a summary of the skylab crew/vehicle disturbances

NASA TECHNICAL NOTE NASA TN D-8128

A SUMMARY OF THE SKYLAB CREW/VEHICLE

DISTURBANCES EXPERIMENT T-013

Bruce A. Conway and T. C. Hendricks

Langley Research Center

Hampton, Va. 23665

NATIONAL AERONAUTICS AND SPACE ADMINISTRATION • WASHINGTON, D. C. • MARCH 1976

https://ntrs.nasa.gov/search.jsp?R=19760013108 2018-01-29T06:24:36+00:00Z

1. Report No. 2. Government Accession No.

NASA TN D-8128

4. Title and Subtitle



7. Author(s)

Bruce A. Conway and T. C. Hendricks

9. Performing Organization Name and Address

NASA Langley Research Center

Hampton, Va. 23665

12. Sponsoring Agency Name and Address

National Aeronautics and Space Administration

Washington, D.C. 20546

3. Recipient's Catalog No.

5. Report DateMarch 1976

6. Performing Organization Code

8. Performing Organization Report No.

L-10415

10. Work Unit No.

506-19-13-02

11. Contract or Grant No.

13. Type of Report and Period Covered

Technical Note

14. Sponsoring Agency Code

15. Supplementary Notes

Bruce A. Conway: Langley Research Center.T. C. Hendricks: Marietta Aerospace, Denver, Colorado.

16. Abstract

A manned space flight experiment (designated experiment T-013) to assess the char-acteristics of astronaut crew-motion disturbances was conducted on the second mannedSkylab mission. A brief description of the experiment hardware utilized is given, and acomprehensive discussion of the experiment data reduction and analysis is presented. Thisreport describes data obtained from a force-measuring system, an astronaut limb-motionmeasuring system, motion-picture film, and the Skylab attitude and pointing control system.Results show that astronaut crew members can produce significant disturbance inputs to aspacecraft's attitude control system. Total forces of up to 400 N were exerted during vig-orous soaring activities, whereas "restrained" motions by the experiment subject gen-erated total forces of up to 300 N. A discussion of potential applications of the experimentresults is given and appendixes provide additional detail with respect to experiment opera-tions and results. The initial results presented are expected to lead to improved criteriafor consideration of crew-motion disturbances in manned spacecraft attitude and experimentpointing control system design.

17. Key Words (Suggested by Author(s))

Crew -motion disturbanceAttitude controlSkylab

19. Security Classif. (of this report)

Unclassified

18. Distribution Statement

Unclassified - Unlimited

Subject Category 18

20. Security Classif. (of this page) 21. No. of Pages

Unclassified 24022. Price*

$7.50

For sale by the National Technical Information Service, Springfield, Virginia 22161

Page intentionally left blank


PREFACE

The Skylab program has resulted in the generation of scientific and engineeringdata which can be expected to influence manned space flight technology for the next fewdecades. In setting initial endurance levels for man in space, Skylab also produced anenormous amount of information on the Sun, the planet Earth, the universe, and on manhimself. This information will require several years to be completely analyzed anddigested. The Skylab crew/vehicle disturbances experiment, experiment T-013, repre-sents a small part of the experience gained in carrying out the ambitious missions ofSkylab. The intent of this report is to present the initial results of experiment T-013;it is recognized that future work in the field of astronaut crew-motion disturbances canonly improve on the knowledge gained thus far.

Bruce A. Conway, Principal InvestigatorSkylab Experiment T-013, Crew/Vehicle DisturbancesNASA Langley Research Center, Hampton, Va.

iii



IV

CONTENTS

Page

PREFACE iii

SUMMARY 1

INTRODUCTION ; . . . . . . . . . . . 1

SYMBOLS 2

DESCRIPTION OF EXPERIMENT 7Experiment Hardware 7

Limb motion sensing system (LIMS) 7Force measuring system (FMS) 8Experiment data system (EDS) 8Spacecraft equipment and systems 8

Experiment Operations and Protocol . 10Gross body motions 10Simulated console operations 10Worst case control system inputs 11

Hardware Performance Assessment and Anomalies 11Hardware operation 11Force measuring unit anomaly , . . . 11

DATA REDUCTION 12Film Data Reduction . 13

Error correction of raw film data 13Film data readout 14

Telemetry Data Reduction . . 14Limb motion data 14Force measuring system data 16

RESULTS . 17Astronaut Center-of-Mass Time Histories 18Correlation of Film and Telemetry Data 18LIMS "Gamma" Angles . 21FMU Forces and Moments 21Force and Moment Spectrum Analysis 22Vehicle Dynamic Response 22

Detailed vehicle dynamic model . . 22Simplified vehicle dynamic model . 24

Page

Preflight predictions 25

Comparisons with measured response 26

DISCUSSION 27Experiment Data 27Applications ; 29

CONCLUDING REMARKS 31

APPENDIX A - SKYLAB MANEUVERING EXPERIMENTS CHECKLIST -

T-013 ACTIVITIES 32

APPENDK B - PHOTOGRAMMETRIC COORDINATES, TRANSFORMATIONS,AND ANALYSIS 44

APPENDIX C - EXPERIMENT T-013 TOTAL FORCE TIME PROFILES .. . . . . 57

APPENDIX D - ANTHROPOMETRY OF EXPERIMENT T-013 PRIMARYAND SECONDARY SUBJECTS 59

APPENDK E - EXPERIMENT T-013 DATA TAPE DESCRIPTION . . . . . . . . . 61

REFERENCES 68

FIGURES 69

vi



Bruce A. Conway and T. C. Hendricks*Langley Research Center

V . .::,/, '.;».'. ..SUMMARY ' • ' • • • ' • • ' ' ' " - ' • • . - - ' • -

A manned.space flight experiment ..(designated experiment T-013) to assess the char-acteristics of astronaut crew-motion disturbances was conducted on the second mannedSkylab mission. A brief description of the experiment hardware utilized is given, and acomprehensive discussion of the experiment data reduction and analysis is presented.This report describes data obtained from a-force-measuring system, an astronaut limb-motion measuring system, motion-picture film, and the Skylab attitude and pointing con-trol system. Results show that astronaut crew members can produce significant dis-turbance inputs to a spacecraft's attitude control system. Total forces of up to 400 Nwere exerted during vigorous soaring activities, whereas "restrained" motions by theexperiment subject generated total forces of up to 300 N. A discussion of potentialapplications of the experiment results is given and appendixes provide additional detailwith respect to experiment operations and results. The initial results presented areexpected to lead to improved criteria for consideration of crew-motion disturbances inmanned spacecraft attitude and experiment pointing control system design.

INTRODUCTION

The consideration and analysis of the effects of astronaut crew-motion disturbanceson a manned spacecraft's stabilization and control system have been topics of interestsince the early 1960's. Initial studies considered crew members as point masses andinvestigated the effect on a spacecraft of translating one or more of these masses fromone point to another within the spacecraft. Later, consideration of man himself as adynamic system was begun and culminated in a dynamic anthropometric model (see appen-dixes A and B of ref. 1) developed by using previous U.S. Air Force studies. Both thepoint mass and anthropometric models were deterministic and required completely time-dependent specification of model inputs. Still more recent effort has been devoted to thedescription of so-called "stochastic models" of crew-motion disturbances. (See refs. 2

* Martin Marietta Aerospace, Denver, Colorado.

and 3.) Reference 4 presents several of the models rioted above, along with a new tech-nique for easy digital computer use of stochastic models.

Confident use of any crew-motion disturbance model depends in part on the extentto which the model can be verified. A mathematical model based in whole or in part onhuman performance or characteristics requires some understanding of actual perfor-mance in an environment comparable with that in which the model is supposed to act.Based on this philosophy, the concept of an experiment to assess the characteristics andeffects of astronaut crew-motion disturbances in a manned spacecraft was developed. Anexperiment proposal was submitted in 1965, based on the simultaneous measurement ofan astronaut subject's motions, his applied forces and moments, and the response of thespacecraft to the disturbance inputs. After approval of the experiment concept, develop-ment of the required flight hardware was carried out by using results of a contractualexperiment definition study. Performance of the experiment (ref. 5) on Sky lab 3 (secondmanned mission of the Skylab program) occurred in August 1973.

The intent of this report is to present a definitive summary of the methods usedand the data obtained by experiment T-013. Some interpretation of the experiment datais contained herein; however, detailed analysis and application of experimental resultsare omitted as being not within the scope of the present effort. The report includes adescription of the flight hardware utilized in the Skylab crew/vehicle disturbancesexperiment (designated experiment T-013). A synopsis of the experiment protocol isalso furnished, and data results are included along with the methods and techniques usedin the data reduction. The report concludes with a section on applications of the T-013data and a discussion of conclusions derived from preliminary analyses of the experi-ment results. Appendixes A to D present additional detail on experiment operations andresults.

All data obtained and reduced for this experiment have been recorded on digitalmagnetic tape. A description of this tape is given in appendix E of this report alongwith information on requesting any of the T-013 data.

Portions of the experiment T-013 data reduction efforts reported herein were car-ried out by Martin Marietta Aerospace, Denver, Colorado (NASA contract NAS 1-12734).

SYMBOLS

b film plane x-coordinate of target point

b* corrected film plane x-coordinate of target point

Cj,C2 origins of cameras 1 and 2 coordinate system

CM torso center of mass

d distortion

Exj,Eyj residual errors from measurement and film reading inaccuracies,used in resection problem

F force

FX>FY,FZ forces measured at FMU

Fx' ,FY' ,FZ' corrected FMU forces

FXV»FYV>FZV crew disturbance forces on vehicle

F1'F2 film Plane image of target for cameras 1 and 2

F1,F2 total (RSS) force, FMU 1 and FMU 2

f focal length of camera lens

g acceleration due to gravity

Hj^jH-j transformations (see appendix B)

h element of transformation matrix

KR,KJ) gains (see fig. 32)

KI ,K2 ,K3 load cell array geometry constants

Li,L2,..-., Lg load cell 1,2, . . ., 6 on an FMU

M-j. y total moment on vehicle

M j M j M moments measured at FMU

M X , M y , M Z corrected F M U moments . . - . - • -

MXy,MYv,MZv crew disturbance moments on vehicle

n film plane y-coordinate of target point

n' corrected film plane y-coordinate of target point

R! ,R0 vectors from OWS center of mass to FMU 1 and FMU 2 centroids ,•• - ' ' !- " - • • f ;•} /it :V7 / v- '-'••;'• ' ,' '

r radius to target point in film plane

S sum of least-squares solution

s Laplace variable

T.J target point for jth target- ' •" •'.' • • ' ' ' • <

TCM,TUP points in torso surface system used in film data reduction

V sum of sum of squares of residual errors

X,Y,Z OWS (ATM) coordinate system. . \ , , - - . • •

•^M'^M'^M astronaut overall center-of-mass coordinate system

^C1'YC1'ZC1' I ows (A™) coordinates for center of lens for^C2'^C2'^C2 } cameras 1 and 2

"V "V 7 • 1 c

\ coordinate system for camera 1 and camera 2, respectivelyX2JY2,Z2 J

X * V * "7 *. I1 »Y1 »zl 5 I

, , * „ * „ * / OWS (ATM) coordinates for film plane images of target•*2 »Y2 »^2 J

•y limb segment Euler angle

e error quantity from measured film data

9 angle used in film distortion correction

X matrix of unknown film target coordinates

a standard deviation

<t>,d,\l/ Euler angles

'OWS (ATM) to cameras 1 and 2 transformation Euler angles

0g,0g,i//2 OWS (ATM) to astronaut torso transformation Euler angles

u>x,a>y,a)z spacecraft angular rates

Subscripts:

C with respect to camera coordinate system

j jth target point; for j = 2 to 9, jth limb segment

i summation index

M man's center -of -mass coordinate system

o initial condition

T total

V vehicle

'y'Z 1,Y,ZJ

with respect to x, y, and z (or X, Y, and Z) axes

1 ,2 with respect to camera 1 or camera 2 (with respect to FMU 1 or FMU 2)

Superscript:

T transpose

Abbreviations:

AM airlock module

ANSI American National Standards Institute

ATM Apollo telescope mount

CAL calibration voltage

CMC control moment gyro

DOY day of year

DAC data acquisition camera

EDS experiment data system

ESRO European space research organization

FM/PCM frequency modulation/pulse code modulation

FMS force measuring system

FMU force measuring unit

LIMS limb motion sensing system

OWS orbital workshop

PCS pointing control system

PSD power spectral density

PCM pulse code modulation

RSS square root of the sum of squares

An arrow indicates a vector.

DESCRIPTION OF EXPERIMENT

The objectives of the Skylab experiment T-013 (crew/vehicle disturbances) were toassess the characteristics and effects of astronaut crew-motion disturbances aboard amanned spacecraft, and to investigate the, .response, of the Apollo telescope mount (ATM)pointing control system (PCS) to known crew disturbance inputs.

To meet the objectives of the experiment, the following information was required.To verify and extend analytical models of crew motions produced by dynamic human bodymovements, measurements of the body and limb movements associated with a given crewactivity were needed. In order to correlate these body and limb motions with the distur-bances produced (and to develop data for stochastic models), measurements of appliedforces and moments for the activity were necessary.

Then, to investigate spacecraft attitude response (and specifically for this experi-ment that of the ATM PCS) as well as to provide an additional verification of analyticalmodel predictions, data from spacecraft angular rate and attitude sensors, along withcontrol actuator response information, were required.

Experiment Hardware<. j..

The development of special hardware was carried out to satisfy these objectives.The experiment hardware used in conducting experiment T-013 consisted of three majorsystems (ref. 1): a limb motion sensing system, a force measuring system, and anexperiment data system. In addition, operational spacecraft equipment and subsystemswere utilized to carry out the experiment activities in the areas of astronaut positionand attitude determination, spacecraft response, and data transmission from the space-craft to the ground. The three experiment hardware systems are discussed first.

Limb motion sensing system (LIMS). - The LIMS (fig. 1) is an external skeletalstructure (exoskeleton) with pivots at 16 principal body rotation points. Each pivot con-tains a linear potentiometer whose output is directly proportional to the magnitude ofjoint rotation. The LIMS provided a continuous measurement of body limb position rela-tive to the torso as the crew subject performed the experiment movements. The exoskel-eton was fabricated of aluminum and was designed to measure Euler angles (roll, pitch,and yaw sequence) at the shoulders and hips, and a single pitch angle at the elbows andknees. There are a total of 16 potentiometers on the LIMS, 12 at hinge joints and 4 atring joints.

To simplify donning and doffing by the subject, and to insure correct alinement ofthe exoskeleton members with principal body members whose rotation was being mea-sured, the exoskeletal structure was mated to a one-piece, coverall-type, form-fitting

suit, fabricated of polybenzimidazole (PBI). PBI was selected for its flammability resis-tance, minimum outgassing properties, strength, wear resistance, thermal conductivity,and comfort. In addition, use of the one-piece suit for the LIMS permitted the accuratelocation of photographic targets on the subject for later use in torso center-of-mass and* >", 'attitude determination. Figure 2 depicts the complete LIMS as worn by a subject.

Power to the potentiometers (at 4.8 V dc), as well as data return, was suppliedthrough a flexible umbilical cable, which mated to connectors on the LIMS and the experi-mental data system. For protection from launch vibration loads and dust or debris dur-ing periods of nonuse, the LIMS was stowed in a contained (which was located on theorbital workshop (OWS) wall), shown open in figure 3.

