A CLOSED-LOOP OTOLITH SYSTEM
ASSESSMENT PROCEDURE
By
Dale W. Hiltner
B.S., The Ohio State University, 1978
Submitted in Partial Fulfillment
of the Requirements for the
Degree of Master of Science
at the
Massachusetts Institute of Technology
January, 1983
EJ
Massachusetts Institute of Technology, 1983
Signature of Author
Departmegt oferonalics and Astronautics
January 13, 1983
Certified by
.xlce
Prof/iau
R./YoungA Thesis Supervisor
Accepted by
Chairman, Deparoental Graduate Committee
Professor-Harol Y. Wachman
Aero
&'ASSAC'dSErT R437;TAE
OF TECHNOLOGY
FER 1 0 1'j
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t
2
A Closed-Loop Otolith System
Assessment Procedure
by
Dale William Hiltner
Submitted to the Department of Aeronautics and Astronautics
fulfillment of the
on 13 January 1983 in partial
requirements for the Degree of Master of Science in
Aeronautics and Astronautics
ABSTRACT
sensitive to changes in the response of the
procedure that is
A test
system to linear accelerations has been developed. The test
human otolith
in which blindfolded subjects are given a sum of
is a closed-loop test
direction and directed to
sinusoids velocity disturbance in the lateral
The test
subjective velocity using a joystick controller.
null their
test
procedure has been optimized to provide the best possible data for all
was performed using the M.I.T. Man-Vehicle Laboratory
subjects. The testing
Sled facility.
Classical
control
theory
used to analyze the test
quasi-linear
data.
Frequency
describing
spectrum plots
function
analysis
signals, along with velocity and joystick RMS values,
joystick
is
of the velocity and
are used to
Bode plots
subject.
of the
velocity nulling performance
the
measure
give the
output
command
relating acceleration input to joystick velocity
the
subject.
transfer function of
of four of the subjects tested show very good agreement.
The Bode plots
The one sigma deviations and data scatter are as low or lower than that of
A regression analysis was used to develop a
most human subject testing.
transfer function model, GHO. The model, with the values obtained from one
subject,
is
2.02(jw)
GHO
=
(jw + 1.42)(jw2 + 2(0.144)(0.540)jw + (0.540)2)
This test procedure
astronauts.
The results
sickness.
will be used in the
pre-and post-flight
testing of
Its
purpose is to define how humans adapt to weightlessness.
will help to more fully understand the causes of space motion
Thesis Supervisor:
Dr. Laurence R. Young
Title: Professor of Aeronautics and Astronautics
3
Acknowledgements
May the wind always be on your tail
be unlimited.
and your visibility
I
like
would
Man-Vehicle
thank
to
acting Project Manager
knowledge
whose
thanks
with
go
the
to
and
work.
am
Laboratory
Leper
Colony,
periods.
me.
L.
Finally,
of
support,
to my
go
to
the
which
of
my
I
am
a
friends,
the
of
full
providing
Arrott,
thi-s work.
member
thank-you
help
for
there
the members of
Stark
(357),
for
Draper
their
adjustment
attitude
for
the
work.
Charles
needed
Many
her
for
subjects
to thank
like
members
and for
family and
all
in
project,
for this
to
P.
Laboratory Sled facility,
supportive of me in this
who were all
grateful
comradery and moral
thanks
Anthony
to
to me
help
great
I would also
patience.
especially
of
the apprentice
Special
Man-Vehicle Laboratory,
I
were
advice
go
thanks
Man-Vehicle
for the M.I.T.
Robeck,
Linda
detail
cooperation
and
Many
funding.
necessary
the
providing
and
project
this
on
work
to
me
allowing
for
Laboratory,
M.I.T.
the
of
Director
Young,
R.
Laurence
Prof.
standing behind
r
4
TABLE OF CONTENTS
Chapter
1
Chapter 2
6
Introduction
11
Background
2.1
Otolith System Testing for Spacelab
11
2.2
The Otolith System Model
14
2.3
The Closed-Loop Task
16
2.4
Engineering Units
Chapter 3
The Experimental
.
System
19
21
3.1
The M.I.T.
3.1.1
Calibrations
25
3.1.2
The Cart Transfer Function
26
3.2
Sled System Software
27
3.2.1
Disturbance Profile Generation
29
3.2.2
Profile Amplitude Scaling
32
3.2.3
The Digital Joystick Filter
34
3.3
Data Reduction
35
Chapter 4
Sled
21
Test Procedure Development
4.1
General Concepts
4.2
The DHPR02.PRO Series,
39
39
Part I,
and
High Amplitude Probelms
40
4.2.1
Summary
47
4.3
The DHPRO2.PRO Series,
Part II,
and
Low Amplitude Problems
48
4.3.1
Summary
59
4.4
The H1PR04.PR0 Series and Profile
Design Problems
60
r
5
4.4.1
Profile 01
4.4.2
Profiles #3 and
4.4.3
Profile
4.4.4
Summary
75
4.5
Further Population Testing
78
4.5.1
Summary
88
Chapter 5
62
#6
#12
72
90
The Final Experiment
5.1
The Experimental Method
90
5.2
The Formal Test Procedure
92
Chapter 6
Results and Discussion
98
6.1
Results
98
6.2
Discussion of Individual Subject Results
99
6.3
The Transfer Function Model
108
6.4
Remnant Analysis
115
Chapter 7
Conclusions and Recommendations
7.1
Conclusions
7.2
Recommendations
120
120
for Further Work
123
Appendix A:
Sled System Pictures
125
Appendix B:
Profile Generation Programs
129
Appendix C:
Response Analysis Programs
146
Appendix D:
Test Procedure Checklist
167
D.1
Appendix E:
Data Filename Convention
Experimental Results
E.1 Plot Format Discussion
References
L
71
167
175
175
211
L.
