Using Continous Planning Techniques to Coordinate Multiple Rovers
This paper describes a dynamic planning system for coordinating multiple rovers in collecting planetary surface data.
planning automated command generation distributed ↗
SEARCH · Search NASA
Results for “dynamic data collection”
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
SEDS1 mission software verification using a signal simulator
The first flight of the Small Expendable Deployer System (SEDS1) is schedule to fly as the secondary payload of a Delta 2 in March, 1993. The objective of the SEDS1 mission is to collect data to validate the concept of tethered satellite systems and to verify computer simulations used to predict their behavior. SEDS1 will deploy a 50 lb. instrumented satellite as an end mass using a 20 km tether. Langley Research Center is providing the end mass instrumentation, while the Marshall Space Flight Center is designing and building the deployer. The objective of the experiment is to test the SEDS design concept by demonstrating that the system will satisfactorily deploy the full 20 km tether without stopping prematurely, come to a smooth stop on the application of a brake, and cut the tether at the proper time after it swings to the local vertical. Also, SEDS1 will collect data which will be used to test the accuracy of tether dynamics models used to stimulate this type of deployment. The experiment will last about 1.5 hours and complete approximately 1.5 orbits. Radar tracking of the Delta II and end mass is planned. In addition, the SEDS1 on-board computer will continuously record, store, and transmit mission data over the Delta II S-band telemetry system. The Data System will count tether windings as the tether unwinds, log the times of each turn and other mission events, monitor tether tension, and record the temperature of system components. A summary of the measurements taken during the SEDS1 are shown. The Data System will also control the tether brake and cutter mechanisms. Preliminary versions of two major sections of the flight software, the data telemetry modules and the data collection modules, were developed and tested under the 1990 NASA/ASEE Summer Faculty Fellowship Program. To facilitate the debugging of these software modules, a prototype SEDS Data System was programmed to simulate turn count signals. During the 1991 summer program, the concept of simulating signals produced by the SEDS electronics systems and circuits was expanded and more precisely defined. During the 1992 summer program, the SEDS signal simulator was programmed to test the requirements of the SEDS Mission software, and this simulator will be used in the formal verification of the SEDS Mission Software. The formal test procedures specification was written which incorporates the use of the signal simulator to test the SEDS Mission Software and which incorporates procedures for testing the other major component of the SEDS software, the Monitor Software.
Pierson, William E.↗
Non-linear controls influence functions in an aircraft dynamics simulator
In the development and testing of novel structural and controls concepts, such as morphing aircraft wings, appropriate models are needed for proper system characterization. In most instances, available system models do not provide the required additional degrees of freedom for morphing structures but may be modified to some extent to achieve a compatible system. The objective of this study is to apply wind tunnel data collected for an Unmanned Air Vehicle (UAV), that implements trailing edge morphing, to create a non-linear dynamics simulator, using well defined rigid body equations of motion, where the aircraft stability derivatives change with control deflection. An analysis of this wind tunnel data, using data extraction algorithms, was performed to determine the reference aerodynamic force and moment coefficients for the aircraft. Further, non-linear influence functions were obtained for each of the aircraft s control surfaces, including the sixteen trailing edge flap segments. These non-linear controls influence functions are applied to the aircraft dynamics to produce deflection-dependent aircraft stability derivatives in a non-linear dynamics simulator. Time domain analysis of the aircraft motion, trajectory, and state histories can be performed using these nonlinear dynamics and may be visualized using a 3-dimensional aircraft model. Linear system models can be extracted to facilitate frequency domain analysis of the system and for control law development. The results of this study are useful in similar projects where trailing edge morphing is employed and will be instrumental in the University of Maryland s continuing study of active wing load control.