Force measuring system (FMS).- The FMS consists of two force measuring units(FMU's)'each of which is comprised of a sense plate, a base plate, an array of six loadcells, load cell caging devices, a calibration check mechanism, and signal conditioningelectronics. The sense plates were fabricated of aluminum honeycomb, with solid insertsfor load cell attachments. One sense plate contained foot restraints, whereas both pro-

a •

vided for attachment of a portable handhold. The base plate consisted of a machinedaluminum shape designed for the maximum ratio of stiffness to weight. Isolation flex-

, ures at both ends of each load cell provided isolation from nonaxial loading. Caging pinsprovided protection to the load cells from launch and boost vibration loads. Figure 4depicts the FMU features. Figure 5 is a schematic of the load cell array geometry andgives the orientation of the axis system used.

The signal conditioner for each FMU provided (regulated) 3 V dc to the load cellbridge circuits, along with load cell output signal amplification to the 0- to 5-V dc levelrequired for processing by the experiment data system. Figure 6 presents a circuitschematic typical for each of the load cells in an FMU.

Experiment data system (EDS).- The data system used for T-013 (fig. 7) consistsbasically of a pulse code modulation (PCM) encoder to accept data from 31 analog chan-nels (LIMS and FMS data) and 24 channels of bilevel inputs representing a time code fromthe Skylab airlock module (AM) timing reference system. (See table I.) The inputs to theencoder are formatted in a single PCM bit stream for onboard recording and subsequenttelemetry to ground. Output bit rate (0 to 5 V dc) to the AM experiment tape recorderswas 5760 bits/sec. Figure 8 is a simplified diagram of the electronics within the EDS.

Spacecraft equipment and systems.- The conduct of experiment T-013 required theuse of certain data handling instrumentation. One of three tape recorders dedicated toexperiment use was employed to record all data coming from the EDS, along with a voicetrack from the orbital workshop (OWS) intercom system. This voice and data informa-tion was transmitted to ground stations at a 22:1 playback ratio during station overpassesby the Skylab vehicle, by one of three FM/PCM telemetry channels.

TABLE I.- T-013 TELEMETRY DATA LIST

Skylabmeasurement

number

G7017 T-013G7023 T-013G7024 T-013G7055 T-013G7054 T-013G7021 T-013G7022 T-013G7057 T-013G7058 T-013G7056 T-013G7059 T-013G7060 T-013G7061 T-013G7063 T-013G7062 T-013G7052 T-013S7005 T-013S7004 T-013S7003 T-013S7007 T-013S7006 T-013S7009 T-013S7008 T-013S7001 T-013S7000 T-013S7011 T-013S7010 T-013S7002 T-013M7075 T-013M7076 T-013M7077 T-013K7328 T-013K7329 T-013

Description

LIMS angle, right shoulder, rearLIMS angle, right shoulder, forwardLIMS angle , right upper armLIMS angle, left shoulder, rearLIMS angle, left shoulder, forwardLIMS angle , left upper armLIMS angle, right elbowLIMS angle, left elbowLIMS angle, right hip, rearLIMS angle, right hip, forwardLIMS angle , right thighLIMS angle, left hip, rearLIMS angle, left hip, forwardLIMS angle, left thighLIMS angle, right kneeLIMS angle, left kneeFMU 1, load cell 1FMU l,load cell 2FMU l,load cell 3FMU 1, load cell 4FMU 1, load cell 5FMU 1, load cell 6FMU 2, load cell 1FMU 2, load cell 2FMU 2, load cell 3FMU 2, load cell 4

i '

FMU 2, load cell 5FMU 2, load cell 6FMU 1 , calibration voltageFMU 2, calibration voltageLIMS , calibration voltageAirlock module timing referenceT-013 identification word

LIMS angle(fig. 1)

123456789

10111213141516 .

•'

Two data acquisition cameras (DAC's), operating at 6 frames per second, with5-mm lenses monitored the experiment subject's center of mass and torso attitude. Byusing the targets on the LIMS suit, photogrammetric techniques have been employed toobtain subject's torso motion histories. These techniques, and the results obtained,are discussed subsequently.

Finally, to obtain the necessary spacecraft response information for the experiment,a series of measurements from the ATM PCS were taken. These measurements wereexisting ATM "housekeeping" data and were obtained both in real time during portions ofthe experiment and in the record/dump mode. A discussion of these measurements mayalso be found in the section "Results."

As a further note, parts of the experiment activities were recorded on video tape,which was subsequently dumped to the ground. Figure 9 shows the OWS area of experi-ment operations with certain T-013 equipment identified.

Experiment Operation and Protocol ,

The crew/vehicle disturbances experiment was performed in the forward (dome)area of the Skylab orbital workshop during the Skylab-3 mission (second manned mission).Alan L. Bean, spacecraft commander, served as the primary experiment subject, withJack R. Lousma, spacecraft pilot, as a secondary subject for some of the experimenttasks. All experiment activities were conducted on day-of-year (DOY) 228 (missionday 20), with some additional experiment-related activities performed on other days inefforts to resolve anomalies noted on day 228. Appendix A to this report presents anexcerpt from the Skylab maneuvering experiments checklist, which describes the T-013operations and activities carried out by the flight crew. Table II summarized the daysand activities of experiment T-013 operations on the Skylab-3 mission. The tasks per-formed by the subject included the following primary categories.

Gross body motions.- These motions included simple arm and leg movements,breathing and coughing exercises, and soaring translations between the two force mea-suring units. The limb motions included single- and double-pendulum arm and leg move-ments and body bending at the waist. These body motions were designed primarily toreproduce types of activities performed in earlier ground simulations (ref. 6) and toallow comparisons by use of the mathematical models discussed previously. The armand leg movements and breathing and coughing exercises were performed with the sub-ject attached to FMU 1 with foot restraints.

Simulated console operations.- This activity consisted of the subject performingmotions typically associated with a console operation, such as the flipping of switches,hand-controller inputs, and keyboard entries. This exercise lasted approximately 3 min-utes, and its purpose was to provide a baseline for stochastic model definition.

10

TABLE II.- OPERATIONS CHRONOLOGY

Day of year Activity

226

228

240 and 241

242

247

Ten-minute checkout operations to ascertain thatthe force measuring system was operational

Performance of T-013

Performance of malfunction procedure to investigateanomaly occurring in one force measuring unit'during T-013 performance

Repeat of task 3, "Worst Case Control SystemInput," in order to obtain camera/PCS real-time data correlation

Repeat of task 3 to obtain camera/PCS real-timedata correlation

Worse case control system inputs.- Included in this category were movementschosen for their potentially large force and moment inputs to the ATM pointing controlsystem; examples of these activities are one- and two-man soaring motions (utilizingthe primary and secondary subjects along the paths indicated in fig. 10), and vigorousone-man exercise-type motions performed with the subject restrained to FMU 1.

Hardware Performance Assessment and Anomalies

Hardware operation.- In general, operations with the T-013 experiment hardwarewere carried out satisfactorily. Stowage and unstowage and donning and doffing of theLIMS garment and exoskeleton were performed smoothly. Uncaging of the FMU's andoperation of the calibration lever were also performed with no problems. All otherexperiment hardware and related operations performed by the crew in conjunction withT-013 were likewise conducted successfully and without difficulty.

Force measuring unit anomaly.- On DOY 228 an apparently severe loading condi-tion on FMU 2 (without foot restraints) caused two of the six load cells to go off scaleat the maximum output voltage (+5 V dc). Based on analysis of individual load cellreadings immediately prior to the anomaly, it has been concluded that the unit was sub-jected to a severe shock bending moment during a "landing" from a vigorous soaringmaneuver. The two load cells continued to read off scale during the remainder of theT-013 performances. The other four load cells in the FMU 2 array exhibited a "zeroshift" but appeared to function in a nominal manner throughout T-013 activities. OnDOY 240 and 241 a malfunction procedure, which had been devised after discovery of

11

the load cell anomaly, was carried out by the crew to determine the cause of the off-scale readings. The procedure consisted primarily of using a push-pull force indicatorto apply calibrated loadings to selected locations and in specified directions on the unitwhile recording and transmitting the FMU data back to ground. As a result of these pro-cedures, and by considering all data from FMU 2, the most probable cause of the anom-alous readings appears to be a failure in the bond between the load cell beam and thestrain gage produced by a mechanical deformation of the FMU assembly which, in turn,caused (at least momentary) high loading input to the load cells. A hysteresis effect ofthis mechanical deformation may also be involved in the "zero shifts" noted in the otherfour load cells.

Attempts were made to reduce data from FMU 2 by using an algorithm to synthe-size "correct" data from the two damaged load cells. However, it was found that (basedon a check of the algorithm with FMU 1 data) accuracy of the reconstructed force pro-files varied from 0 to 25 percent of full-scale values. It was thus determined that suchdata could be used only to indicate trends and to provide event time correlation of T-013activities.

DATA REDUCTION

Skylab experiment T-013 data consisted of 16-mm motion-picture film and telem-etry data. As noted previously, two data acquisition cameras (DAC's) were positionedin the OWS to record T-013 astronaut activities. (See fig. 10.) One camera was locatedin the OWS dome, the other to the side of the OWS. The T-013 telemetry data wererecorded in digital form and were comprised of force and moment time profiles mea-sured by the FMU's, the LIMS voltages, and the airlock module timing reference. Thereduction of the telemetry data involved scaling, bias removal, and appropriate formattingof the data. Reduction of the 16-mm motion-picture film data was a more complex taskthat required explicit points to be read from each frame of the film. Each frame requiredreading three points on the astronaut and three background points. The background pointswere used to remove lens distortion and the astronaut points were transformed by appro-priate equations to yield astronaut center-of-mass and tor so-attitude time histories. Ini-tially, it was assumed that the DAC locations and orientations were known. Preliminarydata analysis results indicated that the DAC locations were in error and a photogrammet-ric resection was required to determine camera location and orientation. Appendix Bpresents the coordinate systems, the appropriate transformations, and the analysis usedin the photogrammetric reduction of the T-013 film data.

12

Film Data Reduction

The purpose of this analysis was to reduce experiment T-013 motion-picture filmdata to obtain astronaut position and attitude in orbital workshop (OWS) coordinates.(See appendix B.) The film data consisted of two cameras photographing three noncol-linear targets on an astronaut over the same time period. The analysis converted thefilm plane images of the three targets to their corresponding OWS coordinates, and thencomputed astronaut center of mass and attitude from the OWS target coordinates.

Because of poor image quality of much of the film, some uncertainty in locating thetargets was encountered. Two types of image enhancement, spatial frequency filteringand spectral filtering, were employed in attempts to improve the resolution. Neithermethod produced satisfactory results, and the raw data film was used for all reductionactivities discussed herein.

Error correction of raw film data.- Raw data were modified to account for lensdistortion. The radial distance from the center of the film to the film image was com-puted; the distortion was then found by linear interpolation from a table of the variationof distortion with radial distance. The data were then corrected by the (radius -distortion)/radius factor.

Let

bj film plane x-coordinate of target

n^ film plane y-coordinate of target

-1 ni6 = tan 1 -ibi

d table lookup value based on r

then

r' = r - d

and

, ^rbt = —— = r1 cos 6 = Corrected x-coordinate of film plane target image

, nir'm = -i— = r' sin 9 = Corrected y-coordinate of film plane target image

13

Film data readout.- For the film data readout, the film was projected onto a sonicscreen to an image size of approximately 0.3048 m by 0.4064 m. A sonic stylus was thenused to locate the four corners and center of the film. A key punch recorded the styluslocations for each of the three targets on a card. To convert from stylus coordinates tocamera coordinates, the center of the frame was subtracted out and the value scaled tothe actual film frame size of 7.2 mm by 10.0 mm. Let gx and gy be the stylus-readcoordinates. The camera coordinates are b, n, and -f where

b = -(gx - 1146)(0.009354537)

n = (gy - 884)(0.009354537)

f = Distance from center of camera lens to film plane, 5 mm

Telemetry Data Reduction

Data acquisition during the execution of experiment T-013 consisted not only ofphotographic data as discussed previously, but also of telemetry data from the forcemeasuring units (FMU) and the limb motion sensors (LIMS).

The total measurements transmitted to ground as telemetry data are presented intable I.

Limb motion data.- Analysis of experiment T-013 in part required that the timeorientation of the subject's limbs with respect to his torso be known. This motion wasobtained by the use of the limb motion sensor (LIMS) assembly. For more clarity, theLIMS shoulder and hip joints are shown in figure 11. (See also fig. 1.)

The angular motion of each limb relative to the torso can be described by twoEuler angles per segment. (See ref. 1.) These Euler angles can then be used to relatethe motion of the man's limbs to vehicle disturbances.

The man's torso coordinate system (XM>YM>ZM) and identification of each limb

segment are shown in figure 12. The desired Euler angles for each segment are shownin figure 13 for segments 2 to 9. The rotation sequence is 0, y.n, and y.j.

The gamma angles for each segment are defined in terms of the scaled potentiom-eter outputs as follows:

For j = 2,6,

y.j = sin"1 0.707l(s0j + S0jC6-)

A _1 0.707l(s0i - S0jC0i)y-0 = tan ^—^—-^—"Yy- C0jC0j

where SB, CO, and so forth, are shorthand notations for sin 6, cos 6, and so forth.

14

For j = 3,7,

y... = sin"1 0.707lf-S0, + 8<6.C0.]••• V J J J

_j_ 0.707l(S0j

For j = 4,8,

= sin'1

y.9 = tan^

For j = 5,9,

/i - C^S^ - 8 (^80^ 1/ )8 0j + (S^ + SftCfli C0j~] |

. = sin= sin'1 O.TOTlRceiC^i + C^Si^ - 8^80^^)80^ + (S0i - S^Ce

+ se; +,y.9 = tan'1]2

where i = j - 2.

The LIMS voltages as obtained from the telemetry data tape were biased, scaled,and calibrated. The bias terms represent the output of each potentiometer when thesubject was in an attitude, as determined by observing the film data, similar to thatshown in figure 2. This reference attitude occurred on DOY 228 at 15:55:24.

The angles were then divided by the LIMS calibration voltages (CAL = 4.8 V) andconverted to radians by the following constants:

5.5802904i (i = 2 t o 9 )

5.5802901 , , >CAL (1 = 2 , 3 , 6 , 7 )

1 CAL

A representative display of gamma angles from certain activities is given in the "Results"section.