CHAPTER 1
INTRODUCTION
to develop a test procedure that is sensitive
The purpose of this work is
in
changes
to
The test
accelerations.
are
given
null
test
motion
a
their
the
of
disturbance
velocity
in
the
using
linear
subjects
in which blindfolded
lateral
a
to
system
otolith
human
a closed-loop test
is
subjective
direction
joystick
and
controller.
directed
to
This type
of
avoids the magnitude estimation problem of open-loop testing.
However,
it
operator
which
also
experimental
involves
will
pre-
testing
and
will
be
hardware
facility which is
in
response
the
more
elaborated
used
was
post-flight
show
changes in
exposure
previous work
learn
the
of
the
throughout
M.I.T.
astronauts.
It
is
subjects,
disturbance
and
flexibility
in
expected
accordingly.
respond
The current
used.
generating
To
these
sinusoid,
and
each frequency.
controller
signal.
the
peak magnitude
Other variables of the
and the pole of
The more
is
of
to be used
that
the
processed by
This information
it
is
known
that
avoid
this
a
sum
of
system used on the Sled
velocity disturbance
profiles.
the frequency of
the velocity or acceleration
at
system are the gain of the joystick
filter
the digital
specific problem,
Sled
as subjects can then
This flexibility involves varying the number of sinusoids,
each
The
sickness.
5,6,7,8,
disturbance must not be predictable,
human
Laboratory
information
Ref.
the
6)
work.
The test procedure is
understand space motion
with human
by
this
Man-Vehicle
way otolith
sinusoids velocity disturbance is
has great
caused
to a weightless environment.
will then be used to more fully
the acceleration
the
testing
effects
upon
described in Chapter 3.
the brain following
From
non-linear
(Ref.
then,
is
used to filter
this
joystick
to find the proper disturbance
7
response by adjusting these parameters.
profile and joystick
From previous work in defining otolith
0.05-0.5
the
Hz frequency range.
testing.
The
frequencies
numbers used to multiply a base
the disturbance
can be
found
disturbance
or
without
frequency.
frequencies.
a
flat
scaling
4,5,9,
obtained
is
a
the
are
determined
by
the
prime
determined
The base frequency is
with
The amplitudes of the disturbance 'frequencies
position,
by
it
in
This allows no harmonic multiples to interfere
using many different
by
Ref.
This was the only range considered throughout
disturbance
by the desired period.
response,
system
the otolith
of
good response
that
was found
system
techniques.
velocity,
first,
These
include
or acceleration
second
or
third
defining
amplitude,
order
the
with
filter.
This
flexibility was heavily used in developing the final test procedure.
Very little
previous work has been done on otolith testing exclusively.
Meiry in 1965 attempted a closed-loop otolith
because
subjects could not
stay
within the
(Ref.
5)
only,
and also have an acceleration
Thus,
This
is
constant
because
velocity
the otolith
motion
test
but quickly abandoned it
physical
organs are
limits
of
sensitive
to rationalize
in this
should be
undetectable.
Classical
data
that
the author
is
These
area
of otolith
system
testing
0.005
g's.
limitations
Also,
the works
familiar with do not attempt
their disturbance time histories.
specific
be developed
testing
to acceleration
threshold of approximately
make the closed-loop task very difficult as will be shown.
on human vestibular
the track.
With no known background
the test
procedure had
to
from the fundamentals.
control
analysis
as
theory describing
the
human
operator
function techniques are
(HO)
response
is
used in the
considered
to
be
8
Fig.
The final criteria for determining if
1.01.
look at
acceptable
was
obtained
from
the
velocity,
acceleration,
important
result
was
Bode
plot
to
transfer
amplitude
the transfer
give
plots
qualitative
gives
information
the
on
indications of how well
signals
position,
are
The most
and joystick signal.
the
the HO which is
function of
Of
output.
secondary
are frequency response plots
(with and without HO control)
function
various
available
to joystick
input
of
response
but valuable in qualitative terms,
the
a particular test profile
outputs
The
acceleration
of velocity amplitude
While
frequency
commanded velocity,
found in
is
the
system.
Sled
relating
importance,
shown in
A block diagram of the system under consideration is
quasi-linear.
overall
and joystick amplitude.
response
individual
control
the HO performed
of
the
HO,
the
differences
and
the velocity
nulling
ta sk.