Guerreiro, Nelson M.↗
Solvent organization in the ultrahigh-resolution crystal structure of crambin at room temperature
Ultrahigh-resolution structures provide unprecedented details about protein dynamics, hydrogen bonding and solvent networks. The reported 0.70 Å, room-temperature crystal structure of crambin is the highest-resolution ambient-temperature structure of a protein achieved to date. Sufficient data were collected to enable unrestrained refinement of the protein and associated solvent networks using SHELXL . Dynamic solvent networks resulting from alternative side-chain conformations and shifts in water positions are revealed, demonstrating that polypeptide flexibility and formation of clathrate-type structures at hydrophobic surfaces are the key features endowing crambin crystals with extraordinary diffraction power.
37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
Human Thermal Assessment of Traverse and Geology Task Iterations During Simulated Lunar Extravehicular Activity
Spacewalks or extravehicular activities (EVA) in microgravity are mentally and physically demanding. Current microgravity EVAs are predominantly focused on upper body tasks on engineered surfaces; however, the introduction of gravity means that crew members during future lunar EVAs will be required to perform tasks that generate full body workloads such as navigating natural lunar terrain while conducting geological sampling. To date, only 12 people have walked on the surface of the Moon resulting in limited knowledge of suited thermal regulation under lunar-relevant physical workloads. To address this gap, a study is underway to focus on spacesuit operations with simulated lunar EVA workloads. This study presents methodology for collecting standard thermal measures during suit testing. In this pilot study, two suited subjects underwent simulated lunar EVAs using the NASA Active Response Gravity Offload System (ARGOS) to simulate the effects of partial gravity. Each lunar EVA, lasting three to five hours, included various metabolically demanding EVA tasks. Subjects donned the NASA Mark III (MK III) space suit and were offloaded to 1/6th G (lunar gravity). A subset task circuit from one of these simulations replicated an EVA traverse to a lunar crater, taking a geological sample, and returning to base. The suited subject walked one 1500 m (0% grade) and three 500 m traverses at three different grades (10, 20, 30%). Between each traverse, subjects performed geology sampling tasks (0 and 10% grade). Thermal measurements included core and skin temperature, liquid cooling garment (LCG) inlet and outlet temperature, and spacesuit gas inlet and outlet temperature and humidity. Compared to baseline core temperature (S1 = 37.07±0.32 °C, S2 = 37.27±0.01 °C) and mean skin temperature (S1 = 32.38±0.34 °C, S2 = 33.62±0.03 °C), after a 1500 m traverse, each suited subject showed an increased core temperature (S1 = 37.23±0.12 °C, S2 = 37.41±0.11°C) and decreased mean skin temperature (S1 = 32.16±0.17 °C, S2 = 31.53±1.15 °C) at a delta LCG temperature (S1 = 1.86±0.24 °C, S2 = 2.20±0.76 °C) and delta suit humidity (S1 = 9.66±1.49 %, S2 = 11.50±1.58 %). Core temperature continued to increase from compounding traverse and geology tasks (S1 = 38.04±0.03 °C, S2 = 38.1±0.02 °C) accompanied by an increase in delta LCG temperature (S1 = 2.24±0.13 °C, S2 = 2.67±0.12 °C) and delta suit humidity (S1 = 28±2.42 %, S2 = 31±2.13 %). Conversely, as the circuit progressed, mean skin temperature continued to decrease due to sustained LCG heat rejection (S1 = 30.08±0.15 °C, S2 = 30.28±0.07 °C). During the simulated EVA circuit core temperature increased to elevated values and remained elevated as heat was retained while mean skin temperature decreased due to peripheral heat offloaded to the LCG. The thermal measures collected during this study provided critical heat loading dynamics during lunar EVA tasks. Including core and skin temperatures along with suited thermal measures provides a standard data collection scheme for human thermal metrics during EVA task management. Data collected in this configuration can be used to build future lunar EVA task circuits and human thermal predictions.