15

Force measuring system data.- Figure 14 describes the coordinate system and 'orientation of each load cell in an FMU, whereas figure 15 shows the orientation of eachFMU as installed in the orbital workshop and the conversion to the analysis coordinatesystem. Forces and moments sensed at an FMU are

Fx = cos 45° cos 30° (l>2 - L3 - L4 + L5)

Fy = sin 45° (LI + L£ + L3 + L4 + Lg + Lg)

Fz = cos 45° sin 30° (L3 - L2 + L5 - L4) + cos 45° (Lg - LJ

Mx = Kj sin 45° (L2 + L3 - L4 - L5)

My = K2 cos 45° (L5 - L4 + L3 - L2 + LJ - Lg)

Mz = K2 sin 45° (l>i + Lg) - K3 sin 45° (L2 + L3 + L4 +

Since the sensing plate is relatively stiff, any force applied to it will be sensed byall load cells. This cross coupling determined by FMU calibration is accounted for bya series of equations, one of which is presented here:

FX = FX + °-016732FY - 0.012130FZ + 0.0013370MX + 0.0028717My

- 0.0071968MZ - 0.000047152FXFZ - 0.0010625FYFZ

+ 0.00028291FZMZ -f 0.0001 5890FXFY + 0.00017863FYFY. \ -

The final set of equations, scaling equations, to give the forces and moments abouteach FMU coordinate system is given for FMU 1,

FX 1 = 38-139456Fx'

Fv i = 38.103968Fv, newtons" : ' •.*. >•"• • *

Fz { = 39.850579FZ, newtons

Mx j = 0.9698 586MX, newton -meters

My i = 0.9871221MY, newton-meters

MZ j = 1.0174757MZ, newton-meters

16

andforFMU2,

Fx 2 = 38.402497FX, newtons

Fy 2 = 37.958804Fy, newtons

Fx 2 = 38.31944F'Z, newtons

Mx 2 = 0.9874284MX, newton-meters

My 2 = 0.9695604My, newton-meters

Mz 2 = 0.9891317M'Z, newton-meters

The conversion to vehicle coordinates can be obtained directly from figure 15.These equations are:

FXV = ~FZ,1 + FZ,2

-Fy,l + FY,2

FZV = ~FX,1 " FX,2

Mxy = -RI>YFX,! + R1,ZFY,1 " R2,YFX,2 " R2,ZFY,2 ' MZ,1 + MZ,2

MYV = -Ri>ZFZ,2 + R1,XFX,1 + R2,ZFZ,2 + R2,XFX,2 " MY,1 + MY,2

MZV = "RlptFY,l + R1,YFZ,1 + R2PCFY,2 ' R2,YFZ,2 ' MX,1 + MX,2

RESULTS

Results of the data reduction efforts described in the section "Data Reduction" arepresented in this section. Included are the center -of -mass time histories from the filmdata and the LIMS and FMS results from the experiment telemetry data. Also, the vehicleresponse results, as obtained from the experiment and as calculated by using mathemati-cal models of the Sky lab vehicle dynamics, are reported.

17

Astronaut Center-of-Mass Time Histories

An objective of the T-013 optical film data reduction was to determine the time his-tories of the astronaut's center of mass and attitude. Because of the volume and natureof this data, no tabular representation is presented. However, specific plots are usefulin that qualitative assessments may be made of the various soaring activities. A sum-mary of the reduced soaring film data presented herein is given as table III.

TABLE HI. - SOARING DATA

Figure

16(a)16(b)16(c)16(d)

Start time

16:06:43.5716:06:52.2416:07:03.5716:07:10.07

Duration,sec

2.01.72.72.7

Film frames

1 to 1553 to 63

121 to 137160 to 176

Direction ofmotion

To FMU 2To FMU 1To FMU 2To FMU 1

The computed results for astronaut position during soaring activities are displayedin figure 16. In each plot, FMU 1 is on the right and FMU 2 is on the left. The grid rep-resents a cross-sectional plane of the OWS located at the base of the FMU's and viewedfrom the side of the OWS opposite the FMU's. Grid spacing is approximately 0.185 m.

It is interesting to note that for each soaring activity, the center-of-mass trajectorytends to slope toward the OWS dome as FMU 1 is approached. Careful visual analysis ofthis film indicates that there is an obstruction above FMU 2 which results in the observed

trajectories. '

Of additional interest are the velocities achieved by the subject while soaring. Fromfigure 16 and by also noting the durations of various soaring movements (obtainable fromtable HI), it is seen that soaring velocities of up to 1.9 m/sec are routinely observable.Inspection of video tape records of portions of the T-013 experiment confirm this calcu-

lated value.

Correlation of Film and Telemetry Data

Five of the eight periods of soaring activity can be correlated with the film data forday 228. The soaring in this tabulation corresponds to intervals of no measurable forceon either FMU. The duration of soaring appears to be shorter on the telemetry tape thanon the film. This is probably due to the fact that the crewman is still in contact with anFMU during part of the soaring motion. If FMU-hold plus soaring times are compared,then the time reference is good to within 5 percent and major activities (long hold periods,etc.) can be correlated.

18

This correlation is presented in table IV. The first column (Start time) is thetime in hours and minutes of DOY 228 that a particular activity started as determinedfrom the film data with an initial time reference from the telemetry data. The secondcolumn (Activity) describes the particular activity observed on the film. The third col-umn (Duration) is the duration in seconds of that activity as determined from the filmdata.

These times are relatable to the Start times of table XI and the times (sec) shownin figure 60. Time correlation between film and telemetry was obtained with a sequencewhereby the observer "knocked" on an FMU at specified intervals. This visual sequence,and the force spikes resulting in the telemetry from the "knocks" enabled the film andtelemetry data to be correlated to within one frame (or 1/6 second). Sequence 3 of task 1,as outlined in appendix A, presents details of the time correlation sequence.

TABLE IV.- TELEMETRY/FILM SOARING ACTIVITY SUMMARY

(a) Soaring activity 4; day 228 (15:41:4.25 to 15:41:42.35)

Start time

41:04.2541:04.0541:09.3541:10.4541:14.6541:15.6541:20.4541:21.4541:25.3541:26.1541:30.4541:31.3541:36.5541:39.85

Activity

Soar to FMU 2Hold FMU 2

FMU1SoarFMU 2SoarFMU 1SoarFMU 2SoarFMU 1 onlyActivity on both FMUsFMU 1 only

Duration,sec

0.84.31.14.21.04.81.03.9

-84.3

.95.23.32.5

Summary: 38.1 seconds activity; 6 soarings

(b) Soaring activity 5; day 228 (16:06:43.57 to 16:07:19.77)

Start time

6:43.576:44.076:51.576:52.387:02.777:04.777:09.277:10.97

Activity

Soar to FMU 2Hold FMU 2SoarFMU 1SoarFMU 2SoarHold FMU 1

Duration,sec

0.57.5

.810.392.04.51.78.8


19

TABLE IV.- Concluded

(c) Soaring activity 6; day 228 (16:14:55.57 to 16:15:52.87)

Start time

14:55.5714:55.9715:01.1715:01.8715:07.0715:07.6715:12.1715:12.8715:19.6715:20.9715:26.3815:27.4715:33.1715:34.1715:40.2715:41.37

Activity

Soar to FMU 2Hold FMU 2SoarHold FMU 1SoarFMU 2Soar .FMU 1SoarFMU 2SoarFMU 1SoarFMU 2SoarHold FMU 1

Duration,sec

0.45.2.7

5.2.6

4.5.7

6.81.35.411.095.71.06.11.1

11.5


(d) Soaring activity 7; day 228 (16:17:14.37 to 16:18:01.17)

Start time

17:14.3717:15.0717:22.4717:23.1717:28.6717:29.2717:35.9717:36.3717:51.6717:52.0718:00.27

Activity

Soar to FMU 2Hold FMU 2SoarFMU 1SoarFMU 2SoarFMU 1SoarFMU 2Soar

Duration,sec

0.77.4

.75.5

.66.7

.715.0

.48.2

.9


(e) Soaring activity 8; day 228 (16:26:04 to 16:26:56)

Start time

26:04.326:13.926:14.826:20.626:21.726:31.626:34.326:37.926:41.226:45.126:48.326:52.0

Activity

Hold FMU 1Soar to FMU 2FMU 2SoarFMU1SoarFMU 2SoarFMU 1SoarFMU 2Soar

Duration,sec

9.6.9

5.81.19.92.73.63.33.93.23.74.2

Summary: 52 seconds activity; 6 soarings

20

LIMS "Gamma" Angles

For all the DOY 228 experiment activities, measurements of body limb motions ofthe subject astronaut were carried out. The limb Euler angles (referred to herein as>. •*"gamma" angles) are contained on the digital magnetic tape described in appendix E.Examples of these results are given in figure 17, which shows 73^,732 and >/5i>>'52»respectively, for motion of the left arm during part 9(c) of task 1. (See appendix A.)The "gamma" angles may be utilized in dynamic crew motion models such as that pre-sented in reference 1. (Additional segment "gamma" angles may be found in figs. 40, 43,49, 51, and 53. ,M

FMU Forces and Moments>

Crew motion force and moment profiles are useful in the design of future space-craft pointing control systems, in the verification of existing crew motion models, and inthe development of new models. Accordingly, a primary output of the Skylab T-013 crewmotion experiment was the determination of astronaut force and moment profiles for arange of activities. Typical activities include flapping arms, squat thrust, forceful soar-ing, console operations, and specific arm and leg motions. Telemetry obtained duringthe performance of experiment T-013 on day of year 228 was analyzed during this study.The time periods for which data were available are given in table V.

TABLE V.- TELEMETRY DATA COVERAGE - DOY 228

Start(a)

13:19:29(19747169)

15:17:31(19754251)

15:29:18(19754958)

16:03:43(19757023)

16:20:18(19758018)

Total data . . .

Finish

(a)

13:24:03(19747443)

15:28:15(19754895)

16:02:38

(19756958)

16:19:21(19757961)

16:27:54(19758474)

Duration

0:04:34

0:10:44

0:33:20

0:15:38

0:07:36

. . . 1:11:52

Numerical value of accumulated seconds from01 January 1973 denoted in parentheses.

21

The total force time profiles exerted on each FMU during the execution of T-013 onday 228 are displayed in appendix C.

Force and Moment Spectrum Analysis

A crew-motion force-time profile can be viewed as a stochastic process. One man-ner in which the process can be analyzed is by its corresponding power spectral density(PSD). The PSD of a time series gives an indication of the relationship between frequencyand energy and, as such, is a useful analysis technique. Since extensive ground-basedsimulations have been both analyzed and modeled by using the concepts of spectrum analy-sis, it is useful to compare the results from both ground-based and flight data. ThreeT-013 flight activities have been analyzed to date for signal frequency content. The threeactivities are crouch and pushoff, console operation, and flapping arms (like a bird).

In all cases except for the flapping arms, the PSD peaks are in the range of 1.0 to2.0 rad/sec. The amplitudes, of course, are very different, the maximum force of400 newtons being generated by the crouch and pushoff activity.

Figures 18 to 25 present the time functions and corresponding PSD's which weresubjected to this analysis. The PSD's were generated from the time function by usingstandard digital computer Fourier transform routines. From the crouch and pushoffactivity, 256 samples were used; and from the console operations and arm-flapping activ-ities, 512 samples each were used. It is noted that for the console operations activity,the force along the X-axis was predominant, and Fx is used; total force is analyzed forthe other two activities, its total moment being shown for the crouch and straightenmotion also.

Vehicle Dynamic Response

Analysis of the Skylab vehicle dynamic response to experiment T-013 crew motiondisturbances will provide a control system analysis baseline for future manned spacevehicles. This baseline consisting of expected control system and vehicle response tovarious crew motions and activities can be utilized to determine some of .the vehicle con-trol system parameters.

This section deals with the comparisons between flight data as obtained by telemetryand simulation data where the FMU forces and moments as obtained from the T-013 telem-etry system were used as the disturbance.

Detailed vehicle dynamic model.- The model used for this study consists mainly ofa dynamic model of the vehicle and the attitude and pointing control system (APCS). Thismodel (see fig. 26) was developed as part of the verification and performance assessmentof the APCS dynamics which did not deal directly with all APCS hardware-related aspects.

22

The effects of filtering and unique hardware effects (such as sun sensor, star tracker,and control moment gyro (CMG) dynamics) were integrated into the simulation modelsand were considered in processing of the data. A band-limited white-noise generatorwas used to simulate the rate-gyro noise characteristics. No attempt was made to sim-ulate the telemetry noise because of the varied effects caused by the different groundreceiving stations and the data processing and handling involved prior to utilization inthe verification and assessment task.

The APCS dynamics of primary interest is defined as the rotational motion of thevehicle in response to control moments under the influence of crew-motion disturbances.APCS dynamics are influenced by flexible body characteristics, mass distribution, controllogic, vehicle configuration control authority, and subsystem hardware characteristics.

The digital simulation program utilized to assess the Skylab vehicle dynamicresponse is generated in the context of a general modular digital simulation programconsisting of three groups of subroutines: (1) the executive program, (2) the generalprogram-related subroutines, and (3) the specific, applications-oriented subroutines ormodules. The particular functions of the three groups of routines are as follows:

(a) The executive program initializes program parameters and controls the flow ofthe simulation for the basic integration loop by processing subroutines and modules inthe input-specified sequence.

(b) The functions of the subroutines include processing for printout, plotting, statis-tical computations, and other auxiliary operations not directly related to the simulatedsystem.

(c) The applications modules pertain to the simulation of the actual problem orphysical situation. For this particular application, the concern is for the dynamic behav-ior of the Skylab cluster, treated as a single flexible body, in response to disturbancesand under the control of the control moment gyro (CMG) system. Individual modules areprogramed, where possible, to be independent entities to permit the ready substitution orexchange with one having the same function but of different complexity. The applicationsmodules provide the following functions:

(a) Rotational dynamics of a rigid body

(b) Flexible body dynamics using the normal mode method

(c) Gravity gradient moment

(d) Crew-motion disturbance

(e) Sensor characteristics consisting of noise and bandwidth limiting filter

(f) Control computations

23

(g) CMG dynamics (low-frequency model)

(h) Telemetry processing.

The flow diagram of these applications modules is shown in figure 26. It should be notedthat the vehicle model did not include the experiment pointing control system (EPCS) usedto isolate the ATM experiment package from the primary vehicle inputs. Observationsduring the experiment performance indicated that the EPCS was capable of providing nec-essary isolation during most of the T-013 operations, although some slight motion wasdetected in watching the ATM control console TV monitor during solar pointing activitiesoccurring during the experiment.

By using this model, the degree that the flexible-body dynamics influences theAPCS dynamics in the presence of the T-013 disturbance torques was assessed. Fig-ure 27 shows the measured disturbance torques during one of the soaring exercises.Figures 28 to 30 show the rigid-body vehicle rates, the flexible-body vehicle rates, andthe total vehicle rates, all from the simulation depicted in figure 26. Points A, B, and Cin figure 26 are the respective model pick-off points. The flexible-body rates add approx-imately 3.3 percent, 6 percent, and 2.9 percent to the X-, Y-, and Z-axis rigid-body rates.It was deemed that these small percentages did not warrant the additional computerexpense (approximately 44 percent). Therefore, all runs utilizing the detailed simulationexcluded the flexible-body dynamics. The rigid-body vehicle attitude during this periodis shown in figure 31.

Simplified vehicle dynamic model.- In an attempt to reduce analysis costs further,a simplified model of the vehicle dynamics developed during the Skylab program wasutilized. This model, in the form of a first-order transfer function, represented the con-trolling torque generated by the CMC's. This control torque in each axis was then sub-tracted from the disturbance torque vector and the result was multiplied by the inverseinertia matrix and integrated to produce the vehicle rates about the three axes. A blockdiagram of this model is shown in figure 32.

In order to validate this simplified model, the same disturbance torque profiles asthose used in the detailed simulation were applied to the simplified model. (See fig. 27.)The resulting vehicle rates are shown in figure 33, whereas figure 34 gives the vehicleattitude. A comparison of the computed vehicle rates is given in table VI. Peak-to-peak values of the rates show that the simplified model produces rates on the order of10 to 25 percent lower.

