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NASA NTRS2003

An Interface for Specifying Rigid-Body Motions for CFD Applications

An interface for specifying rigid-body motions for CFD applications is presented. This interface provides a means of describing a component hierarchy in a geometric configuration, as well as the motion (prescribed or six-degree-of-freedom) associated with any component. The interface consists of a general set of datatypes, along with rules for their interaction, and is designed to be flexible in order to evolve as future needs dictate. The specification is currently implemented with an XML file format which is portable across platforms and applications. The motion specification is capable of describing general rigid body motions, and eliminates the need to write and compile new code within the application software for each dynamic configuration, allowing client software to automate dynamic simulations. The interface is integrated with a GUI tool which allows rigid body motions to be prescribed and verified interactively, promoting access to non-expert users. Illustrative examples, as well as the raw XML source of the file specifications, are included.

Murman, Scott M.↗

NASA NTRS1997

Developments in Human Centered Cueing Algorithms for Control of Flight Simulator Motion Systems

The authors conducted further research with cueing algorithms for control of flight simulator motion systems. A variation of the so-called optimal algorithm was formulated using simulated aircraft angular velocity input as a basis. Models of the human vestibular sensation system, i.e. the semicircular canals and otoliths, are incorporated within the algorithm. Comparisons of angular velocity cueing responses showed a significant improvement over a formulation using angular acceleration input. Results also compared favorably with the coordinated adaptive washout algorithm, yielding similar results for angular velocity cues while eliminating false cues and reducing the tilt rate for longitudinal cues. These results were confirmed in piloted tests on the current motion system at NASA-Langley, the Visual Motion Simulator (VMS). Proposed future developments by the authors in cueing algorithms are revealed. The new motion system, the Cockpit Motion Facility (CMF), where the final evaluation of the cueing algorithms will be conducted, is also described.

Houck, Jacob A.↗

NASA NTRS1999

Visual-vestibular integration motion perception reporting

Self-orientation and self/surround-motion perception derive from a multimodal sensory process that integrates information from the eyes, vestibular apparatus, proprioceptive and somatosensory receptors. Results from short and long duration spaceflight investigations indicate that: (1) perceptual and sensorimotor function was disrupted during the initial exposure to microgravity and gradually improved over hours to days (individuals adapt), (2) the presence and/or absence of information from different sensory modalities differentially affected the perception of orientation, self-motion and surround-motion, (3) perceptual and sensorimotor function was initially disrupted upon return to Earth-normal gravity and gradually recovered to preflight levels (individuals readapt), and (4) the longer the exposure to microgravity, the more complete the adaptation, the more profound the postflight disturbances, and the longer the recovery period to preflight levels. While much has been learned about perceptual and sensorimotor reactions and adaptation to microgravity, there is much remaining to be learned about the mechanisms underlying the adaptive changes, and about how intersensory interactions affect perceptual and sensorimotor function during voluntary movements. During space flight, SMS and perceptual disturbances have led to reductions in performance efficiency and sense of well-being. During entry and immediately after landing, such disturbances could have a serious impact on the ability of the commander to land the Orbiter and on the ability of all crew members to egress from the Orbiter, particularly in a non-nominal condition or following extended stays in microgravity. An understanding of spatial orientation and motion perception is essential for developing countermeasures for Space Motion Sickness (SMS) and perceptual disturbances during spaceflight and upon return to Earth. Countermeasures for optimal performance in flight and a successful return to Earth require the development of preflight and in-flight training to help astronauts acquire and maintain a dual adaptive state. Despite the considerable experience with, and use of, an extensive set of countermeasures in the Russian space program, SMS and perceptual disturbances remain an unresolved problem on long-term flights. Reliable, valid perceptual reports are required to develop and refine stimulus rearrangements presented in the PAT devices currently being developed as countermeasures for the prevention of motion sickness and perceptual disturbances during spaceflight, and to ensure a less hazardous return to Earth. Prior to STS-8, crew member descriptions of their perceptual experiences were, at best, anecdotal. Crew members were not schooled in the physiology or psychology of sensory perception, nor were they exposed to the appropriate professional vocabulary. However, beginning with the STS-8 Shuttle flight, a serious effort was initiated to teach astronauts a systematic method to classify and quantify their perceptual responses in space, during entry, and after flight. Understanding, categorizing, and characterizing perceptual responses to spaceflight has been greatly enhanced by implementation of that training system.