The
development
experimental
initial
of
the
techniques.
final
Based
test
on
past
Computer
Based on
this
experience
experience
were non-linear
no previously known quantitative
definition.
from
system
Thus,
all
felt
the
is
linear
final
previous
qualitative
is
with
the
using
Sled
some
simulations were not used in the development phase as most of the
tests
seen.
proceeded
were developed and tested.
new profiles
problems discovered in the first
otolith
has
were generated and tested on several
velocity disturbance profiles
subjects.
procedure
tests.
reasoning,
that
this
and would
procedure
Its
rather
Also,
not have
on actual
by
mathematical
gives a fully developed profile,
real world experience.
based
has been
justification
strict
the basic model
shown the non-linear
was determined
than by
and subjective
as it
is
test
with
for
the
effects
data
statistical
calculations.
and
It
based on actual
9
velocity
velocity
command
distrbace
+
to art
artccart
cart
accele ration
dynamics
human
joys tick Ioperator,
s ignal .dynamics
Figure 1.01 The Closed-Loop System
10
Thesis Organization
Chapter
slows how
reduction
of
analysis
the
used.
techniques
the
human
4
Chapter
reveals the steps taken to achieve the final
and
7
discuss
the
experimental
final
Chapters
1,5,6,
It .also discusses previous
a
is
7
be
that
Chapters 5,6,
and
results,
the
in only the method and results,
and
discussion
procedure.
method,
3
software and the
narrative
test
Chapter
system.
otolith
the
work.
significant discoveries of this
For those interested
sickness problem and
hardware and
Sled facility
the M.I.T.
discusses in detail
data
will be utilized.
procedure
the test
involving
work
the space motion
2 discusses in more detail
read.
Those
it
is
interested
more
suggested that
in
the
full
development process used to obtain the results should read Chapter 2 and 4
also.
Those
interested
reduction calculations
in
the
details
of
the
test
should also read Chapter 3.
facility
and
the
data
CHAPTER 2
BACKGROUND
2.1 Otolith System Testing for Spacelab
part of the Scientific and Technical Proposal for Vestibular
This work is
1
normal
g
environment
period before
held
during
only a
the test
the
this
on a
conducted
for
this
step to achieve
first
as
the
testing
next
two
of
will be
week
in
Table
each
test
will
also
the
done.
a
astronauts
Subsequent
return
The
It
tests
will
be
will be available
is
also
desired
for
Baseline data will be
pattern.
to
earth
the
post-
first
will be accomplished
testing
seen in Table
readaptation
German 0-1 Spacelab Mission
in orbit.
2.1.01.
be
astronaut of the STS-9 mission.
period as also
show
in the
sessions will
Six test
session.
show how the HO response has changed due to
and
the
of
to obtain baseline data
is
flight STS-9.
shown
time during
hours
more
understand
description
A brief
to be obtained in a reasonable time.
eight
to
turnaround basis as the astronauts
obtained for each participating
flight
used
be
sickness.
result
Shuttle
period
quick
results
Within
then
to
adapting
after
accelerations
the human
This will be done in the five to six month
of man.
Space
limited
define how
to
is
background follows.
proposal and the scientific
The
will
motion
space
causes of
the
linear
information
This
weightlessness.
fully
to
response
changes
operator
purpose
Its
1)
(Ref.
Spacelab.
in
Experiments
2.1.01.
over
will
This testing
the intervening weightlessness
In
some sled acceleration
later
tests
experiments
on
the
could be performed
12
F07
timetable:
- - - -
Baseline Data Collection
- - -
F-180
18-20 April 1983
M.I.T.
F-90
28-30 June
U.S.
F-60
21-22 July
F-3 0
31 Aug.-2 September
F-15
15-16 September
F-8
21-22 September
Flight
30 September-8 October
L+O
8 October
L+1 to L+7
9-15 October
L+l 4
22-23 October
Sled
at
Lab Sled at
M.I.T.
Dryden
"f
II
F = flight
L - landing
TABLE 2.1.01
Spacelab I Linear Acceleration Sled Test Timetable
owl
i
13
"bias"
environment
There
two
are
available
theories
a
constant
questionable,
is
it
1
g
system
sensitivity
secondary theory states
its
processing
on
is
It
in
that
felt
on
the
to
linear
motion
states
that
since
More reliance is
of
the
would
the brain can cancel
on purely
is
then placed on
acceleration
be
the 1
linear
the output
system
otolith
accelerations
and concentrate
space
The HO response to linear
response
that
from
organ
the otolith
inhibited by the brain.
based
not
recovery
The primary theory
acting
"bias"
vision to determine orientation.
therefore
explain
to
model.
sickness based on the conflict
without
and
of development
conceptualized.
easily
g
the cause of space motion sickness.
is
this specific conflict
is
conflict
this
1
output
organ
otolith
based on millennia
is
and otolith
lack of a
caused by the
is
between
conflict
a
is
sensory perception,
the
Since
brain interpretation
corresponding
1 g
This conflict
organs.
otolith
the
to
canal
semi-circular
sensory perception.
system
a
and
tactile,
'visual,
there
environment
weightless
a
encountering
upon
that
states
This theory
(Ref.1,2,3)
theory.
model
the conflict
is
,ickness
space motion
of
the causes
available to define
theory currently
-- st
The
and
is
otolith
decreased.
The
effects
in
g "bias"
acceleration.
This would
cause an increase in otolith system sensitivity.