The attitude excursions for the detailed and simplified models are very small, andtherefore are difficult to compare in magnitude. The basic profiles (figs. 31 and 34)are very similar. The simplified vehicle dynamic model was utilized in subsequentsimulations.

24

TABLE VI.- VEHICLE RATES

Detailed simulation:Rigid bodyTotal vehicle

Simplified simulation:Total vehicleAs a percentage of detailed

simulation for —Rigid body, percentTotal vehicle, percent

Vehicle rates (peak-to-peak values), deg/sec, for -

X

-0.0167 to 0.0223-0.0165 to 0.0226

-0.0154 to 0.0203

91.591.3

Y

-0.0027 to 0.0023-0.0027 to 0.0022

-0.0018 to 0.0019

74.075.5

Z

-0.0095 to 0.0138-0.0100 to 0.0066

-0.0078 to 0.0056

57.580.7

TABLE VII.- WALL PUSH-OFF FORCING FUNCTION

Time,sec

0.397.579.619

- .698

Force,'N

053.2

105.095.0

0

Time,sec

2.442.532.5792.822.975

Force,N

0-39.5

-112.0-58.8

0

Time,sec

4.7175.1145.2965.3365.415

Force,N

053.2

105.095.0

0

Time,sec

7.1577.1667.2157.4567.611

Force,N

0-39.5

-112.0-58.8

0

Preflight predictions.- The studies performed prior to the Skylab mission in the ,area of crew-motion disturbances utilized a wall pushoff function based on aircraftflight data. This forcing function was applied in the Y-axis at the FMU location to pro-duce torques about the X-and Z-axis. (See table VII and fig. 35.) The rate-gyro and .vehicle-attitude responses to this disturbance are shown in figures 36 and 37, respec-tively. By comparing figures 27 and 35, it is seen that the actual disturbance torquesobtained from the T-013 telemetry data are much larger than those predicted before themission. Also, since the predicted force function was applied in the Y-axis only, therewas not any torque about the Y-axis. Consequently, the resulting predicted rates andattitude excursions are less than those actually experienced.

25

Comparisons with measured response.- In general, excellent time correlation hasbeen obtained between measured vehicle response and disturbance inputs. Howeverbecause of the low values, noise, and quantization effects of the measured data, it wasdifficult to establish exact rate profiles from the measured Skylab data. The rate ampli-tudes obtained from both the detailed and simplified simulations appear to be lower thanthose measured.

Seven different time periods or activities were investigated. These periods are ~identified in table VIE. For each time period, the vehicle disturbance torque as deter-mined from the FMU data is presented and is followed by the measured vehicle rates.The period is completed with plots of the LIMS "gamma" angles. LIMS data are not pre-sented for the soaring periods.

Measured vehicle data are not available for the last three time periods because theSkylab vehicle was not in contact with a ground station during those periods. The vehiclerate and sun sensor data were not recorded on the ATM telemetry system at a usablesample rate.

For comparison purposes, the rate-gyro output for the soaring activity is displayedwith the crew-motion input in figure 54. From this figure, which combines parts of fig-ures 44 and 45, the correlation between input and output is clearly indicated.

TABLE VIII.- ACTIVITIES INVESTIGATED

denotes not presented; NA denotes not available}

Flapping arms(task 3 - part 6)

Crouch and pushoff(task 3 - part 6)

Soaring (normal and forceful)(task 3 - part 8)

Two men soaring(task 3 - part 9)

Both arms in motion(task 1 - part 9)

Console operation(task 2 - part 4)

Flapping arms like a bird(task 3 - part 6)

DOY 228Start timehr:min:sec

15:26:00

15:28:00

15:29:50

15:33:45

15:55:00

16:10:00

16:13:45

Figure for -

Disturbancetorques

38

41

44

46

48

50

52

Vehiclerates

39

42

45

47

NA

NA

NA

Gammaangles

40

43

NP

NP

49

51

53

26

. DISCUSSION

This section discusses certain observations and interpretations of the T-013 experi-ment data from analyses to date. Consideration of some applications of the experimentresults is also included.

Experiment Data

In reducing the motion-picture film data, it was noted (and confirmed by analysis ofthe FMS telemetry data) that soaring velocities of up to twice those observed in groundsimulations were achieved. Velocities of approximately 2 m/sec were noted, comparedwith 1 m/sec or less in ground simulations. (See ref. 6, for example.) Examination ofvideotapes made of other routine in-flight Skylab activities support this observation, whichindicates that previous assessments of crew locomotion capabilities are conservative.An obvious implication of this result is that higher input forces to a spacecraft (and itsattitude-control system) may result from the apparently normal soaring velocities seenin Skylab.

In addition to the just-noted observation, the motion-picture films, in conjunctionwith Skylab voice transcripts (which have not been included herein), were useful in

establishing the time correlation oi events with the telemetry data and aided in the anno-tations of the total force profiles displayed in appendix C.

As a visual record of the experiment, the film provided yet another insight intoother data results. For the "arm-flapping" motion of the worst case task, resultantforce profiles seemed to be of an unusually high level, if only movement of the subject'sarms was considered (because of their relatively low mass and moment of inertia whencompared with those of the total body). Study of the motion-picture data film showed,however, that the entire body of the subject was extending in the "flapping" sequence andindicated that movement of the centers of mass of the torso and legs was also occurring.The movements contributed to a larger movement of the overall center of mass thanexpected.

Preliminary analysis of the LIMS data show that body limb motions in flight werecompleted approximately 35 percent faster than comparable motions simulated on theground and reported in reference 6. This observation, with its implication of higheraccelerations for the limbs, provides a basis for understanding the higher forces gen-erated in flight, as compared with data from reference 6. The higher forces may beattributable to lack of Ig restraint. For example, the documented zero-g phenomenon of"overshooting" (see, for example, ref. 7) can contribute to higher decelerations resulting

27

in the higher applied forces at the end of limb rotation. Also, this lack of gravity restraintmay permit (or promote) higher initial acceleration at the onset of limb motions.

Operation of the LIMS was satisfactory throughout the experiment performance onDOY 228, although the data indicate occasional "sticking" of some of the potentiometers.The LIMS data are expected to provide a good basis for the crew-motion mathematicalmodel verification process to be carried out.

As mentioned previously, forces produced by the T-013 subject were generallyhigher in magnitude than those measured in ground simulations. Table DC presentsa summary of maximum forces observed for the various activities of the experiment.A range of peak RSS force magnitudes is given in order to reflect the different levelsattained from replicated motions.

TABLE IX.- SUMMARY OF APPLIED FORCE MAGNITUDES FROM T-013

Maximum RSS» A. .. Force Range, NActivity or exercise:

Deep breathing 8 to 100Coughing 45 to 95Sneezing 140 to 215

Single-pendulum arm rotation (90°):Sagittal plane 30 to 80Frontal plane 80 to 95

Double-pendulum arm rotation:Frontal plane 40 to 80Sagittal plane 35 to 45

Body bending at waist (80°) 70 to 200

Single-pendulum leg rotation (45°):Sagittal plane 60 to 85Frontal plane -. 60 to 115

Double -pendulum leg rotation 40 to 50

Free soaring:"Normal" manner 30 to 220Vigorous manner 60 to 400

Arm "napping" 200 to 300

Crouch and straighten 250 to 340

Simulated console activity 7 to 20

28 L-10415

For the respiration exercises (breathing, coughing, sneezing), only coughing had thesame force levels in flight as obtained in simulation. Sneezing produced up to twice theforce, and deep breathing resulted in over 25 times as much force. A lack of Ig restrainton the subject's visceral mass, allowing more acceleration and motion of this mass,appears to provide reasonable explanation for the larger in-flight forces. In consider-ing all flight experiment motions, it should be noted that the subject was not one utilizedin the ground simulations reported in reference 6. However, subject mass and statusvaried by less than 8 percent between flight and simulation; this variation suggests thatcomparison of flight and simulation results is permissible.

In general, flight force data results indicate levels greater than simulations. Thelack of gravity restraint, as mentioned previously, is postulated as the predominant factorin producing this phenomenon. The experiment was performed approximately 3 weeksinto the Skylab 3.mission; it is assumed that the crew had become well adapted to itsenvironment. This adaptation may explain why the preflight zero-g aircraft soaring forcedata, contained.in table Vn, were not as high as the flight levels; short periods of zero-ginterspersed with periods of greater than Ig would seem to preclude a complete zero-gadaptation and development of the large translation capabilities evidenced in Skyjab.

The vigorous soaring produced the largest forces (up to 400 N) and resulted inapplied disturbance torques on the order of 1000 N-m as seen by the attitude control sys-tem. Vehicle rates on the order of 0.02 deg/sec were observed because of these torques.During the two-man soaring portion of task 3 (see appendix A), observed vehicle rates or0.03 to 0.04 deg/sec were noted; this result implies that the secondary subject was pro-viding disturbance inputs comparable with that of the primary subject.

The arm-flapping motion resulted in about 800 N-m of disturbance torque, but only0.005 deg/sec of observed vehicle rates. The higher frequency of the "flapping" may havebeen "ignored" by the bending filters present in the attitude-control system; as a result,there was little control system activity. The crouch and straighten motion, on the otherhand, resulted in vehicle rate excursions of 0.03 deg/sec.

Console operations, as expected, produced the lowest forces and moments andresulted in minimal disturbance torques and negligible rates. Agreement with groundsimulation fbr this activity was very good.

For virtually all experiment motions, ATM console observations by the missionscience pilot indicated that the Skylab experiment pointing control system (EPCS) actedsatisfactorily to isolate the ATM experiment package from T-013 disturbances.

Applications

Future missions of the Shuttle era will have varied pointing requirements. Oneclassification of pointing requirements for the Spacelab is given in table X. Classes n

29

and m of this table represent situations in which crew motions will be a significant factor.Even in Class I, some requirements, such as stability rate, must take into account activi-ties such as the soaring maneuvers of T-013. The possible constraints on crew activitiesduring critical high pointing accuracy periods must be addressed for future missions.

TABLE X.-PAYLOAD POINTING REQUIREMENTS

Characteristics

Pointing accuracy

Pointing stability

Stability rate

Stability duration

Viewing required

Class I(a)

1800 arc-sec

360 arc -sec

36 arc -sec/sec

24 hr

Hemisphere,Earth, misc.

Class H(a)

1 arc -sec

1 arc -sec

0.0002 arc -sec/sec

93 min

100° cone, misc.hemisphere

Class m(a) ,;

1 arc -sec

1 arc -sec

0.1 arc -sec/sec

93 min

100° cone,hemisphere

aClass I: Pallet mounted, no gimbals, inertia measuring unit, verniercontrol system positioning

Class II: Pallet mounted, ESRO-instrument pointing system, verniercontrol system positioning

Class III: Pallet mounted, ESRO-instrument pointing system, controlmoment gyro positioning

This report has categorized some types and kinds of activities and presents forceand moment profiles. A magnetic tape of DOY 228 experiment T-013 data is available.(See appendix E.) These results provide a basis for future manned mission control sys-tem design. Analyses of the type noted in the section "Vehicle Dynamic Response" canbe carried out with any potential vehicle by utilizing the T-013 data as a forcing functioninput.

The use of spectral data, such as those outlined also in the section "Force andMomentum Spectrum Analysis" gives a potentially useful method of incorporating fre-quency response characteristics of crew-motion disturbances in systems analyses.Models such as those reported in reference 3, which characterize a crew-motion distur-bance as an output from a linear filter driven by white noise, have been employed in thepast by using ground simulation data to define the filter characteristics. Use of theflight data should provide a more accurate model.

30

CONCLUDING REMARKS

Analysis to date of Skylab experiment T-013 film and telemetry data leads to thefollowing conclusions:

1. Significant control system inputs were generated on Skylab by astronaut crewmovements.

2. Applied force levels from Skylab flight activities were generally notably higherthan those from comparable ground (and zero-g aircraft) simulation activities.

3. The lack of Ig restraint appears to be a predominant factor in the higher forcelevels observed in flight.

4. Previous preflight estimates of crew locomotion capabilities are conservative.Actual translational velocities on Skylab were up to twice as high as some predictions.

5. The ATM EPCS provided adequate isolation from the T-013 experimentactivities.

The degree to which crew motions affect a spacecraft is, of course, dependent onthe size (inertia) of the vehicle and the magnitude of the disturbance torques as seen bythe control system. The size of the crew is another consideration. It is felt that exten-sion of the T-013 experiment results together with ground-based analyses and simulationto the disturbance problems associated with large, multiman crews will be feasible. Useof the T-013 data to develop a family of flight-verified crew-motion disturbance modelscould prove useful for control system design and analysis. Refinement of the existingdynamic anthropometric model is also expected to provide a valuable tool not only forcrew-motion analysis on the ground, but also for other astronaut orientation, mobility,and activity studies.

In summary, it is felt that the results presented and discussed herein are a signifi-cant contribution to the understanding of the character and effects of crew-motion dis-turbances aboard a manned spacecraft. . , , . , . . ! . .

Langley Research CenterNational Aeronautics and Space AdministrationHampton, Va. 23665December 30, 1975

31

APPENDIX A

SKYLAB MANEUVERING EXPERIMENTS CHECKLIST - T-013 ACTIVITIES

This appendix presents portions of the Skylab maneuvering experiments checklist(pp. 30-1 to 32-4) detailing crew tasks to be followed in carrying out the crew/vehicledisturbances experiment. The checklist was prepared, based on inputs from principalinvestigators, by personnel of the crew procedures division at the NASA Lyndon B.Johnson Space Center.

The procedures described in this appendix are grouped into integrated tasks. Forthe three experiment-motion tasks, order of performance was not critical and was dic-tated by external factors such as available ground station coverage. ...

In the checklist excerpts which follow, SUB refers to the primary experiment sub-ject, OBS refers to the experiment observer (who also served as the secondary subjectduring the worst case inputs task), and SPT refers to the mission science pilot.

32

APPENDIX A

DATE 7/10/73 30-1

(GROSS BODV MOTIONS)

DBS 1 Voice record 'TASK NO. 1 - GROSS BODYMOTIONS' started and g i v e subjectIdentification

SUB 2 Position feet in FF1U 1 restraints

DBS' 3 Tell SPT not to do any gross motions••;.••• during the experiment

Note: Do not block v i e d of cameras

1 Tine Correlation Sequence....Knock on FC1U 2 at the appro* center

of the sense plate b e l o w h a n d h o l d•1th side of fist as follows:

Four tines at 1 sec i n t e r v a l s w i t h9 in. hand travel

Three tines at 1/2 sec i n t e r v a l s *>• ith 5 in. hand t r a v e l £_

Four tines at 2 sec i n t e r v a l s w i t h •" .H in. hand travel £ §

o5 Remain stationary at FPIU 2 w h i l e the

subject performs the exp e x e r c i s e s

6 Read c h e c k l i s t & demonstrate maneuversto subject

Note: After each of the f o l l o w i n gexercises, the subject uii ifs t a b i l i z e for appro* 5 seconds

------------------------------------ TVSPT I 7 Set up TV IOC- Arm/Body e x e r c i s e s I I

I VTR - RCD I |TV --- r ........ ------------------------- TV

33

APPENDIX A

DATE 7/2/73 30-2

SUB 8 R e s p i r a t i o n E x e r c i s e s . . . .