Harm, Deborah L.↗

NASA NTRS1947

On the Theory of the Unsteady Motion of an Airfoil

The paper presents a systematical analysis of the problem of the determination of the unsteady motion about an airfoil moving in an infinite fluid that contains a system of vortices and the determination of the hydrodynamical forces acting on the airfoil. The hydrodynamical problem is reduced to the determination of the function f (xi) which transforms conformally the external region of the airfoil into the interior of a circle. The proposed methods of determining the irrotational motion of a fluid that is produced by any motion of the airfoil are especially simple and effective if the function f (xi) is rational. As an example the flow is determined for the case of an arbitrary motion of an airfoil of the Joukowsky type. The formulas obtained for the determination of the hydrodynamical forces by means of contour integration are similar to those given by S. Chaplygin. These formulas are used to determine the force acting on the airfoil in the cases where the unsteady motion is potential throughout and the circulation about the airfoil is constant and also when the fluid contains a system of vortices. A full discussion is given of the concept of virtual masses together with practical formulas for computing the virtual mass coefficients.

Sedov, L. I.↗

NASA NTRS2005

Safety Ellipse Motion with Coarse Sun Angle Optimization

The Hubble Space Telescope Robotic Servicing and De-orbit Mission (HRSDM) was t o be performed by the unmanned Hubble Robotic Vehicle (HRV) consisting of a Deorbit Module (DM), responsible for the ultimate disposal of Hubble Space Telescope (HST) at the end of science operations, and an Ejection Module (EM), responsible for robotically servicing the HST to extend its useful operational lifetime. HRSDM consisted of eight distinct phases, including: launch, pursuit, proximity operations, capture, servicing, EM jettison and disposal, science operations, and deorbit. The scope of this paper is limited to the Proximity Operations phase of HRSDM. It introduces a relative motion strategy useful for Autonomous Rendezvous and Docking (AR&D) or Formation Flying missions where safe circumnavigation trajectories, or close proximity operations (tens or hundreds of meters) are required for extended periods of time. Parameters and algorithms used to model the relative motion of HRV with respect to HST during the Proximity Operations phase of the HRSDM are described. Specifically, the Safety Ellipse (SE) concept, convenient parameters for describing SE motion, and a concept for initializing SE motion around a target vehicle to coarsely optimize sun and relative navigation sensor angles are presented. The effects of solar incidence angle variations on sun angle optimization, and the effects of orbital perturbations and navigation uncertainty on long term SE motion are discussed.

Naasz, Bo↗

NASA NTRS2005

A Statistical Analysis of Loop-Top Motion in Solar Limb Flares

Previous studies of hot, thermal solar flare loops imaged with the Ramaty High Energy Solar Spectroscopic Imager (RHESSI) have identified several flares for which the loop top shrinks downward early in the impulsive phase and then expands upward later in the impulsive phase (Sui & Holman 2003; Sui, Holman & Dennis 2004; Veronig et al. 2005). This early downward motion is not predicted by flare models. We study a statistical sample of RHESSI flares to assess how common this evolution is and to better characterize it. In a sample of 88 flares near the solar lin$ that show identifiable loop structure in RHESSI images, 66% (58 flares) showed downward loop-top motion followed by upward motion. We therefore conclude that the early downward motion is a frequent characteristic of flare loops. We obtain the distribution of the timing of the change from downward to upward motion relative to flare start and peak times. We also obtain the distributions of downward and upward speeds.

Holman, Gordon D.↗

NASA NTRS2006

Modification of Eye Movements and Motion Perception during Off-Vertical Axis Rotation