Bradley Hoffmann↗
Integrated Modeling of Spacecraft Touch-and-Go Sampling
An integrated modeling tool has been developed to include multi-body dynamics, orbital dynamics, and touch-and-go dynamics for spacecraft covering three types of end-effectors: a sticky pad, a brush-wheel sampler, and a pellet gun. Several multi-body models of a free-flying spacecraft with a multi-link manipulator driving these end-effectors have been tested with typical contact conditions arising when the manipulator arm is to sample the surface of an asteroidal body. The test data have been infused directly into the dynamics formulation including such information as the mass collected as a function of end-effector longitudinal speed for the brush-wheel and sticky-pad samplers, and the mass collected as a function of projectile speed for the pellet gun sampler. These data represent the realistic behavior of the end effector while in contact with a surface, and represent a low-order model of more complex contact conditions that otherwise would have to be simulated. Numerical results demonstrate the adequacy of these multibody models for spacecraft and manipulator- arm control design. The work contributes to the development of a touch-and-go testbed for small body exploration, denoted as the GREX Testbed (GN&C for Rendezvous-based EXploration). The GREX testbed addresses the key issues involved in landing on an asteroidal body or comet; namely, a complex, low-gravity field; partially known terrain properties; possible comet outgassing; dust ejection; and navigating to a safe and scientifically desirable zone.
Quadrelli, Marco↗
MITgcm-AD v2: Open source tangent linear and adjoint modeling framework for the oceans and atmosphere enabled by the Automatic Differentiation tool Tapenade
The Massachusetts Institute of Technology General Circulation Model (MITgcm) is widely used by the climate science community to simulate planetary atmosphere and ocean circulations. A defining feature of the MITgcm is that it has been developed to be compatible with an algorithmic differentiation (AD) tool, TAF, enabling the generation of tangent-linear and adjoint models. These provide gradient information which enables dynamics-based sensitivity and attribution studies, state and parameter estimation, and rigorous uncertainty quantification. Importantly, gradient information is essential for computing comprehensive sensitivities and performing efficient large-scale data assimilation, ensuring that observations collected from satellites and in-situ measuring instruments can be effectively used to optimize a large uncertain control space. As a result, the MITgcm forms the dynamical core of a key data assimilation product employed by the physical oceanography research community: Estimating the Circulation and Climate of the Ocean (ECCO) state estimate. Although MITgcm and ECCO are used extensively within the research community, the AD tool TAF is proprietary and hence inaccessible to a large proportion of these users. The new version 2 (MITgcm-AD v2) framework introduced here is based on the source-to-source AD tool Tapenade, which has recently been open-sourced. Another feature of Tapenade is that it stores required variables by default (instead of recomputing them) which simplifies the implementation of efficient, AD-compatible code. The framework has been integrated with the MITgcm model’s main branch and is now freely available.
Adjoints↗
Characterization of the Test Section Walls at the 14- by 22-Foot Subsonic Tunnel
The test section walls of the NASA Langley Research Center 14- by 22-Foot Subsonic Tunnel are known to move under thermal and pressure loads. Videogrammetry was used to measure wall motion during the summer of 2002. In addition, a laser distancemeter was used to measure the relative distance between the test section walls at a single point. Distancemeter and videogrammetry results were consistent. Data were analyzed as a function of temperature and pressure to determine their effects on wall motion. Data were collected between 50 and 100 F, 0 and 0.315 Mach, and dynamic pressures of 0 and 120 psf. The overall motion of each wall was found to be less than 0.25 in. and less than facility personnel anticipated. The results show how motion depends on the temperature and pressure inside the test section as well is the position of the boundary layer vane. The repeatability of the measurements was +/-0.06 in. This report describes the methods used to record the motion of the test section walls and the results of the data analysis. Future facility plans include the development of a suitable wall restraint system and the determination of the effects of the wall motion on tunnel calibration.
Lunsford, Charles B.↗
Monitoring the inundation extent of the Florida Everglades with AVHRR data in a geographic information system
The purpose of the study is to develop a geographical information system capable of estimating methane and other greenhouse trace-gas fluxes from the wetlands of the Florida Everglades. Advanced very-high-resolution radiometer (AVHRR) data collected on a near-monthly basis for a year in order to monitor the seasonal dynamics of inundation extent across the Everglades is utilized in the analysis. It is noted that AVHRR data presents advantages over other remote-sensing data sources employed in covering large geographical regions due to its daily coverage with multiple opportunities during a day. This temporal resolution allows the realistic expectation of acquiring data on a frequent basis.