These
measure
theories must be
changes
be able to
considered
in the response
show an increase
in developing
of the otolith
or a decrease
the test
system.
in otolith
procedure
The procedure must
system response.
required performance
of the HO must not be maximized or minimized
with varying
sensitivities
results
otolith
obtained.
the
tests
to
can be completed
The
so that
and precise
14
2.2 The Otolith System Model
work
in defining
system response
otolith
the
for
data
,rhe original
model
this
at
subject was oscillated
only
phase
information was obtained
due to
process
loop
which
in
(As
testing.
stated
in
The
5)
(Ref.
a
with
test
information
shows
is
velocity
indicated
noted
or
by
that
this
hand
desired.
this
amplitude
open-loop
No
amplitude
data,
open-
problem of
velocity
nulling
of subjects
inability
to the
phase
the
system
otolith
acceleration
a
was
an
As expected the
but
amplitude
the
estimation problem
that
expected to resolve.
the closed-loop task is
It
with
is
It
meaningless.
is
information
agreement
good
therefore
for more than 40 seconds).
to stay within the track limits
plot
was
closed-loop
the
1,
Chapter
the
the direction of the
the magnitude estimation
task was attempted but quickly abandoned due
Bode
system in which
was obtained using a
one frequency and indicated
joystick.
motion
2.2.01.
shown in Fig.
1ork has resulted in the Young and Meiry model
This
2.
in Ref.
found
is
input
operated
to
transfer
the
subject
joystick.
Thus,
organ output,
complete path from the otolith
function
and
it
a
is
is
based
perceived
a
model
on
a
output
for
the
the processing of this
through
information by the brain which outputs a signal to the muscles of the hand,
and
finally to the response
also be used as
response
of
the
complete
otolith
a basis
subject
of the hand itself.
for the closed-loop
in the closed-loop
system model.
task.
As such,
It
is
task will be
this model can
expected that
the
similar to this
Possible differences will be discussed in
section 2.3.
As is
seen from the plots of the otolith system model there
is a
sharp
-I
15
LATERAL SPECIFIC FOACX
(TILT ANGLE WVRYT. EARTH)
1.5 ( S
+
0.0765 1CRCEv(D TtLT
(s+0.191 (S+ .31
AGLI
Oft LATERAL ACCELERATION
t
PERCEIVED
S
LHEAN VELOCITY
71,
3
CKOUS)RLLN
to
0
*90
z
11
-20
-
V-LOc1
e
1 STD
1EVIATIO
* 40
*70p
of
10
'OUmJENCT
to
INAO/sC)
Figure 2.2.01 The Young & Meiry Model (from Ref. 1)
16
0 P-off
would
it
this model
of
possible
control
0. 0 5 -0.5Hz
the
HO
the
response
be
should
0.22
obtained
the
of
range
HO
Good
model.
range
frequency
this
over
avoid
To
and also contains
range
of
rad/sec)
(1.5
Hz
frequency
task a
octave
full
This allows a
of
frequency
closed-loop
the
frequencies.
high
the
at
disturbances
problems in
was chosen.
break
response
to
little
This means very
drop-off.
similar
show a
also
follows
Assuming the amplitude
of the phase at higher frequencies.
break
the
and
frequency should be indicated to enhance the results.
2.3 The Closed-Loop Task
As
for using
the main reason
previously,
stated
to resolve the magnitude estimation problem.
correct
correct
response
magnitude
information.
phase
the
diagram
subject
but manual
for
the
in
the
subject
the
However,
This hopefully will mean more
as well
as correspondingly
more
contains
some
2.3.01.
With
task
closed-loop
control.
task is
the closed-loop
the task
loop as shown,
As
in
other
manual
is
shown
in Fig.
not only motion
control
tasks
strategy,
HO will generate
some extra response,
correlated
the
indicated
with
in
indicates the
HO system,
control
This technique,
of the HO response.
Also,
the HO
system and so does not respond only to the disturbance.
is not a linear
L
then becomes a part
estimation
different
techniques can be used to achieve the same desired results.
or control
task is
which must be considered.
additional effects
A block
of
the closed-loop
the
disturbance.
block
diagram
velocity nulling
as considered in this
or remnant,
These
of
Fig.
task.
work.
aspects
2.3.02.
The block
The
which cannot be linearly
of
The
diagram
the
HO
V=0
shows
control
summing
are
point
the complete
17
vvelocity
cosmmand
+
velocity
disturbance
to cart
20
cart
acceleration
cart
3
dynamics
human
operator
joys
velocity
command
sigal
joystick
filter
human
operator
dynamics
Figure 2.3.01 The Closed-Loop
velocity
disturbance
+
cart
velocity
command
cart
dyamic
+,
System
cr
acceleration
G (jQ )
human
operator
veLocity
remnant
I+ +
command
filter
Gg (jQ)
control
V-0
+
otolith
+
strategy
system
dynamics
C 3OW
G (jw)
human
operator
Figure 2.3,.02 The Closed-Loop Block Diagram
with Details of the Human Operator
L
18
The transfer
the
Thus,
2.3.02.
