (b), were determined and investigated, and the distinct seasonal cycle was observed. The value of [Alpha(sub a)] began to increase in January and reached a maximum in April; the mean in spring was 5.89 m(exp. 2) g(exp. -1) with a standard deviation (SD) of 4.54 m(exp. 2) g(exp. -1) and a 4.48 m(exp. 2) g(exp. -1) interquartile range (IQR: 2.95-7.43 m(exp. 2) g(exp. -1). The trend was similar in [Sigma(sub a)], with a maximum in March and a monthly mean of 0.84 m(exp. 2) g(exp. -1). The peak values of Omega (Mean = 0.92, SD = 0.03, IQR: 0.90 - 0.93) and A (Mean = 2.22, SD = 0.61, IQR: 2.12 = 2.47) occurred in autumn. These annual patterns of optical properties were associated with different long-range transport patterns of air pollutants such as biomass burning (BB) aerosol in spring and potential anthropogenic emissions in autumn. The optical measurements performed at LABS during spring in 2013 were compared with those simultaneously performed at the Doi Ang Kang Meteorology Station, Chiang Mai Province, Thailand (DAK, 19.93 deg. N, 99.05 deg. E, 1536 m a.s.l.), which is located in the Southeast Asia BB source region. Furthermore, the relationships among [Sigma(sub s)], [Sigma(sub a)], and (b) were used to characterize the potential aerosol types transported to LABS during different seasons, and the data were inspected according to the HYSPLIT 5-day backward trajectories, which differentiate between different regions of air mass origin.

aerosol optical properties↗
NASA NTRS2015

Advanced Computing Support at NASA Advanced Supercomputing (NAS) Division

NAS (NASA Advanced Supercomputing) Division: Advanced Computing: High-End Computing Capability (HECC) Project; Quantum Artificial Intelligence Lab (QuAIL); NASA Earth Exchange (NEX); Data Analytics Infrastructure for NASA; Cloud Services for Science & Engineering Projects.

Advanced Computing↗
NASA NTRSDate not supplied

The Role of Trust and Usability in Enabling Spaceflight Crew Autonomy

Future long duration exploration missions will require an increased use of onboard automated systems as spaceflight crews venture further than before and have longer communications delays with ground support. The design of these systems must support appropriate crew trust and have sufficient usability to enable spaceflight crew autonomy or risk being misused while crews wait to communicate with ground support. We evaluated trust & usability in our self-scheduling tool, Playbook, for crew mission timelines. Data was collected in a controlled lab experiment with 31 participants. Participants in the study conducted two tasks: scheduling, where participants were responsible for scheduling a majority of a day's operational tasks, and rescheduling, where participants were provided a schedule and asked to reschedule higher priority activities. We found a significant correlation between system trust and usability, irrespective of self-scheduling tasks. We conclude that system usability may play a bigger role in how trust is learned while conducting novel crew autonomy tasks such as self-scheduling. Future research should investigate the role of usability to encourage appropriate trust in onboard automated crew systems and enable crew autonomy.

crew autonomy↗
NASA NTRS2012

Software Reuse in the Planetary Context: The JPL/MIPL Mars Program Suite

Reuse greatly reduces development costs. Savings can be invested in new/improved capabilities Or returned to sponsor Worth the extra time to "do it right" Operator training greatly reduced. MIPL MER personnel can step into MSL easily because the programs are familiar. Application programs much easier to write. Can assume core capabilities exist already. Multimission Instrument (Image) Processing Lab at MIPL Responsible for the ground-based instrument data processing for (among other things) all recent in-situ Mars missions: Mars Pathfinder Mars Polar Lander (MPL) Mars Exploration Rovers (MER) Phoenix Mars Science Lab (MSL) Responsibilities for in-situ missions Reconstruction of instrument data from telemetry Systematic creation of Reduced Data Records (RDRs) for images Creation of special products for operations, science, and public outreach In the critical path for operations MIPL products required for planning the next Sol s activities

Software Design↗
NASA NTRS2007

Window Observational Research Facility (WORF)

This viewgraph document concerns the Window Observational Research Facility (WORF) Rack, a unique facility designed for use with the US Lab Destiny Module window. WORF will provide valuable resources for Earth Science payloads along with serving the purpose of protecting the lab window. The facility can be used for remote sensing instrumentation test and validation in a shirt sleeve environment. WORF will also provide a training platform for crewmembers to do orbital observations of other planetary bodies. WORF payloads will be able to conduct terrestrial studies utilizing the data collected from utilizing WORF and the lab window.