Constant velocity Off-Vertical Axis Rotation (OVAR) imposes a continuously varying orientation of the head and body relative to gravity. The ensuing ocular reflexes include modulation of both torsional and horizontal eye movements as a function of the varying linear acceleration along the lateral plane, and modulation of vertical and vergence eye movements as a function of the varying linear acceleration along the sagittal plane. Previous studies have demonstrated that tilt and translation otolith-ocular responses, as well as motion perception, vary as a function of stimulus frequency during OVAR. The purpose of this study is to examine normative OVAR responses in healthy human subjects, and examine adaptive changes in astronauts following short duration space flight at low (0.125 Hz) and high (0.5 Hz) frequencies. Data was obtained on 24 normative subjects (14 M, 10 F) and 14 (13 M, 1F) astronaut subjects. To date, astronauts have participated in 3 preflight sessions (n=14) and on R+0/1 (n=7), R+2 (n= 13) and R+4 (n= 13) days after landing. Subjects were rotated in darkness about their longitudinal axis 20 deg off-vertical at constant rates of 45 and 180 deg/s, corresponding to 0.125 and 0.5 Hz. Binocular responses were obtained with video-oculography. Perceived motion was evaluated using verbal reports and a two-axis joystick (pitch and roll tilt) mounted on top of a two-axis linear stage (anterior-posterior and medial-lateral translation). Eye responses were obtained in ten of the normative subjects with the head and trunk aligned, and then with the head turned relative to the trunk 40 deg to the right or left of center. Sinusoidal curve fits were used to derive amplitude, phase and bias of the responses over several cycles at each stimulus frequency. Eye responses during 0.125 Hz OVAR were dominated by modulation of torsional and vertical eye position, compensatory for tilt relative to gravity. While there is a bias horizontal slow phase velocity (SPV), the modulation of horizontal and vergence SPV is negligible at this lower stimulus frequency. Eye responses during 0.5 Hz OVAR; however, are characterized by modulation of horizontal and vergence SPV, compensatory for translation in the lateral and sagittal planes, respectively. Neither amplitude nor bias velocities were significantly altered by head-on-trunk position. The phases of the ocular reflexes, on the other hand, shifted towards alignment with the head. During the lower frequency OVAR, subjects reported the perception of progressing along the edge of a cone. During higher frequency OVAR, subjects reported the perception of progressing along the edge of an upright cylinder. In contrast to the eye movements, the phase of both perceived tilt and translation motion is not altered by stimulus frequency. Preliminary results from astronaut data suggest that the ocular responses are not substantially altered by short-duration spaceflight. However, compared to preflight averages, astronauts reported greater amplitude of both perceived tilt and translation at low and high frequency, respectively, during early post-flight testing. We conclude that the neural processing to distinguish tilt and translation linear acceleration stimuli differs between eye movements and motion perception. The results from modifying head-on-trunk position are consistent with the modulation of ocular reflexes during OVAR being primarily mediated by the otoliths in response to the sinusoidally varying linear acceleration along the interaural and naso-occipital head axis. While the tilt and translation ocular reflexes appear to operate in an independent fashion, the timing of perceived tilt and translation influence each other. We conclude that the perceived motion path during linear acceleration in darkness results from a composite representation of tilt and translation inputs from both vestibular and somatosensory systems.

Wood, S. J.↗

NASA NTRS2007

Stroboscopic Vision as a Treatment for Space Motion Sickness

Results obtained from space flight indicate that most space crews will experience some symptoms of motion sickness causing significant impact on the operational objectives that must be accomplished to assure mission success. Based on the initial work of Melvill Jones we have evaluated stroboscopic vision as a method of preventing motion sickness. Given that the data presented by professor Melvill Jones were primarily post hoc results following a study not designed to investigate motion sickness, it is unclear how motion sickness results were actually determined. Building on these original results, we undertook a three part study that was designed to investigate the effect of stroboscopic vision (either with a strobe light or LCD shutter glasses) on motion sickness using: (1) visual field reversal, (2) Reading while riding in a car (with or without external vision present), and (3) making large pitch head movements during parabolic flight.