Pelletier, R. E.↗
Dynamic Stall Characteristics of Drooped Leading Edge Airfoils
Helicopters in high-speed forward flight usually experience large regions of dynamic stall over the retreating side of the rotor disk. The rapid variations in the lift and pitching moments associated with the stall process can result in vibratory loads, and can cause fatigue and failure of pitch links. In some instances, the large time lag between the aerodynamic forces and the blade motion can trigger stall flutter. A number of techniques for the alleviation of dynamic stall have been proposed and studied by researchers. Passive and active control techniques have both been explored. Passive techniques include the use of high solidity rotors that reduce the lift coefficients of individual blades, leading edge slots and leading edge slats. Active control techniques include steady and unsteady blowing, and dynamically deformable leading edge (DDLE) airfoils. Considerable amount of experimental and numerical data has been collected on the effectiveness of these concepts. One concept that has not received as much attention is the drooped-leading edge airfoil idea. It has been observed in wind tunnel studies and flight tests that drooped leading edge airfoils can have a milder dynamic stall, with a significantly milder load hysteresis. Drooped leading edge airfoils may not, however, be suitable at other conditions, e.g. in hover, or in transonic flow. Work needs to be done on the analysis and design of drooped leading edge airfoils for efficient operation in a variety of flight regimes (hover, dynamic stall, and transonic flow). One concept that is worthy of investigation is the dynamically drooping airfoil, where the leading edge shape is changed roughly once-per-rev to mitigate the dynamic stall.
Sankar, Lakshmi N.↗
Reduction of structural loads using maneuver load control on the Advanced Fighter Technology Integration (AFTI)/F-111 mission adaptive wing
A transonic fighter-bomber aircraft, having a swept supercritical wing with smooth variable-camber flaps was fitted with a maneuver load control (MLC) system that implements a technique to reduce the inboard bending moments in the wing by shifting the spanwise load distribution inboard as load factor increases. The technique modifies the spanwise camber distribution by automatically commanding flap position as a function of flap position, true airspeed, Mach number, dynamic pressure, normal acceleration, and wing sweep position. Flight test structural loads data were obtained for loads in both the wing box and the wing root. Data from uniformly deflected flaps were compared with data from flaps in the MLC configuration where the outboard segment of three flap segments was deflected downward less than the two inboard segments. The changes in the shear loads in the forward wing spar and at the roots of the stabilators also are presented. The camber control system automatically reconfigures the flaps through varied flight conditions. Configurations having both moderate and full trailing-edge flap deflection were tested. Flight test data were collected at Mach numbers of 0.6, 0.7, 0.8, and 0.9 and dynamic pressures of 300, 450, 600, and 800 lb/sq ft. The Reynolds numbers for these flight conditions ranged from 26 x 10(exp 6) to 54 x 10(exp 6) at the mean aerodynamic chord. Load factor increases of up to 1.0 g achieved with no increase in wing root bending moment with the MLC flap configuration.