Pelfrey, Joseph↗
NASA NTRS1994

Determining F-factor using ground-based Doppler radar: Validation and results

Using a two-dimensional linear least-squares method applied to Doppler radar data, we test the viability of determining F-factor remotely. The ultimate application of such an algorithm will be supplying real-time F-factor maps, derived from ground-based Doppler radars to air traffic control personnel and pilots. Data from NASA deployments to the MIT/Lincoln Lab TDWR testbed radar in Orlando in 1991 and 1992 along with NASA deployments to the NCAR TDWR testbed radar in Denver are examined. Preliminary analyses show that the two-dimensional method correlates reasonably well with in situ measurements. Several effects, independent of the method used, act to reduce the correlation to less than one. These include time differences between radar and aircraft data, vertical misalignment between the aircraft and the radar beam, different spatial resolution scales between aircraft and radar data, inhomogeneous radar beam filling, noise in radar data that eludes filtering, and phase lag between time and space due to low pass filtering of the aircraft data. In the final assessment, it appears that a shear-based F-factor algorithm is preferable to the currently implemented TDWR algorithms which lack any local shear estimates.

Elmore, K. L.↗
NASA NTRSDate not supplied

Accuracy of Center of Pressure Determination via Motion Capture

BACKGROUND: This study was conducted to support the stability assessment for tasks in lunar gravity and exercises on a Vibration Isolation and Stabilization (VIS) system in microgravity based on the dynamic feasibility criterion of whether the calculated position of the center of pressure (COP) falls within the base of support (BOS) which outlines the subject’s feet. Motion capture data combined with biomechanical modeling and simulation allows the forces and moments between the human and the VIS platform to be computed and the position of the COP as well as the location and shape of the BOS to be determined. The goal of this study was to assess the accuracy of the COP trajectory calculated using motion capture-based data. METHODS AND RESULTS: To obtain the dynamic quantities from which COP is calculated, motion capture data is first collected in the 1g lab environment by recording the trajectories of passive retroreflective markers placed on a subject during exercise or performance of a given task. The OpenSim [1] inverse kinematics (IK) tool is used to fit a scaled subject model to recorded marker trajectories while minimizing marker error to obtain joint angles. Then, a custom OpenSim plugin [2] is used to determine the subject’s time-varying moment of inertia and its time derivative, center of mass (CM) position, velocity, and acceleration, as well as the angular momentum and its time derivative relative to the subject’s CM. Some of these quantities are not needed for modeling tasks performed on a stationary lunar surface but, due to the moving exercise platform, are needed to model VIS response to the subject’s motion. Hand positions, used in calculating a cable force if present, are recorded as well. These quantities are used to calculate the total force (F ⃗^((plate) )) and moment (M ⃗^((plate) )) exerted by the lunar surface or the VIS plate on the subject’s shoe soles. COP is then calculated from the following equations: r_x^((cop) )= M_z^((plate) )/F_y^((plate) ) and r_z^((cop) )= 〖-M〗_x^((plate) )/F_y^((plate) ), where the y axis is normal to the surface. COP accuracy for feasibility assessments is then determined by whether it falls within the BOS, which is also computed by the plugin. To study the accuracy of COP calculated from motion capture, we first investigated whether COP remained within the BOS, as it must, for exercises performed in the 1g lab environment. Standard exercises such as back squat and deadlift were analyzed, as well as more explosive exercises including hang clean and press. Cases in which the COP exited the BOS indicated that COP accuracy required further investigation. In this study, an exercise device with cables was used, so cable force modeling accuracy should also be considered. In a separate study, we collected motion capture and force plate data for twenty-seven motions not involving an exercise device. About a third were genuine countermeasures exercises (e.g., hang clean and press), some were relevant for lunar tasks (e.g., object pick up), and the rest were of a “unit test” nature (e.g., swaying back and forth or side to side). Motion capture-based COP positions were compared with force plate measured COP. We found that while force plate measured COP remained within the BOS, motion capture-based COP was observed to briefly exit the BOS on occasion. Techniques to mitigate IK artifacts and filtering of calculated data could be used to improve the agreement of calculated and measured results, resolving excursions from the BOS within this dataset. The mean error between calculated and measured COP was found to be less than 6 mm. Additionally, we derived and investigated equations for the COP in terms of the cable force, cable location, as well as the human CM position, acceleration, and angular momentum with respect to the CM, and analyzed them for sensitivity to errors in individual quantities. Several were found, but the most significant one was that when the vertical force on the feet approaches zero, indicating a near-detachment or ‘jump off’ condition, errors are amplified. This is consistent with the observation that in the absence of pressure, the concept of the center of pressure would become meaningless.

C A Bell↗