Breathe d e e p l y ( a p p r o * 6 t i m e s )Cough 5 tinesSimulate sneezing 5 to 6 tines I

9 Am Exercises....

Perfcrn each of the f o l l o w i n g 3 tines ias shovn: :*

a With right arm straight & r i g i d atside, raise it out 90 deg frcn sideand return

£-;ro o

Ob Uith right arm st r a i g h t S r i g i d at

side, raise it in front of body90 deg and return

34

APPENDIX A

DATE 7/2/73 30-3

SUB c In one continuous movement, r a i s eleft arm out 90 deg from side 8•ove hand toward s h o u l d e r throughan angle of 150 deg. Return armto side v h i l e s t r a i g h t e n i n g

With right arm s t r a i g h t & r i g i d atside,, raise arm 90 deg in front of

, body. Move it through 90 deg toright side, and return to s i d e

e With both arms s t r a i g h t g r i g i d atside, r a i s e them s i m u l t a n e o u s l ystraight cut 90 deg from each sidWove then through 90 deg to frontof body then fewer b o t h arms tcsi de s i m u l t a n e o u s l y

35

APPENDIX A

30-H

SUB f In one c o n t i n u o u s movement, raisfc "l e f t arm in front of body 90 deg& wove hand tcuiard shoulder throughan a n g l e of 150 deg. Return ara' tos i d e w h i l e s t r a i g h t e n i n g

10 Body Exer c ises .... '

Bend upper body forward (bom) (0 to80 deg ) at w a i s t 3 tiaes

It R e m o v e r i g h t foot fro* restraint ands t a b i l i z e

12 Leg EXFT c i ses . . . .

Perfcr* each of the f o l l o w i n g 3 tiaesa s s h c a n :

a W i t h r i g h t leg s t r a i g h t s r i g i d ,r a i s e it cut to side through anamgle of 35 to H5 deg and return++ To? of /»»^* 30- f) P«

36

APPENDIX A

DATE 7/10/73

SUB With rightraise itan angle

30-5

leg s t r a i g h t & r i g i d ,In front of body throughof 35 to 15 deg and

In one continuous movement, raiseright knee upward in front of bodythrough an angle of 15 deg w h i l ekeeping lover leg v e r t i c a l andreturn gently

TV TVSPT 113 Set up TV 10D- Soaring I... TV—-—— TV

'?' '" •-.' .''•.-';' ' "

DBS 11 S t a b i l i z e at VCS Duct No. 2

Note: DBS natch 111*15 c a b l e for snag-ging during Soaring Exercises.

37

APPENDIX A

DATE 7/10/73 30-6

15 S o a r i n g E x e r c i s e s . . . .

SUB R e l e a s e left foot from r e s t r a i n t andcrouch for free soaring (use hand-hold to keep feet on FMU 1>

a Push off from FPIU 1 (with feet),soar to FPIU 2, & s t a b i l i z e w i t hhands o n l y

b P o s i t i o n feet on FPIU 2, push offto FPIU 1, & stabi li ze tuithhands o n l y

c Push off FMU 1 w i t h hands, turn,and stabi l i z e at FPIU 2 t u i t hhands o n l y

Tv Tv

SPT I Set up TV 13E - FPIU 1 c l o s e u p ITv Tv

SUB d Push off FPIU 2 with hands andreturn to FP)U 1; s t a b i l i z e w i t hhands o n l y

TV TVSPT I TV PUR - OFF I

TV -TV

DBS 16 V o i c e record 'TASK NO. 1 - GROSS BODYMOTIONS' task c o m p l e t e d and anyper t i n e n t comments

38

APPENDIX A

DATE 7/2/73 31-1

(SIMULATED CONSOLE OPS)

DBS 1 V o i c e recordCONSOLE OPS'i denti f i cat i on

QBS

SUB

OBS

'TASK NO.started

2 - SIMULATEDand g i v e subject

SUB 2 Attach s e l f to FMU 1 foot r e s t r a i n t s

T e l l SPT not to do any grossd u r i n g t h e e x p e r i m e n t

m o t i o n s

Read t h e f o l l o w i n g s i m u l a t e d a c t i o n sto the SUB for him to perform. A l l o wa 3 to 5 sec p a u s e between e a c h i t e m :

A R i g h t h a n d - f l i p p i n g s w i t c h e sB R i g h t h a n d - r o t a t i n g s e l e c t o r

suiitches (chest h e i g h t )C R i g h t h a n d - f l i p p i n g s w i t c h e sD Left h a n d - THC o p e r a t i o n sE R i g h t h a n d - f l i p p i n g s w i t c h e sF Left hand - k e y b o a r d entryG R i g h t h a n d - RHC A t t i t u d e n u l l i n g

s equenceH R i g h t hand - RHC yaw i n p u t sI Left ha n d - k e y b o a r d entryJ R i g h t hand - RHC yaw i n p u t sK Left hand - k e y b o a r d entryL R i g h t hand - RHC p i t c h i n p u t sM Left hand - k e y b o a r d entryN R i g h t hand - f l i p p i n g s w i t c h e s (reach

up )

V o i c e r e c o r d 'TASK NO. 2CONSOLE OPS' c o m p l e t e dp e r t i n e n t c o m m e n t s

- SIMULATEDand any

39

APPENDIX A

DATE 7/2/73 32-1

(WORST CASE INPUTS)

Note: All three crewmen p i l l be re-quired later for this task.

DBS 1 V o i c e record 'TASK NO. 3 - WORST CASEINPUTS' started and g i v e subjecti d e n t i f i c a t i o n

2 Read checklist & demonstrate maneuversto subject

SUB 3 P o s i t i o n feet in FMU 1 restraints

DBS *» T e l l SPT not to do any gross motionsu n t i ( c a l l e d

5 Verify STDN a c q u i s i t i o n

SUB 6 Fixed P o s i t i o n Tasks

R a p i d l y move both arms up and dcunout from the s i d e thru an a n g l e of90 deg; l i k e a b i r d f l a p p i n g its•ings for 10 to 20 sees

S t a b i l i z e t. Repeat arm movements

S t a b i l i z e ICrouch and q u i c k l y s t r a i g h t e n body

(as in push-off); s t a b i l i z e IPerform 5 or 6 tim e s (30 to *»0 sec

total )

7 Disengage feet from restraints

Note: DBS watch LIP1S c a b l e forsnagging.

ro<

40

APPENDIX A

DATE 7 /10/73 32-2

^ 8 S c a r i n g B e t w e e n F M U s . . . .10 CO

"-^ DBS R e m o v e pg 32-3rr> z

o TV TVl l f T V - 1 C B i r , rqd, g i v e pg 32-3 to SPT II 8 f o l l o w Ms d i r e c t i o n I

TV TV

If TV-10B is not rqd, d i s c a r d pg .12-3 8proceed thru steps 8, 9, 8 10

SUB F o r c e f u l l y push off (with feet) fromFflU 1 and scar to FOU 2

F o r c e f u l l y push off ( w i t h feet) fromFPIU 2 and soar to FP1U 1

R e p e a t s o a r i n g e x e r c i s e 4 t i m e s asr a p i d l y as p r a c t i c a l (30 to 40 sect o t a l )

9 Worst Case Tasks....

DB S C a l l S P T t o p a r t i c i p a t e i n e x p e r i m e n t

Dcff Lt l«lt h e a d s e t 8 g i v e to SPT .

SPT Read c h e c k l i s t

SUB 8 S i m u l t a n e o u s l y p e r f o r m the f o l l o w i n gOBS on mark from SPT:

SUB - Soar b e t w e e n FCll's as instep 6

OBS - Scar from food l o c k e r tof i l m v a u l t 8 r e t u r n (feet

to hands )

SUB 8 Ri'peat a b o v e Worst Case Tasks q u i c k l yOBS 3 t i m e s

SPT 10 V o i c e record 'TASK NO. 3 - UiORST CASEINPUTS' c o m p l e t e d a nd any p e r t i n e n tc omments

41

APPENDIX A

DATE t/10/'r3 32-3

SPT If TV-10B is rqd, do the f o l l o w i n g :a. Point H a l p h a 1 at any c o n v e n i e n t

targetTV TVIb. VTR -RCD IIc. V i d e o sel - ATM 1 or 2 (max zoom) I

TV--- TVd. Have the CDR perform step 8, pg 32-2

(Soaring Between Fill's ) w i t h thePLT d e s c r i b i n g the a c t i v i t y onc h a n n e l B ( p a r t i c u l a r l y the t i m e sof ' launch' & ' l a n d i n g ' )

TV TVle. VTR - STBY I

TV- — TVf. Have the PLT doff 8 temp stow his

ccmm equ i p m e n tTV TVIg. VTR - RCD I

TV TVh. D i r e c t the CDR 8 PLT to s i m u l t a n e -

o u s l y perform the f o l l o w i n g se-quence 1 t i m e s 8 report any d i s -ances seen on the CSD d i s p l a y s :(CDR) Scar between FPlUs as in

step 8, pg 32-2(PLT) Soar from the food l o c k e r s

to the f i l m v a u l t & return(feet to hands)

TV -TVI i. VTR - STBY I

TV TVj. Select 'SI' modeIc. Reopen the H a l p h a 1 & 2 doorsI. If rqd, perform an 'offset' m n v r to

assure that H a l p h a 1 is p o i n t i n gat the sun

TV ; TVIn. VTR - RCD I

TV TV

42

APPENDIX A

DATE ?•> 1I!IJ1"3 32-1

SPT o. R e p e a t steps d thru iTv Tv

Ip. VTR - STBV ( v e r i f y ) ITV TV

q. V o i c e record 'TASK NO 3 - WORST CASEINPUTS' complete 8 .give any p e r t i -nent c o m m e n t s

r. D i s c a r d t h i s pages. Have CDR & PIT p r o c e e d w i t h the ex-

p e r i m e n t as rqd

43

APPENDIX B

PHOTOGRAMMETRIC COORDINATES, TRANSFORMATIONS, AND ANALYSIS

This appendix presents the analysis required to construct the astronaut center-of-mass and torso-attitude data in orbital workshop (OWS) coordinates from theT-013 motion-picture film data. Also included is a resection analysis whereby thecamera locations and orientations were determined.

Coordinate System Definitions :

OWS system.- The OWS system is defined by the Y and Z axes as shown in fig-ure 55; the X-axis completes the right-hand system. The origin is taken at the centerof the OWS floor (which separated the OWS forward dome area and the crew quarters).

Camera 1 system.- The camera 1 coordinate system (fig. 56) is Xj, Yj, and Zjwith its origin at the center of the camera 1 lens (Cj). The Z-axis points away from thefilm plane along the line of sight of camera 1 and is perpendicular to the film plane. TheXi and YI axes lie in a plane parallel to the film plane and are oriented so that whenthe film is projected on a screen, Yj is up and Xj completes the right-hand system.

Camera 2 system.- The camera 2 axis system is X2, Y2, and Z2 with its originat the center of the camera 2 lens (02) axes defined analogously to the camera 1 axes.

Astronaut system.- The astronaut coordinate system (shown in fig. 14) has its originat the astronaut center of mass. ZM is the vertical axis of the body, pointing toward thefeet. YJVI points to the astronaut's right side. X^ completes the right-hand system,pointing out the front of the astronaut's body. The XJ^ZM plane is the nominal plane ofsymmetry of the body.

Coordinate Transformations

Coordinate transformations required in the film data analysis are given in thissection.

OWS to camera 1 transformation.- Let the angles 0«, 0*, and if/., denote theangles of positive 1 rotation about X, Y, and Z, respectively, so that a rotation 0jabout the X-axis, followed by a rotation 0j about the rotated Y-axis, followed by afinal rotation i//j about the twice-rotated Z-axis results in a coordinate system whoseX, Y, and Z axes are parallel to Xj, Yj_, and Zj, respectively. The transforma-tion HI is defined by

1 Positive is defined to be counterclockwise when looking into the positive end ofthe axis.

44

APPENDIX B

Ci//!

-SI//J

0

Si//i 0

C4>i o

0 1

o

0 1 0

SO i 0 C0J -S0j C0J

(Bl)

where S and C denote sine and cosine, respectively.

If this new system is translated by Cj (origin of the camera 1 system), the cam-era 1 coordinate system is obtained. Then any point (x,y,z) in the OWS coordinate systemcan be expressed in camera 1 coordinates by

(B2)

and conversely any point (xj,yi,zj) in the camera 1 coordinate system can be representedin the OWS system by

»ivizi

= [HI]

x - xc{

y - y c iZ - ZQJ

XC1

yci (B3)

OWS to camera 2 transformation.- Define [H2J analogously to [Hj] with angles02» 02> an^ ^2 to get the required transformation.

OWS to astronaut transformation.- Define [113] analogously to [Hj] with angles03, 63, and \l/%. Evaluation of ^j, 0j, and i/M, (02, 02> and ty}' ci, and €2 isoutlined in a subsequent section of this appendix by using a least-squares resection method.Evaluation of 03, 03, and ^3, along with determination of astronaut center-of-masslocation, is discussed next.

45

APPENDIX B

Photogrammetric Equations

To reduce two-dimensional film data to three-dimensional OWS coordinates, thefollowing conditions suffice:

(a) The torso targets are within the field of view of both cameras.

(b) The location and orientation of both cameras are known in OWS coordinates.

(c) The coordinates of the film image of the torso targets are known in each cameracoordinate system.

Condition (a) has been satisfied by observation of the film data. Condition (b) is:

determined by solving the resection problem. Condition (c) is accomplished by readingcoordinates from a projected image (by using automated film-reading equipment). Thesecoordinates must be converted to camera coordinates.

Note figure 57 and let GI = (xci,yci>zCl)» C2 = (XC2»VC2>ZC2)»Fl j = (bl j» n l i> ~f) = Camera 1 coordinates of the target image, andF2,j = (b2,j»n2 i» ~f) = Camera 2 coordinates of the target image. As can be seen fromfigure 57, Tj, Cj, and FJJ are collinear. (TJ, €2, and F2j are also collinear.)

Next, transforming Fj j to OWS coordinates

zi

For convenience of notation, let

ci

zci

(B4)

zl J +

(B5)

where

X* ."1,1

• NT

r»i,)(B6)

46

APPENDIX B

and also let

ZJ

Coordinates of the points Tj, Cj, and Fjin thr.ee rdimensional space to get

Xi - xcl zj - ZC1

(B7)

can be used in the equation defining a line

(B8)

Similarly, for camera 2, Tj , ' C%, and F2 \ are collinear, and a relation similar toequation (B8) exists as

xj -XC2 ^ -yC2 zj - ZC2

4j(B9)

52,j

where (see eqs. (B4), (B5), and (B6))

V*

v*

Z2*,j

= [H2]T

"b2 j"

n2,j

.-f .

(BIO)

Now, use cross multiplication in equations (B8) and (B9), and collect terms to get

,izci - zuxci) =

- (y?,jzci - zijyci) -Z2*,JXJ " x 7. — /Y* "7 fj "V \ — C\ _i_ c

2,j 3 V 2,jzC2 ZC2XC2J ~ u + 63

(Bll)

The solution for the unknowns Xj, yj, and Zj is over determined, since there are moreequations than unknowns. A solution may be obtained by solving any three of the fourequations. However, since the known data values are measured and therefore contain

47

APPENDIX B

unknown errors (resulting in the ej), a unique solution does not necessarily exist. Forthis reason a least-squares method was used to determine the "best" solution for Xj,yj, and Zj.