Fig.
in
shown
function for the HO is
taken across the human operator block
strategy transfer
not to define the control
in this
function obtained
throughout
upon
elaborated
be
and will
important
transfer
The
work.
this
strategy effects.
will contain the control
thesis
effects are
its
but
function,
is
thesis
The purpose of this
otolith system obtained by open-loop testing.
the
for
that
not
is
function
transfer
This will not effect the desired result, which is to measure HO performance
in the closed-loop
task,
but will
the analysis and obseryations of
effect
the data.
Of more minor
practical
otolith
sense
is
organs
constant
HO
importance
in
the
act
limited
as
closed-loop
scientific
standpoint but important in a
track
length
accelerometers
velocity motion.
the
from a
(Ref.
task.
5,9)
Without
only,
of
the
no
output
This will cause
an
Sled.
Because
will
occur
difficulties
acceleration
input
the
for
for
deciding
the
on a
control input will then be accomplished by guessing. Also, as noted in Ref.
4,
subjects often
task.
For
the
indicate
closed-loop
control
input,
as
himself.
This
shows
improper
control
the
HO
that
and
the wrong direction
task,
then,
should
there
increase
is
this
of
motion
could mean
sense
the
ample
opportunity
his motion
wrong
instead
in
initially
direction
of
the open-loop
for
the
a
and
HO
decreasing
wrong
correct
to
it.
input
Also,
since the HO cannot exactly match the disturbance due to the limitations of
the otolith
organs,
the HO will never stop his
leads to the HO possibly exceeding the limits
a
run
before
importance
for
straightforward
the
disturbance
the
data
data
profile
analysis,
reduction,
and
is
completely.
All
this
of the Sled track and ending
completed.
since
is
motion
a
one
full
of
This
run
the
is
major
is
of
major
desired
problems
for
to
(
19
proced -.
Overcome in developing a satisfactory test
2.4 Engineering Units
4,5 the otolith system transfer
in Ref.
input and corresponding perceived velocity or acceleration
or acceleration
output.
Therefore
the velocity
shown with velocity
is
function
it
it
only acceleration
seems more
sense
organs
otolith
physical
a
viewpoint
input
the acceleration
Therefore,
input.
the acceleration
from
correct
the
Since
disturbance.
acceleration
or
functions based on
transfer
to construct
possible
is
to use
used in this
is
work.
The
disturbance
command
described in Chapter
3.
to
the
Sled
is
a
velocity
The control of the cart
by the HO is
of the disturbance command in the feedback loop and is
control.
The
velocity
output.
HO
transfer
All
function
signals
will
from the
have
Sled
command
an
are
as will
added to that
therefore a velocity
acceleration
converted
to
input
and
engineering
units by the method of Chapter 3; acceleration in m/s
2
In order
input and output it
to use
necessary
Bode
plot
general
testing.
the Young and Meiry model with this
to add
shown
guideline
an integrator.
in
Fig.
This results
2.4.01.
to verify
the
This
form
of
in the
transfer
be
and velocity in
transfer
function
the Bode plots
m/s.
is
function and
was
used
obtained
as
a
from all
20
2.0
G
Yfm
1.5
-
1.5(tw
(jW)(j
0.076)
+
+
0.19)(JW
+
1.0
0.5
C.,
0.0
0
-0.5
ii~
I
I
I
I
I
-1.0
-1.5
-2.0
frequency (Hz)
0.05
0.0
.4
-100
4
-200
+
0.10
0.15
0.20
0.30
0.40
I
S
-300
-360
Figure 2.4.01 The Young & Meiry Model
Bode Plot, with Integrator
0.50
1.5)
CHAPTER 3
THE EXPERIMENTAL SYSTEM
3.1 The M.I.T. Sled
linear acceleration
mounted
a rail
is
Sled
The M.I.T.
Four pillow
cart.
rails.
block bushings are mounted to the cart and slide along two circular
The cart is
fixed rail
while the
The total
length of
different
positions
held loosely and aligned by the bushings.
is
other rail
for straightness along one rigidly
aligned
travel of the cart is 4.7 m.
A
chair
for
testing
is
frequencies below 40 Hz,
attenuate
at
vibration
which
dampers,
insulate the chair from the cart frame.
a modified automobile racing seat in which subjects are firmly
The chair is
supported.
Lord
axes.
body
three
all
along
which can be put
to the cart
mounted
A
lap
are
and chest belt
belt
foam pads are wedged between
attached
to the chair
of the subject
the shoulders
and rigid
and the
outside
chair supports. Two types of head restraints were used in the testing. Both
One
was
to
foam padding
contained
open-faced,
firmly support
containing
no
the
structure
sides and back
in
development
restraint
was
used
in
the
restraint
contained
an
attachment
subject's
eyes in the occular torsion experiments.
down
in
front
of
the
generated by the cart
in which white noise is
A cable
subject's
motion.
initial
which
face
Speakers
and
is
used
front
of
testing.
to
take
This
effectively
of the head.
the
face.