Thornton, Stephen V.↗
Land Surface Phenology from MODIS: Characterization of the Collection 5 Global Land Cover Dynamics Product
Information related to land surface phenology is important for a variety of applications. For example, phenology is widely used as a diagnostic of ecosystem response to global change. In addition, phenology influences seasonal scale fluxes of water, energy, and carbon between the land surface and atmosphere. Increasingly, the importance of phenology for studies of habitat and biodiversity is also being recognized. While many data sets related to plant phenology have been collected at specific sites or in networks focused on individual plants or plant species, remote sensing provides the only way to observe and monitor phenology over large scales and at regular intervals. The MODIS Global Land Cover Dynamics Product was developed to support investigations that require regional to global scale information related to spatiotemporal dynamics in land surface phenology. Here we describe the Collection 5 version of this product, which represents a substantial refinement relative to the Collection 4 product. This new version provides information related to land surface phenology at higher spatial resolution than Collection 4 (500-m vs. 1-km), and is based on 8-day instead of 16-day input data. The paper presents a brief overview of the algorithm, followed by an assessment of the product. To this end, we present (1) a comparison of results from Collection 5 versus Collection 4 for selected MODIS tiles that span a range of climate and ecological conditions, (2) a characterization of interannual variation in Collections 4 and 5 data for North America from 2001 to 2006, and (3) a comparison of Collection 5 results against ground observations for two forest sites in the northeastern United States. Results show that the Collection 5 product is qualitatively similar to Collection 4. However, Collection 5 has fewer missing values outside of regions with persistent cloud cover and atmospheric aerosols. Interannual variability in Collection 5 is consistent with expected ranges of variance suggesting that the algorithm is reliable and robust, except in the tropics where some systematic differences are observed. Finally, comparisons with ground data suggest that the algorithm is performing well, but that end of season metrics associated with vegetation senescence and dormancy have higher uncertainties than start of season metrics.
Land cover dynamics↗
Gravity waves and convection in Colorado during July 1983
The dynamics of gravity-wave/convective-cell interaction is studied using NOAA data collected in NE Colorado during July and August 1983. The pressure fields measured with microbarographs, the tropospheric wind profiles obtained with a UHF wind profiler radar, and precipitation data collected with a 10-cm weather radar for four events (A, B, C, and D) are analyzed. The four disturbances are detected through a substantial depth of the troposphere. It is observed that in event A the wave and convective cells appear to be locked together; in event B, the wave and convective cells commence about the same time, but the wave velocities differ from the cell velocities; and in events C and D, the waves move faster than the maximum wind in the jet and faster than the convective cells. It is suggested that events A and B are generated by wind shear in the jet stream, and the excitation of events C and D depends on mechanisms such as vertical convective motion and acceleration in the jet flow.
Einaudi, F.↗
Development of SEDS data system flight software
The Small Expendable-tether Deployer System (SEDS) is being built for a 1991 flight on a Delta launch vehicle. SEDS will deploy a 50 lb instrument satellite as an end mass at the end of a 20 km tether. The objective of the experiment is to test the SEDS design concept by demonstrating that the system will satisfactorily deploy the full 20 km tether without stopping prematurely, come to a smooth stop on application of the brake, and cut the tether at the proper time after it swings to the vertical. SEDS will also collect data that will be used to test the accuracy of tether dynamics models for this type of deployment. Radar tracking is planned. In addition, the SEDS on-board computer system will record, store, and continuously transmit data over the Delta II S-band telemetry channel. Initial testing of the software under simulated flight conditions was performed. These tests used both assembly language routines running on SEDS data systems and C-language routines on an IBM-PC. As the software now stands relatively few additions are needed before the entire set of flight software is complete.
Pierson, William E.↗
SAMS Acceleration Measurements on Mir (NASA Increment 4)
During NASA Increment 4 (January to May 1997), about 5 gigabytes of acceleration data were collected by the Space Acceleration Measurements System (SAMS) onboard the Russian Space Station, Mir. The data were recorded on 28 optical disks which were returned to Earth on STS-84. During this increment, SAMS data were collected in the Priroda module to support the Mir Structural Dynamics Experiment (MiSDE), the Binary Colloidal Alloy Tests (BCAT), Angular Liquid Bridge (ALB), Candle Flames in Microgravity (CFM), Diffusion Controlled Apparatus Module (DCAM), Enhanced Dynamic Load Sensors (EDLS), Forced Flow Flame Spreading Test (FFFr), Liquid Metal Diffusion (LMD), Protein Crystal Growth in Dewar (PCG/Dewar), Queen's University Experiments in Liquid Diffusion (QUELD), and Technical Evaluation of MIM (TEM). This report points out some of the salient features of the microgravity environment to which these experiments were exposed. Also documented are mission events of interest such as the docked phase of STS-84 operations, a Progress engine bum, Soyuz vehicle docking and undocking, and Progress vehicle docking. This report presents an overview of the SAMS acceleration measurements recorded by 10 Hz and 100 Hz sensor heads. The analyses included herein complement those presented in previous summary reports prepared by the Principal Investigator Microgravity Services (PIMS) group.