Reschke, Millard F.↗

NASA NTRS2006

Tilt and Translation Motion Perception during Off Vertical Axis Rotation

The effect of stimulus frequency on tilt and translation motion perception was studied during constant velocity off-vertical axis rotation (OVAR), and compared to the effect of stimulus frequency on eye movements. Fourteen healthy subjects were rotated in darkness about their longitudinal axis 10deg and 20deg off-vertical at 0.125 Hz, and 20deg offvertical at 0.5 Hz. Oculomotor responses were recorded using videography, and perceived motion was evaluated using verbal reports and a joystick with four degrees of freedom (pitch and roll tilt, mediallateral and anteriorposterior translation). During the lower frequency OVAR, subjects reported the perception of progressing along the edge of a cone. During higher frequency OVAR, subjects reported the perception of progressing along the edge of an upright cylinder. The modulation of both tilt recorded from the joystick and ocular torsion significantly increased as the tilt angle increased from 10deg to 20deg at 0.125 Hz, and then decreased at 0.5 Hz. Both tilt perception and torsion slightly lagged head orientation at 0.125 Hz. The phase lag of torsion increased at 0.5 Hz, while the phase of tilt perception did not change as a function of frequency. The amplitude of both translation perception recorded from the joystick and horizontal eye movements was negligible at 0.125 Hz and increased as a function of stimulus frequency. While the phase lead of horizontal eye movements decreased at 0.5 Hz, the phase of translation perception did not vary with stimulus frequency and was similar to the phase of tilt perception during all conditions. During dynamic linear acceleration in the absence of other sensory input (canal, vision) a change in stimulus frequency alone elicits similar changes in the amplitude of both self motion perception and eye movements. However, in contrast to the eye movements, the phase of both perceived tilt and translation motion is not altered by stimulus frequency. We conclude that the neural processing to distinguish tilt and translation linear acceleration stimuli differs between eye movements and motion perception.

Wood, Scott J.↗

NASA NTRS2007

Robust, Flexible Motion Control for the Mars Explorer Rovers

The Mobility Flight Software, running on computers aboard the Mars Explorer Rover (MER) robotic vehicles Spirit and Opportunity, affords the robustness and flexibility of control to enable safe and effective operation of these vehicles in traversing natural terrain. It can make the vehicles perform specific maneuvers commanded from Earth, and/or can autonomously administer multiple aspects of mobility, including choice of motion, measurement of actual motion, and even selection of targets to be approached. Motion of a vehicle can be commanded by use of multiple layers of control, ranging from motor control at a low level, direct drive operations (e.g., motion along a circular arc, motion along a straight line, or turn in place) at an intermediate level to goal-position driving (that is, driving to a specified location) at a high level. The software can also perform high-level assessment of terrain and selection of safe paths across the terrain: this involves processing of the digital equivalent of a local traversability map generated from images acquired by stereoscopic pairs of cameras aboard the vehicles. Other functions of the software include interacting with the rest of the MER flight software and performing safety checks.

Maimone, Mark↗

NASA NTRS2010

Motion Perception and Manual Control Performance During Passive Tilt and Translation Following Space Flight

This joint ESA-NASA study is examining changes in motion perception following Space Shuttle flights and the operational implications of post-flight tilt-translation ambiguity for manual control performance. Vibrotactile feedback of tilt orientation is also being evaluated as a countermeasure to improve performance during a closed-loop nulling task. METHODS. Data has been collected on 5 astronaut subjects during 3 preflight sessions and during the first 8 days after Shuttle landings. Variable radius centrifugation (216 deg/s) combined with body translation (12-22 cm, peak-to-peak) is utilized to elicit roll-tilt perception (equivalent to 20 deg, peak-to-peak). A forward-backward moving sled (24-390 cm, peak-to-peak) with or without chair tilting in pitch is utilized to elicit pitch tilt perception (equivalent to 20 deg, peak-to-peak). These combinations are elicited at 0.15, 0.3, and 0.6 Hz for evaluating the effect of motion frequency on tilt-translation ambiguity. In both devices, a closed-loop nulling task is also performed during pseudorandom motion with and without vibrotactile feedback of tilt. All tests are performed in complete darkness. PRELIMINARY RESULTS. Data collection is currently ongoing. Results to date suggest there is a trend for translation motion perception to be increased at the low and medium frequencies on landing day compared to pre-flight. Manual control performance is improved with vibrotactile feedback. DISCUSSION. The results of this study indicate that post-flight recovery of motion perception and manual control performance is complete within 8 days following short-duration space missions. Vibrotactile feedback of tilt improves manual control performance both before and after flight.