This
The
other
head
pictures
of
the
attachment dropped
sealed
it
from wind
are mounted in both head restraints
generated to mask some of the cart
motion noise.
attached to both sides of the cart is wound around a pulley at
22
cable is
625 lbs. of tension to improve the dynamic response of the
held at
controller
The
the
allowing
generator
PWM (Pulse
a
is
of
velocity
maximum acceleration of the cart
m/s
10.0
is
2
give the
cart
the
chair
position,
near the
controller
the
7 Hz.
a ten-turn
shaft, and an accelerometer
head of the
velocity,
low
to
and the bandwidth is
position potentiometer is mounted on the motor
on
a
by the analog controller,
In addition to the tachometer utilized
i s mounted
With this
signal applied to the controller.
current voltage
current
a
as
functions
to be proportional
cart
the
controller
Width Modulation)
controller
The
feedback.
tachometer
uses
magnet
permanent
DC
(Fig. 3.1.01) The motor is controlled by an analog velocity
torque motor.
that
horsepower
3.5
a
by
driven
cart. The winch drum is
controller.
The
the other.
structure and a winch drum at
support
the rail
one end of
subject.
and acceleration
These
transducers
signals which are
then
digitally stored.
Two types of
the
cart.
The
joysticks
first
joystick
mounted horizontally
potentiometer
volts with full
were used by
was
to
The
joystick
centering
joystick
similar
spring
used
to
was
a
toothed
towards the
subject.
this
wheel
of the wheel.
rotation
the
which
it
is
stick
wheel
with
for
most
type
removed
of
the
found on
from
the
the axis
A one turn position
gives an
output
of
±0.54
(The ±15 volt system power supply is
testing
radio
is
deflection was ±0.17 volts.
used to generate the controller gain.
a
control
axis used
joystick position cue to influence the subject.
with full
the velocity of
This joystick was used in the initial
used to power the joystick.)
only.
consists of
and aligned
mounted
subjects to control
for
testing
standard
two-axis
transmitters.
control
allowing
The output of this
This voltage
is
The
no
joystick
important as
Both joysticks were mounted on
cart
FI
rai
mtor
cable-
Fig. 3.1.01
The M.I.T. Sled Ccmponents
winch
24
for the arm or hand was also mounted to the boards
,,pport
also
was
voltage
output
joystick
The
.,sition.
in
A
frame.
cart
the
to
attached
firmly
be
to
joysticks
the
This allowed
the subject.
supports in front of
boards which were placed between the cart
a :onvenie-t
A
(Appendix
recorded.
contains pictures of the Sled hardware.)
cords
available
"panic
near
mounted
are
track when the
button"
thumb
any time
activated at
limit
switch
switch
which
during a
run.
also
The
stops
the
system
the
to
cart
given a
Subjects are
activated.
is
Shock
system.
the
contain
which
ends
rail
the
switches
These
stops the
frame which
probe on the cart
a
are activated by
ends.
near the rail
structures
support
the Sled
mounted on
Limit switches are
features on the Sled are numerous.
safety
The hardware
and
can
be
conductor also has access to
test
two switches which can stop the system.
The Sled system
minicomputer
program
is
and a
is
the
the
stored velocity
stationed Digital PDP
System
velocity commands
These
test
conductor
digital
(LPS).
to the
to run the cart.
voltage
used its
command to determine
the
cart,
which is
data file
A digital-to-analog
velocity command
output is
final
11/34
A fortran
commands are stored in a
the analog
the joystick is
If
Analog-to-digital
the
3.2.
used to generate
cart controller.
remotely
Laboratory Peripheral
calculate
section
and accessed by
controlled by a
Digital
used to
discussed in
converter
is
cart
to the
scaled and added to
velocity command.
converters are used to convert the analog output
signals
before they are recorded.
The
sled system is
room as the
A
sled.
controlled by a Sled control panel mounted in the same
This panel
interacts
with the minicomputer.
This allows
25
test
the
and
,,ystick
to
conductor
to
storage
data
be
command
velocity
stored
enabled
or
the
set
file,
check
disabled,
and do other operations.
value of any signal output,
stopped at any time
any
run
digital
the
The system can also be
This gives the test conductor full
from this panel.
control of the system during the tests.
3.1-1
The
Calibrations
D/A
converters
+100. volts.
The
A/D
which gives a gain of
used
in
the
converters
sled
system have
have
12
2048 counts/volt.
bits
and
12 bits
a
range
and a
of
range
of
±1.0 volts
Voltage dividers of 0.1 volts/volt
are used to scale the output signals before they are converted by the A/D.
This value and the calibrations of the individual transducers have resulted
in the following calibrations
used to convert the
stored digital
values to
engineering units:
M/s 2/count
Acceleration
0.01
Velocity
0.002722
Position
0.001895 m/count
Commanded Velocity
0.003998 m/s/count
Joystick Velocity Command
0.003998/JSCALE m/s/count
m/s/count
The position calibration was found directly by a system calibration
position potentiometer.
accelerometer
the
calibration.
tachometer
the theoretical
The acceleration
was found using the
The velocity calibration was found by measuring
output and the motor RPM.
cart
calibration
of the
velocity,
in m/s,
Knowing
the drum diameter,
in m,
can then be found by
velocity=(RPM) ('r) (diameter) (1/60)
to give the required calibration
data.