Furthermore, since the film quality of camera 2 was found to be much better thanthat of camera 1, the least-squares solution was weighted to favor the camera 2 data.

The weighted least-squares solution is the value of Xj, yj, and Zj that minimizesthe quantity S, where

(B12)S= > 7r«i/ , \ Of 1

where aj is the standard deviation of q determined by observation of the film.

Rewriting S in matrix notation yields

S = W(AX - D)2

where

(B13)

W =

" 1-I2

0\J

0

0

0

i

0

0

0

ov/

1

0

0

ov/

Q

1

(B14)

0

•l*J0

(B15)

X = (B16)

48

APPENDIX B

D =

X1,JZC1 " Z1,JXC1

X2,JZC2 ' Z2,JXC2

y2,jzC2 " Z2/C2

(B17)

To minimize S, solve

dX "

^ = 2W(AX - D)A = 0

W A X = W D

ATWAX = ATWD

Finally X, the matrix of the unknown coordinates, is given by

x = (ATWA)"IATWD

(B18)

(B19)

(B20)

(B21)

(B22)

This technique requires no more than a matrix inversion and multiplication to obtain theunknown target coordinates in OWS coordinates. It has the additional advantage of emphasizing data from higher quality film while giving less weight to data of poorer quality.

Computation of Astronaut Center-of-Mass and Torso Attitude

Consider figure 58, which represents the torso of the subject astronaut. To com-pute the location of the torso center of mass, the following method was used:

(a) Find TCM, a point on the torso surface directly over the torso center of mass.

(b) Define the orientation of the torso axes XT,' YT, and Z-p with respect tothe OWS.

(c) Torso center of mass is then equal to the location of TCM plus a scalar along

This procedure is subject to the following conditions:

(1) The astronaut torso is rigid and planar (that is, flat, as depicted in fig. 58).

(2) OWS coordinates of three noncollinear points on the astronaut torso are known.

(3) Astronaut torso coordinates of any point on the astronaut are known.

49

APPENDIX B

Condition (1) is assumed. Condition (2) is satisfied by solution of the photogrammetricequations outlined earlier in this appendix. Condition (3) is satisfied from actual mea-surements of the astronaut and a table of anthropometric measurements. (Seeappendix D.)

To compute TCM, let Tj = (xj,yj,Zj) (when j = 1, 3) be the OWS coordinates ofthe three torso points. By condition 1, all points on the torso surface lie in the sameplane. Tj, T2, and T3 determine this plane defined by Ax + B y + C z + l = 0 withA2 + B2 + C2 ^ 0. A, B, and C can be found from

[ABC] = [-I,-i,-i]

xl X2 X3

Zj Z2

-1

(B23)

Since TCM is on the torso surface,

CzTCM (B24)

By condition (3) all the distances (therefore all the angles) between Tj, T2, T3, andTCM are known. (See fig. 59.) By using Tj and T2,

T2TCM

TlT3

T2TCM T2Ti cos 05

TiTCM COS

(B25)

(B26)

Using equation (B24) along with expansion of equations (B25) and (B26) and multiplying

and collecting terms gives

xl - X2

- xi

B C

- V2 zl - Z2

- yi ys - zi

XTCM

ZTCM

-1

X2(xl - X2) +y2(yi ' Y2) + Z2(zl ' Z2) +

Xi(x3' xi) +yi(ys" yi) + zi(zs • z i)+

which can be solved for the OWS coordinates of TCM.

50

T2TCM

TjTCM

cos 0*2

COS Q!j

(B27)

APPENDIX B

The next step is to define the orientation of the XT, YT, and Z.p axes withrespect to the OWS X, Y, and Z system (and, hence, determine torso attitude).

By using the method just outlined to determine the coordinates of TCM, find thecoordinates of TUP, a point on the torso so that a vector TCM TUP is anti-parallel toXT (TUP must not be coincident with T3). By using TX (see fig. 59), let

TCM TX = TCM T3 x TCM TUP (B28)

The vector TCM TX is perpendicular to the torso surface and passes through TCM.By definition of the XT-axis, TCM TX is coincident with XT. (To insure thatTCM TX has the proper direction, relative positions on the torso of T% and TCMmust be known and the cross product taken in the appropriate order.)

Calculate the vector cross product, -(TCM TUPJ x TCM TX. This cross productyields a vector parallel to YT and since • -(TCM TUPJ is parallel to ZT, also yieldsa right-handed system of three vectors parallel to XT, YT, and ZT which have anorigin at TCM. The torso center of mass will lie along the line defined by the TCM TXvector, at a scalar distance -XTQM from TCM, where XTCM is determined fromanthropometric measurements and models of the human body. (See appendix A of ref. 1,for example.) This center of mass is the origin of the XT, YT, and ZT coordinatesystem.

The orientation of the XT, YT, and ZT system in the OWS is given by theTCM TX, -(TCM TUP) x TCM TX, -(TCM TUP) triad orientation. The torso atti-tude is defined by the angles $3, 63, and 1^3 which rotate the OWS axes into thetorso axes (parallel to X^j, Y^j, and ZM) by the transformation [H3~j. These anglesmay be calculated by solving for [113].

Assume a vector B whose components in the torso axis system are unit vectors,but which is defined in OWS coordinates (that are easily obtainable from the calculationsjust discussed). In matrix form

BOWS = [Bx,By»Bz] OWS =

DZX

b byy'xy "yy "zy

bxz byz b zz

(B29)

where, for example, b^ is the projection of the unit vector along XT upon the OWSX-axis.

51

APPENDIX B

Now, B in the torso system is given by

Btorso -

By proceeding piecemeal,

1

0

p

01

1

0

o"

0

1•M

•'xx

Jxy

bxx byx bzx

yy zy

byZ bzz

(B30)

') ' .-.5.; J> i.. . ' • •• .•

(B31)

and

bxx

bxz

(B32)

Relations similar to equation (B32) can be written for the unit vectors along Y-jand Z-p. Solving for the attitude angles by solving the calculated values of [113] ele-ments in terms of the b's for ^3, 63, and 1^3 yields

bzz

= sin"1

= -tan-1xx

(B33)

Torso attitude with respect to OWS axes has thus been determined, and location ofthe torso center of mass has been found. Determination of the overall astronaut centerof mass, and hence the origin of the XM, YM, and Z^ system requires use of theLIMS data discussed in the section "Experiment Results." These data are used to definethe subject's mass moments- of inertia and his overall center of mass dynamic motion(by using methods outlined in appendix B of ref. 1).

52

APPENDIX B

Resection Solution Using a Method of Least Squares

This subsection describes the techniques used to define the exact position and orien-tation of the T-013 data acquisition cameras in the OWS coordinate system. A resectionsolution was required because placement and alinement of the cameras for the experi-ment were known only to within a few inches and degrees. The procedure is describedfor one camera; identical steps are followed for the second camera.

Let XQ, VQ, and ZQ be the unknown OWS coordinates of the camera. Let <f>,6, and i// be unknown angles of rotation defined by the transformation [H] betweenOWS axes and camera orientation. [H] is analogous to [Hj] and [H2]

hll h!2 h!3

h21 h22 h23 (B34)

Assume the camera coordinates of (at least) three film images bj, nj, and -f (j = 1 to 3)to be given along with the OWS coordinates of the corresponding objects, X, y, and Z

From the photogrammetric equations (see eq. (B8)),

Zj - ZC

y, _j - zc

» (ZJ-ZG)ZJ*z.

3 Z J - Z C

where (as in eq. (B6))

= [H]

(B35)

(B36)

Solving equation (B36) for bj, nj, and -f, and substituting for x,*, yj", and zfrom equation (B35) yields

53

APPENDIX B

n =

-f =

- C0S0Ci//)l

j z- -z i "

j - zc)(S0Ci// + C0S0S<//)1

(B37)

Divide bj and by -f and, for notational convenience, replace the transformationtrigonometric elements with the matrix elements as given in equation (B34)

j _ (Xj - xc)hn + (yj - yc)h12

-f (Xj - xc)h31 + (Yj - yc)h32 + (Zj - zc)h33

(XJ " Xc)h21 j - Zc)h23

(B38)

(B39)-f (xj - xc)h31 + (yj - yc)h32 + (zj - zc)h33

yi

The quantities EXJ and Eyj are residual errors resulting from measurement andfilm reading inaccuracies.

The use of three known OWS points yields six equations in the form of equa-tions (B38) and (B39). With six unknowns (XQ, yQ, ZQ, 0, 0, and if/), the sixequations would be sufficient to yield a solution. However, the equations are nonlinear,and an iterative method starting with an initial estimate for the unknowns was used.

Approximate Exj and Evj by their first-degree Taylor expansions as

E = E xi ox],o

= E9E

viyj,vi o dz

8Evi o

(B40)

54

APPENDIX B

where EXJ,O and Eyj>0 are the values of EXJ and Eyj for the initial estimates of

*c, YC. zc> <t>> 9»and ^ (xc,o» yc,o»etc-)-: The approximations for EXJ and Eyj are linear in dx^, dy^, dz^, d$, d0,

.and di//. A least-squares method can be used to solve for dx^, dy^, etc.

It is desired to minimize V where

(B41)

iRewriting equation (B41) in matrix notation yields

where

and

Solve

V = > (Gr; - PrI—Ij

G =

77 =

d£«-: r* 9E-vi ri ^£*vi C\Hi f\J "^J *^ ' ^^J >

axQ aye ' a^/aEyj,o 8Eyj,o 8Eyj,o

dxc"

dyc

dzc

d0

dd

P =-Exj,o

-E«{ n

- P)2

dTJ= 0 (B42)

55

APPENDIX B

- P) =0 (B43)

(B44)

and

(B45)

iThe estimates of xc, y^, zc, <f>, 6, and

corrections given by equation (B45)are then updated by using the

~xc

yczc

e

=

xC,o

yc,0zC,o

c+

dxc

dyc

dzc

:(B46)

Equations (B38) to (B45) are reevaluated by using the values for x^, y^-, etc., given byequation (B46); the method is repeated until all the values of the corrections, given by 77,approach zero.

For T-013, six known OWS points were used to determine xc, y^, ZQ, 0, e,and i// for each camera. The film coordinates for the six image points were determinedby using automated film reading equipment (as discussed in the section "Data Reduction"),and the OWS object coordinates were determined from OWS manufacturing blueprints.When compared, the OWS points obtained by using camera coordinates from the resectionanalysis just described were in agreement with blueprint locations to an accuracy of 1 cmand indicated a position and orientation determination for the cameras of 1 cm and 1°,respectively.

56

APPENDIX C

EXPERIMENT T-013 TOTAL FORCE TIME PROFILES

The total force time profiles exerted on each FMU during the execution of T-013 onday 228 are shown in figure 60. For this figure, the total force was computed as

F2 == (sign FY>2)F j2 + F ^ + F

The resulting force profiles represent the maximum force that could be exerted onthe FMU for the particular activity taking place.

For convenience, the major activities are given in table XI.

57

APPENDIX C

TABLE XI.- DOY 228 ACTIVITIES

Start time,hr:min:sec

15:19:2515:19:4715:20:3015:21:3515:26:0015:26:5015:27:2015:28:0115:28:1515:29:1915:29:5015:30:3515:33:4515:33:5715:38:0515:40:0015:41:0015:45:1215:46:0415:46:5515:51:4815:43:3515:54:0715:54:2515:55:2415:55:2515:56:1515:56:4015:57:5615:58:3515:59:1316:02:3816:06:4016:09:3516:12:2016:13:2516:13:4716:14:0216:14:2216:14:5316:17:1216:18:1016:19:2116:20:3016:22:3216:23:3016:25:1516:26:1016:26:4416:27:54

Activity

Calibrate FMU 1Calibrate FMU 2Task 3, trial run, fixed to FMU 1End task 3Time correlation on FMU 2Task 3, part 6, flapping armsTask 3, part 6, flapping armsTask 3, part 6, forceful squat thrustData gapTask 3, part 6, normal thrustTask 3, part 8, forceful soaring (soaring 1)Task 3, part 8, normal soaringTask 3, part 9, forceful soaring, two men (soaring 2)Strain gages 4-2 and 5-2 go off-scale and stay off-scaleTask 3, part 10, forceful soaring with two men (soaring 3)Film coverage startsTask 3, part 10, forceful soaring with two men (soaring 4)Calibrate FMU 1Calibrate FMU 2Unscheduled swaying motionTime reference on FMU 2Start task 1, part 8, deep breathingTask 1, part 8, 5 coughsTask 1, part 8, 5 sneezesSubject at attention for LIMS referenceTask 1, part 9-A, wave right armTask 1, part 9-C, wave left armTask 1, part 9-D, wave right armTask 1, part 10, bowing motionTask 1, part 12-A, swing right legTask 1, part 12-C, bend right kneeData gapTask 1, part 15, one man soaringStart task 2, console operationFinish task 2, console operationTask 3, part 6, flapping armsSecond LIMS reference, arms straight, knees bent 10°Task 3, part 6, forceful pushoffsTask 3, part 6, normal pushoffsTask 3, part 8, one man, worst case soaringTask 3, part 9, two men soaringSubject uncoils LIMS cableData gapTask 1, part 4, time reference on FMU 2Task 1, part 8, coughs, sneezesTask 1, part 9, arm movementsTask 1, part 12, leg liftsTask 1, part 15, one man soaringDouble somersaultEnd of telemetry

58

APPENDIX D

ANTHROPOMETRY OF EXPERIMENT T-013 PRIMARY AND

SECONDARY SUBJECTS

Some forms of modeling of astronaut crew-motion disturbances require a knowl-edge of the anthropometric measurements of a modeled subject (or subjects). Forexperiment T-013, the requisite data for both the primary and secondary subjects arepresented in table XII. Use of the data for the primary subject (with LIMS) is made inverifying the analytical model described in reference 1. Data for the secondary subject(who participated in the two-man soaring part of the worst-case control system inputtask) are presented for information and.completeness of reporting, although no limb motionmeasurements were made. It is noted that certain quantities have been estimated; theseestimates were either derived from other measurements based on geometric relationsgiven in appendix A of reference 1 or represent approximations based on averages formeasurement subjects with similar mass and stature. It is also noted that all anthro-pometric measurements (except for body mass) represent preflight values and do notaccount for variations attributable to conditions of prolonged "weightlessness." Appen-dix A of reference 1 describes the measurements whose values (in centimeters) are givenin table Xn.

59

APPENDIX D

TABLE XII.- ANTHROPOMETRIC MEASUREMENTS

Measurement Primarysubject

Secondarysubject

Ankle circumference, cm . . . .Axillary arm circumference, cmButtock depth, cmChest breadth, cmChest depth, cmElbow circumference, cm . . . .Fist circumference, cmForearm length, cmFoot length, cmKnee circumference, cm . . . .Head circumference, cm . . . .Hip breadth, cmShoulder (acromial) height, cm .Sitting height, cmSphyrion height, cm .Stature, cmSubsternale height, cmThigh circumference, cm . . . .Tibiale height, cmTrochanteric height, cm . . . .Upper arm length, cmWaist breadth, cm . .Wa'ist depth, cmWrist circumference, cm . . . .Mass, kg

21.9a29.2a30.0a31.0

22.830.1

a28.927.024.8

a37.056.933.4

142.991.1a7.0

174.2a!26.0

54.748.487.933.932.9

a24.616.569.4

27.633.731.034.631.033.7

a31.029.226.741.459.134.0

150.5a97.2

a7.5183.4

a!32.061.0

a48.595.235.6

a29.0a20.5

18.788.9

aEstimated value.