Clement, Gilles↗

NASA NTRS2002

Predicting Motion Sickness During Parabolic Flight

Background: There are large individual differences in susceptibility to motion sickness. Attempts to predict who will become motion sick have had limited success. In the present study we examined gender differences in resting levels of salivary amylase and total protein, cardiac interbeat intervals (R-R intervals), and a sympathovagal index and evaluated their potential to correctly classify individuals into two motion sickness severity groups. Methods: Sixteen subjects (10 men and 6 women) flew 4 sets of 10 parabolas aboard NASA's KC-135 aircraft. Saliva samples for amylase and total protein were collected preflight on the day of the flight and motion sickness symptoms were recorded during each parabola. Cardiovascular parameters were collected in the supine position 1-5 days prior to the flight. Results: There were no significant gender differences in sickness severity or any of the other variables mentioned above. Discriminant analysis using salivary amylase, R-R intervals and the sympathovagal index produced a significant Wilks' lambda coefficient of 0.36, p= 0.006. The analysis correctly classified 87% of the subjects into the none-mild sickness or the moderate-severe sickness group. Conclusions: The linear combination of resting levels of salivary amylase, high frequency R-R interval levels, and a sympathovagal index may be useful in predicting motion sickness severity.

Harm, Deborah L.↗

NASA NTRS2011

The Solar Neighborhood. XXV. Discovery of New Proper Motion Stars with 0.40 sec/yr > mu > or = 0.18 sec/yr Between Declinations -47 deg and 00 deg

We present 2817 new southern proper motion systems with 0.40 sec/yr > mu > or = 0.18 sec/yr and declination between 47 deg and 00 deg. This is a continuation of the SuperCOSMOS-RECONS (SCR) proper motion searches of the southern sky. We use the same photometric relations as previous searches to provide distance estimates based on the assumption that the objects are single main-sequence stars. We find 79 new red dwarf systems predicted to be within 25 pc, including a few new components of previously known systems. Two systems--SCR 1731-2452 at 9.5 pc and SCR 1746-3214 at 9.9 pc--are anticipated to be within 10 pc. We also find 23 new white dwarf (WD) candidates with distance estimates of 15-66 pc, as well as 360 new red subdwarf candidates. With this search, we complete the SCR sweep of the southern sky for stars with mu > or = 0.18 sec/yr and R(sub 59F) < or = 16.5, resulting in a total of 5042 objects in 4724 previously unreported proper motion systems. Here we provide selected comprehensive lists from our SCR proper motion search to date, including 152 red dwarf systems estimated to be within 25 pc (9 within 10 pc), 46 WDs (10 within 25 pc), and 598 subdwarf candidates. The results of this search suggest that there are more nearby systems to be found at fainter magnitudes and lower proper motion limits than those probed so far.

LOW MASS STARS↗

NASA NTRS2012

The Effect of Geocenter Motion on Jason-2 Orbits and the Mean Sea Level

We compute a series of Jason-2 GPS and SLR/DORIS-based orbits using ITRF2005 and the std0905 standards (Lemoine et al. 2010). Our GPS and SLR/DORIS orbit data sets span a period of 2 years from cycle 3 (July 2008) to cycle 74 (July 2010). We extract the Jason-2 orbit frame translational parameters per cycle by the means of a Helmert transformation between a set of reference orbits and a set of test orbits. We compare the annual terms of these time-series to the annual terms of two different geocenter motion models where biases and trends have been removed. Subsequently, we include the annual terms of the modeled geocenter motion as a degree-1 loading displacement correction to the GPS and SLR/DORIS tracking network of the POD process. Although the annual geocenter motion correction would reflect a stationary signal in time, under ideal conditions, the whole geocenter motion is a non-stationary process that includes secular trends. Our results suggest that our GSFC Jason-2 GPS-based orbits are closely tied to the center of mass (CM) of the Earth consistent with our current force modeling, whereas GSFC's SLR/DORIS-based orbits are tied to the origin of ITRF2005, which is the center of figure (CF) for sub-secular scales. We quantify the GPS and SLR/DORIS orbit centering and how this impacts the orbit radial error over the globe, which is assimilated into mean sea level (MSL) error, from the omission of the annual term of the geocenter correction. We find that for the SLR/DORIS std0905 orbits, currently used by the oceanographic community, only the negligence of the annual term of the geocenter motion correction results in a 4.67 plus or minus 3.40 mm error in the Z-component of the orbit frame which creates 1.06 plus or minus 2.66 mm of systematic error in the MSL estimates, mainly due to the uneven distribution of the oceans between the North and South hemisphere.