The command calibration
was found by
26
tachometer
and
the
then
are
is also a commanded
calibration
is
JSCALE, which
break
that
the
and
added
therefore
the
same
of
is
filter
is
were
a
not
as
used
factor
the
in
to
required
software
section
the
The
factor,
3.2
the
This
is
of 3.14 rad/sec so
The
calibration.)
find
scale
10.54 rad/sec.
frequency
they
command.
velocity
noted in
(As
far fram the maximum disturbance
filter
calibrations
for the
except
joystick
digital
the
stored
the
to
in section 3.2.
is explained
frequency
sufficiently
values of the joystick signal are stored before
scaled
and
filtered
velocity
The
found.
camnanded by the joystick follows this same path as it
,elocity. The count
found
velocity was
the
be
could
data
calibration
command
calibration
velocity
Using the
output.
the
measuring
and
controller
the
into
signal
voltage
known
a
,,jecting
and
A/D
calibrations
final
D/A
in
engineering units/count.
In order to determine the proper JSCALE value it was decided to scale the
commanded
maximum
joystick
velocity,
as
to
some
described
in
percentage
of
4.5.
section
the
maximum
Using
the
commanded
previously
the following equation was used to find the correct
calibrations,
defined
velocity
JSCALE:
JSCALE=(Voltmax )(P %)(2 04 8 )(0.00
where Volt
maximum
is
commanded
the maximum
velocity
of
output
39 9 8
of
the profile
)/(Vmax)
the
in
joystick:
m/s.
and Vmax
is
the
results
in
the
This
maximum commanded velocity being equal to the desired percentage, P, of the
maximum joystick commanded velocity.
3.1.2 Cart Transfer Function
27
mass.
runs without
HO control.
140 lb.
described
techniques
This plot shows that
the cart
simple dilferentiator
in
the
model
data
low
frequencies it
for the
system
is
more useful for
model were used as required
in all
the
A
output.
as the
acceleration
function can be approximated by a
of 1.12.
the
at
with
used
3.1.2.01.
transfer
with a gain
were
3.3
section
in
shown in Fig.
is
the results
The standard
subject were considered.
velocity command as the input and the cart
Bode plot of
and an
One run with no
was used.
profile
test
final
The
Subject and one run with a
reduction
model
In order to verify the model, data was taken for a few
assumed cart
diata
techniques
graph
using bond
found
was
reference
this
in
developed
The
12.
Ref.
in
described
been
have
dynamics
system
cart
The
Although there is some scatter
is
felt
that the
any further work.
further work.
It
is
more
simplified
This plot
and
also seen that
the
additional mass of the subject had little effect on the results. This gives
assurances that the analog controller is performing satisfactorily with the
varying subject mass.
It
is
noted that this
model differs
from that
of Ref.
12.
3.2 Sled System Software
All functions of the Sled are controlled by a single program called CART.
Individual
codes.
functions
The hierarchy
are
of
accessed
from
the
the CART program
is
CART
program
explained
by
in Ref.
two
letter
13,14
and
will only be described as necessary here. It is noted that the software has
been
designed
to
be
"user
friendly"
and
has
great
flexibility
in
its
current capability and potential for future growth. All program parameters,
which
are
used
extensively
in
the
software
descriptions,
are
denoted
by
28
0
C
C
C
140 lb.
subject
no subject
1.0
0.5
z
0.0
I'kJ
§
-0. 5 -t-
-1.5
-2.0
+
frequency (Hz)
0.05
I
0.0
0.10
+200
0.30
0.20
0.40
0.50
I
4-%
-
100 +
0.13
0
n
r-I
CM
rl
mwLU
C
-
+300
+360
-L.
Figure 3.1.2.01 The Cart Transfer Function Bode Plot
29
capital letters.
to the
controller.
The
sa.ple
to determine
if
software
decelerates
however,
so
are
switches
hardware
the
often
is
limited,
the
cart
deceleration
The
cart.
the
stops
before
reached
so the
If
limits.
the track
the cart could reach
at every
checked
are
position and velocity
cart
and
prevent an overvoltage
velocity to
on the commanded
checks are made
system software.
cart
in the
also been incorporated
features have
Safety
is
stopped. These are the principle software safety features.
3.2.1 Disturbance Profile Generation
In order
to drive
files have
commands
to
as
be
described
control
panel
The
the
contains
file
first
sum
of
or
profiles,
sines.
Each profile
the
These
and
profiles,
is
velocity
run
protocol
accessing
by
described
in
file
it
is
section
the
3.1.
Ref.
13,14
this
work
velocity
are
their
generation
defined
protocol
two
files
file
generally
files
is
set
by a different
made up of a series
from
signal
discrete
Groups of these profiles are then assigned to
Each
is
with a sum of sinusoids
section.
next
files.
profile
by
command
in the
of parameters.
protocol
cart
created.
determined
velocity
called
the
called
of profiles.
using
the
further
describe
are
of
A
Sled
the
file system.
I
All
profiles
used
to
run
the
cart
in
sum
sinusoids
velocity commands. These profiles are defined by
v(t) = ZA sin(jInT+p )
where
v(t)
is
the
velocity time history
at the ith disturbance
frequency,
e
in
in m/s:
rad/sec
A.
is the peak amplitude
: T is
the sampling rate
30
The
program
used to
The profile run time,
profile.
sum of
a
parameters
Ten
SO command.
the
generate
are
profile
sinusoids
is
accessed by
of
sines
is input as variable TRUN.