DeLombard, Richard↗
SAMS Acceleration Measurements on Mir From January to May 1997 (NASA Increment 4)
During NASA Increment 4 (January to May 1997), about 5 gigabytes of acceleration data were collected by the Space Acceleration Measurements System (SAMS) onboard the Russian Space Station, Mir. The data were recorded on 28 optical disks which were returned to Earth on STS-84. During this increment, SAMS data were collected in the Priroda module to support the Mir Structural Dynamics Experiment (MiSDE), the Binary Colloidal Alloy Tests (BCAT), Angular Liquid Bridge (ALB), Candle Flames in Microgravity (CFM), Diffusion Controlled Apparatus Module (DCAM), Enhanced Dynamic Load Sensors (EDLS), Forced Flow Flame Spreading Test (FFFT), Liquid Metal Diffusion (LMD), Protein Crystal Growth in Dewar (PCG/Dewar), Queen's University Experiments in Liquid Diffusion (QUELD), and Technical Evaluation of MIM (TEM). This report points out some of the salient features of the microgravity environment to which these experiments were exposed. Also documented are mission events of interest such as the docked phase of STS-84 operations, a Progress engine burn, Soyuz vehicle docking and undocking, and Progress vehicle docking. This report presents an overview of the SAMS acceleration measurements recorded by 10 Hz and 100 Hz sensor heads. The analyses included herein complement those presented in previous summary reports prepared by the Principal Investigator Microgravity Services (PIMS) group.
DeLombard, Richard↗
Investigating the Martian Environment with the Mars Global Surveyor Thermal Emission Spectrometer
The Thermal Emission Spectrometer (TES) onboard Mars Global Surveyor (MGS) is being used to investigate the surface and atmosphere of Mars and the martian moons Phobos and Deimos. As such, it builds upon infrared observations obtained by previous spacecraft, e.g.. Mariner 9 and Viking Orbiters. The objectives of the TES experiment are: (1) determine and map surface minerals. rocks. and ices; (2) study the atmospheric dust composition. particle size, and spatial and temporal distribution; (3) investigate condensate clouds, CO2 and H2O, location. temperature, and height; (4) investigate polar cap deposits, e.g., growth, retreat, and energy balance; (5) measure the thermo-physical properties of surface materials; and (6) characterize the atmospheric structure and dynamics. The TES instrument is based upon a Michelson interferometer and collects data in the 1700-200 per cm region (about 6-50 micron at 5 or 10 per cm resolution. There are also broad-band bolometric (4.5100 microns and solar reflectance (0.3-2.7 microns) channels. The TES was designed to have a noise equivalent spectral radiance of 1.2 x l0(exp -8) per W per square cm per sr per cm corresponding to a signal-to-noise ratio of 490 at 1000 per cm (10 mm) for a 270 K scene and preflight data suggest a radiometric accuracy of about 1.2 x 10(exp -8) per W per square cm per sr per cm. In-flight observations indicate a small systematic calibration offset of about 1.2 x 10(exp -7) per W per square cm per sr per cm is present in the TES data. MGS achieved Mars orbital insertion September 11, 1997, and entered the initial aerobraking phase. MGS should have reached a circular orbit by early 1998. However, structural damage to one solar panel occurred during its deployment in the cruise phase and ultimately required an assessment of the extent of the damage and a much slower aerobraking period. This has delayed reaching the final circular orbit until March 1999. TES and the other MGS science instruments began operating just after orbital insertion and continued to obtain data until November 1998 when the TES was turned off to reduce power consumption on the spacecraft. TES data obtained during orbits 2 to 53 have previously been published and clearly illustrate the variety of scientific questions that can be addressed with them.
Roush, T. L.↗
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↗