60

APPENDIX E

EXPERIMENT T-013 DATA TAPE DESCRIPTION

A digital magnetic tape of much of the reduced T-013 data has been prepared andis described in this appendix. Inquiries concerning availability of these data should beaddressed to:

National Space Sciences Data CenterNational Aeronautics and Space Administration .Goddard Space Flight CenterCode 601Greenbelt, MD 20771

Reference: NSSDC ID 73-027A-42A

The data tape was prepared by use of Control Data Corporation's (CDC) Model 6000 seriesdigital computers and is described herein.

Data generated from processing the raw data from experiment T-013 are recordedin seven files on the magnetic tape designated W0045. This tape is a labeled, nine-track,1600 bits per inch, phase encoded, CDC SCOPE 3.4 internal format tape. The tape has anANSI-standard 80 character label. The "label" internal to the label is T-013, and thecreation date is given as "75232" which means day 232 (20 August) of 1975. The sevenfiles group as three logical units: a descriptive header file and a long data stream ofFMU and vehicle forces and moments and astronaut body Euler angles; three files ofsmoothed astronaut center-of-mass and attitude data as functions of time; and a descrip-tive header file and a short stream of raw ATM rate gyro data.

The first two files are a header and a long data stream. The first file contains one70-word record which was written with an unformatted write statement, and so may beread with an unformatted read statement, and may be interpreted with an A10 format,

' DIMENSION HEADER (70)

READ (9) HEADER

PRINT 400, HEADER400 FORMAT (5X, 7A10)

L-10415 61

APPENDIX E

The second file, the data stream file, contains 3074 records of 512 words each, written byan unformatted write statement.

DIMENSION A (512)

WRITE (9) A

Each record contains 14 contiguous blocks of 35 words per time point (490 words of datain each 512 word record). The blocks of 35 words contain the values of the followingforces, moments, and body Euler angles.

Word Parameter

1 Time, in seconds from beginning of year (TGMT)

2-4 FX, Fy, and FZ for FMU 1, in newtons

5-7 MX, My, and MZ for FMU 1, in newton- meters

8-13 FX, Fy, FZ, MX, My, and MZ for FMU 2, in newtons andnewton-meters

14-19 FX, Fy, FZ, MX, My, and M% for vehicle, in newtons andnewton-meters

20-35 y21, y22, y31, y32, y41, y42,y82' ^91'and ^92' in

If these records are read by an unformatted read statement, they can be interpreted as inan E -format.

DIMENSION A (512)

READ (9) APRINT 200, (A(I), 1=1, 490)

200 FORMAT (7 (5E25.15/)/)

Table Xin correlates certain activities.of the T-013 experiment with time points in thedata stream and record numbers in the second file of tape W0045. The data stream in thesecond file has had short data gaps filled by linear interpolation; the time span runs from13:19:29 to 16:27:54 on day 228 (from TGMT 19747169 to 19758474).

62

APPENDIX E

TABLE XHI.- DOY 228 ACTIVITIES

Start time

15:19:2515:19:4715:20:3015:21:3515:26:0015:26:5015:27:2015:28:0115:29:1915:29:5015:30:3515:33:4515:38:0515:40:0015:45:1215:46:0415:46:5515:51:4815:53:3515:54:0715:54:2515:55:2415:55:2515:56:1515:56:4015:57:5615:58:3515:59:1316:06:4016:09:3516:12:2016:13:2516:13:47

16:14:0216:14:2216:14:5316:17:1216:18:1016:20:3016:22:32

. 16:23:3016:25:1516:26:1016:26:4416:27:53

Time,sec

197543651975438719754430197544951975476019754810197548401975488119754959197549901975503519755225197554851975560019755912197559641975601519756308197564151975644719756465197565241975652519756575197566001975667619756715197567531975720019757375197575401975760519757627

197576421975766219757693197578321975789019758030197581521975821019758315197583701975840419758473

Activity

Calibrate FMU 1Calibrate FMU 2Task 3, trial runEnd trial runTime correlation on FMU 2Flapping armsFlapping armsForceful squat thrustNormal thrustForceful soaringNormal soaringForceful soaring, two menForceful soaring, two menFilm coverage startsCalibrate FMU 1Calibrate FMU 2Unscheduled swaying motionTime reference on FMU 2Start deep breathing5 coughs5 sneezesAstronaut at attention, LIMS referenceWave right armWave left armWave right armBowing motionSwing right legBend right kneeOne man soaringConsole operations, startConsole operations, endFlapping armsSecond LIMS reference, arms straight,

knees bent 10°Forceful pushoffsNormal pushoffsWorst case soaring, one manTwo men soaringAstronaut uncoils LIMS cableTime reference on FMU 2Coughs, sneezesArm movementsLeg liftsOne man soaringDouble somersaultEnd of telemetry

Initial recordin file 2

277293324370559595617 • -646657678711846

10321114133713741410162016961719173217741775181018281883191019382210233524522498

2513252425382560266027012758284528862961300130253074

63

APPENDIX E

The middle files, files number 3, 4, and 5, each contain an initial Hollerith identifi-cation record followed by several data records (215 in file 3, 311 in file 4, 310 in file 5)of seven 60-bit words containing values of the following parameters (at 6 samples/sec):

Word Parameter

1 Time of day 228 in seconds

2-4 X, Y, and Z coordinates of astronaut center of mass, cm

5-7 0, 0, and i// astronaut attitude angles, deg

The files contain the smoothed data for soaring activities 5, 6, and 7 as detailed intables XIV, XV, and XVI. All records were written by an unformatted write statement;they may be read with an unformatted read statement.

DIMENSION C (7)

READ (9) C

The header record may be printed with an A10 format

PRINT 100, C100 FORMAT (IX, 8A10)

and the data records printed with an E-format

PRINT 300, C300 FORMAT (IX, 5E25.15)

64

APPENDIX E

TABLE XTV.- SOARING ACTIVITY 5 FOR DAY 228

" [16:06:43.57 to 16:07:19.77]

Start time

6:43.576:44.076:51.576:52.387:02.777:04.77 ,7:09.277:10.97

Activity

Soar to FMU 2Hold FMU 2SoarFMU 1SoarFMU 2SoarHold FMU 1

Duration,sec

0.57.5

.810.392.04.51.78.8


TABLE XV.- SOARING ACTIVITY 6 FOR DAY 228

[l6:14:55.57 to 16:15:52.8?]

Start time

14:55.5714:55.9715:01.1715:01.8715:07.0715:07.6715:12.1715:12.8715:19.6715:20.9715:26.3815:27.4715:33.1715:34.1715:40.2715:41.37

Activity

Soar to FMU 2Hold FMU 2SoarHold FMU 1SoarFMU 2SoarFMU 1SoarFMU 2SoarFMU 1SoarFMU 2SoarHold FMU 1

Duration,sec

0.45.2

.75.2

.64.5

.76.81.35.411.095.71.06.11.1

11.5


65

APPENDIX E

TABLE XVI.- SOARING ACTIVITY 7 FOR DAY 228

[16:17:14.37 to 16:18:01.17]

Start time

17:14.3717:15.0717:22.4717:23.1717:28.6717:29.2717:35.9717:36.3717:51.6717:52.0718:00.27

Activity

Soar to FMU 2Hold FMU 2SoarFMU 1SoarFMU 2SoarFMU 1SoarFMU 2Soar

Duration,sec

0.77.4.7

5.S.6

6.7.7

15.0.4

8.2.9


The last two files (files 6 and 7) contain 512-word records, file 6 is another headerand contains one record with 35 words of alphameric information and 477 words of blanks.It may be read with an unformatted read statement and interpreted by an A10 format; onlythe first 35 words need to be printed.

DIMENSION D (512)

READ (9) D

PRINT 500, (D(I), I = 1, 35)500 FORMAT (5X, 7A10)

The 21 records in file 7 may alsd be read with an unformatted read statement, butshould be interpreted with an E-format.

66

APPENDIX E

DIMENSION D(512)•

•

•

READ (9) D

PRINT 600, (D(I), 1=1 , 510)

600 FORMAT (5X, 5E 20.10)

Each record in file 7 contains 102 contiguous groups of 5 data words; in each group, thewords contain the following variable values:

Word Parameter

1 Time from beginning of year (1973), sec

2 Time from a reference time point, sec(this word is non-T-013 related)

3 OWS rate gyro output from X2 gyro, deg/sec

4 OWS rate gyro output from Yl gyro, deg/sec

5 OWS rate gyro output from Z3 gyro, deg/sec

These groups of data occur at 12 samples/sec.

67

REFERENCES

1. Conway, Bruce A. (appendix A by Charles T. Woolley; appendix B by Peter R. Kurzhalsand Robert B. Reynolds): Development of Skylab Experiment T-013 Crew/VehicleDisturbances. NASA TN D-6584, 1972.

2. Groom, Nelson J.; Shaughnessy, John D.; and Nene, Vilas D.: On the Stability andPointing of an Attached Double-Gimbal Experiment Package. NASA TN D-6676,1972.

3. Hendricks, T. C. ; and Johnson, C. H.: Stochastic Crew Motion Modeling. J. Spacecraft& Rockets, vol. 8, no. 2, Feb. 1971, pp. 150-154.

4. Conway, Bruce A.: Mathematical Crew Motion Disturbance Models for SpacecraftControl System Design. M.S. Thesis, George Washington Univ., 1974. (Availableas NASA TM X-70342.)

5. Conway, Bruce A.: Investigation of Crew Motion Disturbances on Skylab-ExperimentT-013. AAS Paper 74-139, American Astronaut. Soc., Aug. 1974.

6. Murrish, C. H.; and Smith, G. W.: Apollo Applications Program Crew Motion Experi-ment - Program Definition and Design Development. Contract NAS 1-7276, MartinMarietta Corp., Mar. 1968. (Available as NASA CR 66599.)

7. Parker, James F., Jr.; and West, Vita R., eds.: Bioastronautics Data Book. Second ed.NASA SP-3006, 1973.

68

Rightshoulder

Rightupperarm

Leftshoulder

Leftupperarm

Leftelbow

Rightknee

Figure 1.- Limb motion sensor exoskeleton showing potentiometer identification.

69

L-75-275

Figure 2.- LIMS as worn by subject.

70

L-75-276(a) FMU 1.

Figure 4.- View of force measuring units mounted in OWS.

72

L-75-277

(b) FMU 2.

Figure 4.- Concluded.

73

60° *\ r—z

\ I /X /

Sense plate

45°

Base

Figure 5.- Load cell array schematic with axis system.

74

3O

0)O

•srto

o

"rt

o

iCD

01

a

75

L-75-278

Figure 7.- View of experiment data system in OWS.

76

o -a

77

FORCE-MEASURING UNITS1'

EXPERIMENT DATA SYSTEM(HIDDEN FROM VIEW)

ANTI-SOLARSCIENTIFIC AIRLOCK

STOWAGE CONTAINER FOR LIMBMOTION SENSORS

L-75-279

Figure 9.- Photograph of T-013 operations area in OWS (taken prior to launch)showing hardware locations.

78

Camera (top of dome)

F/V1U No. 2FMU No. 1

LIMSr;X stowage1 ' container

Soaring _paths

Camera

+z \

Figure 10.- T-013 operations area of OWS indicatingsoaring paths.

79

e2(e5)

Figure 11.- LIMS shoulder and hip joint detail.

SO1

Figure 12.- Torso coordinate system and limb designation.

81

Segment axis of symmetry

J x

Figure 13.- Euler angles for segments 2 to 9. XMt, YM,,and ZMt axesare parallel to the XM, YM, and ZM axes, respectively.

82

Sense plate

Base

Figure 14.- Load cell array schematic.

83

* I•** o11

1CO

*3fa «0

^isi

rt w ao r faO w q>— « 552 §

^ «6

|I•*4

fa

84

1st contact*with FMU2 Last contact^

with FMU1

FMU1

(a). Frames 1 to 15.

Figure 16.- Torso^center-of-mass trajectory for activity 5.

Last contactwith FMU2

1st contactwith FMU1

FMU2 FMU1

(b) Frames 53 to 63.

Figure 16.- Continued.

86

1st contactwith FMU2

Last contactwith FMU1

(c) Frames 121 to 137.


87

I60toi'u '

16.-

-250 2 4 6

Time, sec

(a) Upper left arm (15:56:12).

Figure 17.- Gamma angles.

89

r52' deg

50

i

25

0

-25120

80

40

0

-40

-800 2 4 6

Time, sec

(b) Lower left arm (15:56:12).


10

90

-240

-32°0 5 10 .5Time, sec

Figure 18.- FT j time function. Crouch and pushoff (15:27:45).

91

PSD

0 2 4""—6 8 10 12 14

Frequency, R/S

Figure 19.- FT j power spectral density (15:27:45).

16

92

MT j, N-m

40

32

24!

16

' 8

o

-t6

-24

-32Q ^ (Q ,5 2Q 2

Time, secFigure 20.- MT j time function. Crouch and pushoff (15:27:45).

93

PSD

0 24 6 8 10 12 14 16Frequency, R/S

Figure 21.-Mr power spectral density (15:27:45).

94

FX,1<

0 10 40 5020 30

Time, sec

Figure 22.- F-JJ j time function. Console operations (16:10:00)

95

PSD

0 2 4 6 8 10Frequency, R/S

Figure 23.- FX ± power spectral density (16:10:00).

14 16

96

0 10 20 30.Time, sec

Figure 24.- FT j time function. Arm flapping (16:13:10).

50

97

PSD

2200

2000

1800

1600

1400

1200

1000

800

600

400

200

0 0 2 4 6 8 1 0 1 2 1 4 1 6Frequency, R/S

Figure 25.- FT ^ power spectral density (16:13:10).

98

•t ">

IsQ> oo> fe.

t oo»

- -

QQ

8

s

I/)^O+m*

l_ «^>

o -r-

OJ

cooQ-CO

COo

,2o2CD

CDCM

O)

"coor:

99

Pushoff Land

, N-m

800

400

o

-400-800

Mzv,N-m

iLand Pushoff

A-

-1000

"2°°°0 10 20 30 40 50 60Time, sec

Figure 27.- Disturbance torques. Soaring (15:29:45).

100

X3'

0

025

0

3

r7V^V1 r^

\jv^V

.010

.005

-.005

-. 010

7 1

0 (0 20 30 40 50 60Time, sec

Figure 28.- Simulation rigid-body rates (15:29:45).

101

.0010

0 10 20 30 40 50 60Time, sec

Figure 29.- Simulation flexible-body rate components (15:29:45).

102

. VC.J0o>

"5?•o n. uX

3

-.025: nnoco . UU£5

Q>

ui /\a* 11•0 U

3 -0025

-. 0050nino . UIU

O)

• nnscr> « uw?•o

- nM U

- nns. uu^

- nm

—

I

/

J

^

V|

"\

'

^

KA

JV

J\

"1

lr

"X

V

/J

\

/I

L l

n

w

/ir\/\

~~\

1

x^

Vy

• *N.

•>^ v

/A

/•^j

V

0 10 5020 30 40Time, sec

Figure 30.- Simulation total vehicle rates (15:29:45).