Melachroinos, S. A.↗

NASA NTRS2012

MISR 17.6 KM Gridded Cloud Motion Vectors: Overview and Assessment

The MISR (Multi-angle Imaging SpectroRadiometer) instrument on the Terra satellite has been retrieving cloud motion vectors (CMVs) globally and almost continuously since early in 2000. In February 2012 the new MISR Level 2 Cloud product was publicly released, providing cloud motion vectors at 17.6 km resolution with improved accuracy and roughly threefold increased coverage relative to the 70.4 km resolution vectors of the current MISR Level 2 Stereo product (which remains available). MISR retrieves both horizontal cloud motion and height from the apparent displacement due to parallax and movement of cloud features across three visible channel (670nm) camera views over a span of 200 seconds. The retrieval has comparable accuracy to operational atmospheric motion vectors from other current sensors, but holds the additional advantage of global coverage and finer precision height retrieval that is insensitive to radiometric calibration. The MISR mission is expected to continue operation for many more years, possibly until 2019, and Level 2 Cloud has the possibility of being produced with a sensing-to-availability lag of 5 hours. This report compares MISR CMV with collocated motion vectors from arctic rawinsonde sites, and from the GOES and MODISTerra instruments. CMV at heights below 3 km exhibit the smallest differences, as small as 3.3 m/s for MISR and GOES. Clouds above 3 km exhibit larger differences, as large as 8.9 m/s for MISR and MODIS. Typical differences are on the order of 6 m/s.

MISR (Multi-angle Imaging SpectroRadiometer)↗

NASA NTRS2017

Decadal Polar Motion of the Earth Excited by the Convective Outer Core From Geodynamo Simulations

Long time geodetic observation records show that the orientation of the Earth's rotation axis with respect to the terrestrial reference frame, or polar motion, changes on a broad range of timescales. Apart from external torques from the luni-solar tides, these changes are excited by interactions among different components of the Earth system. The convective fluid outer core has long been conjectured a likely contributor to the observed polar motion on timescales upward of decades, such as the 30 year Markowitz wobble. We investigated the electromagnetic coupling scenario across the core-mantle boundary via numerical geodynamo simulation for different geodynamo parameters (Rayleigh numbers and magnetic Rossby numbers). Our simulated polar motion varies strongly with the dynamo parameters, while its excitation on decadal timescales appear to converge asymptotically within the adopted range of numerical Rossby numbers. Three strongest asymptotic modes emerge from numerical results, with periods around 30, 40, and 60 years for the prograde excitation and around 24, 30, and 60 years for the retrograde excitation. Their amplitudes are all larger than 5 times 10 (sup minus 8), or approximately 10 milliseconds of arc.The results suggest that the electromagnetic core-mantle coupling could explain a substantial portion, if not all, of the observed decadal polar motion. In particular, the predicted 60 year polar motion deserves special attention for future observations and studies.

Kuang, W.↗

NASA NTRS2019

Motion Cueing for Stall Recovery Training in Commercial Transport Simulators

Starting in 2019, airline pilots will be required to perform full stall recovery training in flight simulators. Historically, training simulators weren't required to provide training at conditions outside their normal flight envelope. Post-stall aircraft models are generally required to be implemented to simulate the aircraft response after the stall point. In addition, motion cues need to adequately represent this response to ensure the skills learned in simulator training are directly usable in real flight. This paper provides and overview of six simulator experiments conducted at NASA Ames Research Center to develop a motion cueing strategies for stall recovery training in commercial transport simulators. One of the experiments verified an enhanced motion cueing strategy for stall recovery training on a level-D-certified full flight simulator. This study showed that the enhanced motion results in lower maximum roll angles in the stall maneuver, lower minimum load factors in the recovery, lower numbers of secondary stick shakers in the stall recovery, and a lower maximum airspeed in the recovery. These results indicate that relatively minor enhancements to the motion logic of heritage commercial transport simulators can significantly improve pilot performance in simulated stall recoveries, and potentially improve stall recovery training.

stall recovery↗

NASA NTRS2019

Motion Cueing for Stall Recovery Training in Commercial Transport Simulators

stall recovery↗