60

103

.05

0

-.05

-.10

.008

0, deg o

-.008.04

.02

ill, deg 0

-.02

/\

0 10 20 30 40 50 60

Time, secFigure 31.- Simulation vehicle attitude (15:29:45).

104

<D

I

co Ia>n

• oaCOa>ho

.1

•2.«>73

aS

•fH

cn

CO

105

o>CO

.025

0

-.025.0025

0

I„/ X~ *>X

I 7"^JVs^

VV.

V.r^ A

3

-. 0025.008

£ .004

ir oM _.004

-.0080

L/V

10 40 5020 30Time, sec

Figure 33.- Vehicle rates. Simplified model (15:29:45).

60

106

.08

.04

0

-.04

-.08.016

.008

0,deg 0

-. 008-. 016.050

.025

Meg 0

-025'0 10 20 30 40 50 60

Time, sec

Figure 34.- Vehicle attitude. Simplified model (15:29:45).

107

tuu

?00

nu

•-?nn£UU

-/inn*HJU

-fiOni?nn.ItUU

finnoUU

^nn4UU

-4nn

onn

Time, sec

Figure 35.- Preflight disturbance torque (wall pushoff).

108

.005001ts\Olo>

-. 0025. 00010

. 00005.CT>O>•o

-.00005.001

0 ;

-.001!

-.0020 10 20 30 40

Time, sec

Figure 36.- Preflight rates (wall pushoff).

50 60

109

(Meg

-. 00500 10 20 30 40 50 60

Time, secFigure 37.- Preflight attitude (wall pushoff).

110

-25000 10 20 30 40

Time, secFigure 38.- Disturbance torques. Flapping arms (15:26:00).

Ill

90 100Time, sec


112

0 10 20 30 40 50 60Time, sec

Figure 39.- Measured vehicle rates (15:26:00).

113

oo>

OJ•O

X3

050

-025L

-0251

o>'

3

CD•o

si

-.02,70 80 90 100

Time, sec


110 120

114

eno>

CM

enCD

c\j

0 2 4 6Time, sec

(a) Upper right arm (15:26:50).


8 10

115

10 12 14 16Time, sec

(a) Concluded.


20

116

0 2 4 6

Time, sec(b) Lower right arm (15:26:50).


10

lit

•s

CDO>•o

10 12 14 16

Time, sec

(b) Concluded.


118

4 6Time, sec

(c) Upper left arm (15:26:50).


8 10

119

10 12 14 16Time, sec

(c) Concluded.


18 20

120

en

100

80

60

40

20

0

-20

0 2 4 6Time, sec

(d) Lower left arm (15:26:50).


10

121

10 12 14 16.Time, sec

(d) Concluded.


20

122

2000

2500

-2500

-50000 10 20 30 40 50 60

Time, secFigure 41.- Disturbance torques. Crouch and pushoff (15:28:00).

123

oo>

Oo>

on^Ol"o>

0 10 20 30 40 50 60Time, sec


124

r •'• i

QJ

32

24

16

8

0

-8-16

16

8O)

1* 0

-8

-160

I B I

7

ZuV

2 4 6 8Time, sec

(a) Upper right leg (15:28:00).


10

125

CD

ITN>-

CT>O>

PsJ

32

24

16

8

0

-8

-1616

8

0

-8

-16

^_^/

7

10 12 14 16Time, sec

(a) Concluded.


18 20

126

0 2 4 6Time, sec

(b) Lower right leg (15:28:00).


8

127

en

0

-4

-8

55 ~12

>•»

-J6

-20

-240

en•8

-25

-50

-7510

A

12 14 16Time, sec

18 20

(b) Concluded.


128

4 6

Time, sec(c) Upper left leg (15:28:00).

Figure 43.-Continued.

10

129

CD

CD-o

16

8

0

-8

-16

-244030

20

10

0

-10

-2010' 12

L

14 16Time, sec

(c) Concluded.


18 20

130

0 2 4 6Time, sec

(d) Lower left leg (15:28:00).


10

131

en<D

cnCD

CM

:o-8

-16

-24

-32

-40

-48 _L(0 12 14 16

Time, sec(d) Concluded.


18 20

132

IUUU

500

0

-500

innn1

(( v hiJii k'1^^rv J

-10001 2500

-2500

i m^ ,|i.1

t »* j A

1vJdf*

1 '10 10 20 30 40 50 60

Time, sec

Figure 44.- Disturbance torques. Soaring (15:29:50).

133

30Time, sec


134

2000

-10002500

0

-2500

-5000

1

0 10 20 30 40 50 60Time, sec

Figure 46.- Disturbance torques (15:33:45).

135

30 40Time, sec


136

z 1000

£ o-1000

Three WavesRight ArmPart 9-A

Right ArmMotionPart 9-B

Ll,i f'i5

I I

Jill'.-

i H0 10 20 30. 40

Time, secFigure 48.- Disturbance torques (15:55:00).

50 60

137

60

Left ArmMotionPart 9-C

Right ArmMotionPart 9-D

70 80 90 100Time, sec


no

138

Both Armsin MotionPart 9-E

Left ArmMotionPart 9-F

150 160Time, sec


139

Tnrs--? Bowingi-1 ' • J - IS

Part 104001—v-I-— <••

-1000

• Leg ExercisePart 12-A Part 12-B

(80 190 200 210 220 230 240Time, sec


140

0 4 6Time, sec



8 10

141

0 2 4 6Time, sec

(b) Lower right arm (15:57:05).


8

142

0 2 4 6Time, sec



10

143

0 2 4 6Time, sec



8

144

0 10 . 20 30 40 50 60 >Time, sec

Figure 50.- Disturbance torques. Console operations (16:10:00).

145

en<L>T3

cn

CSJ

t

0

-4

-8

-12

-16

88

80

72

64

56

48

40'0

Af

A/i'I

\L

/ —r1/-/

J

I/

/

/"j / — ^>

2 4 6 8 1CTime, sec



146

*

O)•o

C>J

4

0

-4

-8

-12

-1688

80

72

64

56

48

4010 12 14 16

Time, sec(a) Concluded.


18 20

147

20

0

o>"

eno>

-40

-60100

75

50

250

Time, sec



10

148

20

O1o>

0

-20

\J

-40

o>

-60100

75

50

2510 12 14 16

Time, sec(b) Concluded.


(8 20

149

£.Hi

20en•8 16

^ 12

8

4

45

en 4°cu"°, 35

>-~30

25

90

//

Ayr/

i

\

U v_

V

ts^^

s-

.'

0 2 4 6Time, sec



8 10

1,50

eno>

*l»"

•3CM

CA

20

16

12

8

450

45

40

35

30

25?n

r~v -\ (~ __/\ XJ" f \

A/f

v — r _-^>_ — / ^/~\ J N_ f \\sI

V

10 12 14 16Time, sec

(c) Concluded.


18 20

151

en

*

-16 r

-24

-32

-40

-48125

renat•o

100

75

500 2 4 6

Time, sec(d) Lower left arm (16:10:00).


8 10'

152

en 100

75

5010 12 14 16

Time, sec(d) Concluded.


18 20

153

-25000 10 50 6020 30 40

Time, secFigure 52.- Disturbance torques. Flapping arms (16:13:00).

154

0 2 4 6Time, sec



10

155

10 12 14. 16Time, sec

(a) Concluded.


18 20

156

0 2 4 6Time, s e c • • •



8 10

157

10 12 14 16Time, sec

(b) Concluded.


18 20

158

0 4 6Time, sec



10

159

eno>•a

ov

CM

10 14 16Time, sec

(c). Concluded.


18- 20

160

2 4 6time, sec



8 10

161

cr>o>

10 12 14 16Time, sec

(d) Concluded.


162

-.020 10 20 4030

Time, sec

Figure 54.- Forceful soaring input compared with rate gyro output.

60

163

Z (Parallel to ATM Z-axis)

OWS dome

Figure 55.- Orbital workshop axes.1

Film plane

164

Figure 56.- Camera 1 axis system.

f 'f /

f • focal length of camera lensT. • target point (on astronaut)

'

Lens of camera 1

,i(bi,j • nu'Film plane ofcamera 1Figure 57.- Camera 1 target geometry.

165

YT~

TUP

'IT

TCM

Figure 58.- Astronaut torso schematic. X^,, Yrp and Z^, axesare parallel to XM, YM, and ZM axes (fig. 12) with originat torso center of mass.

TCM

Figure 59.- Torso target geometry.

166

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500.0

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15 hr: 17 min

o.o 10.0 ao.o 30.0

TIME(SEC)

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167

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15 hr; 18 mini i i

60.0 70.0 80.0 90.0

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100.0 110.0 120.0

168

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200.0

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CALIBRATE CALIBRATE

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169

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170

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171

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activity

15 hr; 22 min

300.0 310.0 330.0 330.0 3HO.O

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: • Figure 60.- Continued.

350.0 360.0

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174

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iH80.0 490.0 500.0 510.0 520.0

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530.0 5HO.O

475

OJ

START.TASK #3.

PART 6- FLAPPING'ARMS

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600.0 610.0 620.0 630.0

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650.0 660.0

177

CROUCH AND PUSHOFF(ATTACHED TO FMU 1)

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15 1 \ mm. , ,

660.0 670.0 680.0 690.0 700.0 710.0 720.0

TIME(SEC)


178

ENDDATA GAP

400.0

200.0i

0.0

z

£ -200.0

-HOO.O

-600.0

500.0

5 ZERO GPUSH OFFS

FORCEFULSOARING #1

250.0

z

ni

0.0

-250.0

15 hr; 29 min

720.0 730.0 7HO.O 750.0 760.0

TIME(SEC)


770.0 780.0

179

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800.0

b.o

-200.0

-HOO.O

-600.0

500.0

250.0

Z*tf

tw

0.0

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FORCEFUL SOARING(LANDING WITH HANDS)

15 hr; 30 min

NORMAL SOARING(LANDING ON FEET)

780.0 790.0 800.0 810.0 820.0

TIME(SEC)

830.0 0*0.t


180

400.0r

200.0! r

j .. :<a ,0z,

li -200.0

j

? -400.0

5-600.0

500.0

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flf-v.lpv

15 hr; 31 min

840.0 850.0 660.0 870.0 880.0 890.0 900.0. ..' ' • , • • 'i ;1 '•

TIME(SEC)


181=>*/•


TUU.U

pnn n

0 0

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pen n

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901

15 h

1.0

1

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91C

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V -ji

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A

1.0 9HC

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TIME(SEC)


182

FORCEFUL SOARINGTWO MEN

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•ruu.u

200.0

0.0

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500.0

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960.0 970.0 980.0 990.0

TIME(SEC)


1000.0 1010.0 1020.0

183

400.0

200.0

„ :q.o2 * "1 '

£ -200.0

-400.0

-600.0

500.0

250.0

0.0

-250.0


15 hr; 34 min

tf

1020.0 1030.0 1040.0 1050.0 1060.0

TIME(SEC)


1070.0 1080.0

184

400.0

200.0

o.oz ,

C -200.0

-400.0

-600.0

500.0

250.0

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15 hr; 35 min

1080.0 1090.0 1100.0 1110.0

TIMEtSEC)


1120.0 1130.0 1140.0

185

400.0

500.0

0.0

z

£ -200.0

-400.0

-600.0

500.0

250.0

z

ni

0.0

-250.015 hr: 36 min

1140.0 1150.0 1160.0 1170.0 1180.0

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1190.0 1200.0

186

400.0

200.0

0.0

z

JT -200.0

-400.0

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500.0

550.0

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15 hr; 37 mih.01200.0 1210.0 1220.0 1230.0 12HO.O

TIME(SEC)


1250.0 1260.0

187

400.0

200.0

0.0

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-600.0

500.0

250.0

0.0

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TWO MENSOARING

15 hr; 38 min

1260.0 1270.0 1280.0 1290.0 1300.0

TIME(SEC)


1310.0 1320.0

188

400.0

200.0

0.0

z

£ -200.0

-HOO.O

-600.0

500.0

250.0

(U

0.0

15 hr; 39 min

1320.0 1330.0 13MO.O 1350.0 1360.0 1370.0 1380.0

TIME(SEC1


189

(U

tuu.u

200.0

0.0

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500.0

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1430.0 1WO.O

190

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200.0

0.0

-200.0

-400.0

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500.0

250.0

0.0

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TWO MENSOARING

15 hr; 41 min

1440.0 1450.0 1460.0 1470.0

TIME(SEC)

1480.0 1490.0 1500.0


191

400.0

200.0

0.0r

£ -200.0

-400.0

-600.0

500.0

250.0

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15 hr; 42 min_j_ I

1500.0 1510.0 1520.0 1530.0 1540.0

TIME(SEC)


1550.0 1560.0

192

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200.0

0.0

Z '%*

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TIME CORRELATIONMARK

15 hr; 43 min

1560.0 1570.0 1580.0 1590.0

TIME(SEC)


1600.0 1610.0 1620.0

193

400.0

200.0

0.0

z

£ -200.0

-400.0

-600.0

500.0

550.0

ft)

0.0

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15 hr; 44 min

1620.0 1630.0 1640.0 1650.0 1660.0

TIMECSEC1


1670.0 1680.0

194

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400.0

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CALIBRATEFMU 1

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1680.0 1690.0 1700.0 1710.0 1720.0

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1730.0 1740.0

195

400.0

200.0

0.0

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CALIBRATEF M U 2 ' . . - : - .

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196

"RESTING" IN SHOESSWAYING MOTION

z-

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1850.0 1860.0

197


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198

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350.0

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15 hr; 49 mini i I

1920.0 1930.0 1940.0 1950.0 1960.0

TIME(SEC)


1970.0 1960.0

199

"RESTING" IN SHOESMUU-U

200.0

o.oz

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-400.0

-600.0

500.0

250.0

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400.0

200.0

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2040.0 2050.0 2060.0 2070.0 2080.0

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201

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400.0

200.0

0.0

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TIME(SEC)


2150.0 2160.0

202

DEEP BREATHING

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TIME(SEC)


203

HOO.O

0.0

z

£ -200.0

-HOO.O

-600.0

500.0

250.0

(VI

0.0

5 COUGHS 5 SNEEZES

H

15 hr; 54 min

2220.0 2230.0 2240.0 2250.0 2260.0

TIME(SEC)


2270.0 2280.0

204

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400.0

200.0

0.0

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500.0

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L'l,I I

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0.0 2290.0 2300.0 2310.0 2320.0 2330.0 234C

TIME(SEC)


205

400.0

aoo.o

0.0

•200.0

400.0

600.0

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aso.o

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eso.o234

LEFT ABM RIGHT ARMMOTION MOTIONPART 9-C PART 9-D

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(

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15 hr; !?6 miin

0.0 3350.0 3360.0 2370.0 8380.6 2390.0 2401

TIME(SEC)


206

400.0

800.0

O.Q

200.0

400.0

600.0

500.0

250.0

0.0

•250.0

2HO

BOTH ARMS LEFT ARMIN MOTION MOTIONPART 9-E PART 9-F

' • I - !K I'1 llV - — Jl/Vf

TT 'IT (I\l\

15 h•-ir; 57 min

0.0 2410.0 2420.0 2430.0 2440.0 2450.0 246

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236*U.S. GOVERNMENT PRINTING OFFICE: 1976 - 635-275/83

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a summary of the skylab crew/vehicle disturbances

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