It is
a sum
generate
to
needed
in seconds,
is time = nT.
and t
n is the consecutive sample number:
seconds/sample;
i
used to determine the fundamental or base frequency in rad/sec by
b =
The
frequency
fundamental
conductor
profile
for
is
the profile
numbers
and
harmonics
2'r/TRUN
is
also
input
purposes.
illustrative
in
This
Hz.
The number of
used by
is
the
test
sinusoids used in the
as variable NSINES.
The disturbance frequencies used in
are determined by the h
numbers stored in a data file. Prime
input
one
even
the
of
number,
if
frequencies
can be
desired,
affect
each
used
without having the
The
other.
disturbance
frequencies are determinei by
W. = h ib
The
FLAT
frequencies
input
of
parameter
either
position,
constant velocity profile
A
sets
the
peak
velocity,
amplitudes
at
or acceleration
the velocity amplitudes,
the
disturbance
constant.
For a
Ai, are set to
= 1.0
For a constant position profile the velocity amplitudes are set to
Ai = W
For a constant acceleration profile the velocity amplitudes are set to
A
=
1.0/wi
The FILTER and FPOLE input parameters can also be used to further scale the
31
the
before
,pitudes
are
checks
limit
This
made.
be
will
in
discussed
section 3.2.2.
variation
frequency
The
phase angle.
each
of
by
adjusted
is
sinusoid
the
input
DEL
This is done to give more flexibility and allow each sinusiod
to have a different
point.
starting
The phase
found
angle for each sine is
by
9 = i*DEL
i=0,1,....NSINES-1
DEL is chosen so that no phase angle is duplicated.
With all
can
amplitudes
in
FPOS,
parameters chosen the sines are completely
these
m,
now
and
be
the
further
input
acceleration
length limit is checked first.
give the position.
adjusted
the
input
limit,
FACC,
by
track
in
The sum of sines velocity
defined.
length
The
g's.
The
limit,
track
is integrated to
With the input sampling time, T, the maximum and minimum
position of the run are found using
position(t)
If
the
maximum
position
= Z(Ai/wi)sin(w nT+Pi-7)
excursion
exceeds
the
FPOS
limit
then
the
amnlitudes are scaled by
Ai
= Ai(FPOS/(posmax - Posm))
Using these newly defined amplitudes the maximum absolute acceleration, in
g's,
is found by
acceleration(t) = ZAoW sin(winT+(9+70)/9.81
If
this
scaled by
acceleration
exceeds
the
FACC limit
the
amplitudes
are
further
32
At this
the first
then
first zero crossing, at a time to. The phase angles are
checked to find the
iq then calculated by finding the position at
starting position = pos(t 0 ) -
t
0
and then finding
(posmax - posn)/2.0
within the cart travel
This centers the profile
that
position
The starting
small.
is
velocity commanded by the profile
insures
This
point.
at this
start
will
profile
so the
then adiusteel
is
velocity
The
defined.
completely
is
profile
the
point
I)
A. (FACC/laccma
=
A
limits.
This completes the profile generation phase. Two more steps are then used
to
store
protocol
the
profile
file.
in
a
data
file,
and
assign
this
data
file
to
a
can then be used
When these
steps are complete
the profile
generation
program
programmed
to run the cart.
The
profile
computers.
explanation
Appendix
of
their
B
use.
has
contains
Only
been
the
the
program
VAX
commanded velocity and the histogram values.
calculating
each
nT
previously defined.
of multiples
of
acceleration
The values
0.005
output
g ani counted.
two
listings
and
calculates
different
the
The histogram data is
command
of these
on
value
points are
The maximum
range and the number of points in each range is
using
the
then filed
value
of
a
brief
maximum
found by
equation
into ranges
each
0.005
g
then determined.
3.2.2 Profile Amplitude Scaling
As
stated
frequencies
6.1
in
can
the
previous
be scaled
by
section
the
using the
amplitudes
FILTER
of
the
disturbance
and FPOLE variables.
These
33
Parameters
and
order
the
define
pole
location
of
low pass
a
The
filter.
method used to define this scaling will now be developed.
The velocity command is
written as
v(t) = ZAisin(winT+oi)
When
filtering is
used the
are adjusted
so that
the power
scaled according to
spectral density of the velocity is
f
Ai,
amplitudes,
W.
imax
Dv (w)dw=(K/(FPOLE+j w)FI LTER) 2
imi n
The amplitudes at
each frequency are then chosen to be
imax
1/2A
=
AI
f
DV(V)dw=Ai
imin
where g(w) is the indefinite
are chosen to
For interior
between
imax)
imin)
-
integral of f@vv(w)dw and the W imax and Wimin
be the geometric
points
(
means between
disturbance
the disturbance
frequencies
these
frequencies.
frequencies
are
found by
The
lowest
disturbance
Wimax
=
(uiWi+i) 0.5, and
Wimin
=
(Wjw-1)0.5
Wimin
frequency,
frequency,wl,
is
w 0 , is
the
geometric
next lowest disturbance frequency, w
W1 =
Solving for w
found
2
by
mean
assuming
of
the
that
lowest wo
. Thusly , w, can be found by'
W0 2)0.5
then gives
W0 = (12
2
Similarly the highest Wimax Frequency, WNSINES+1,
WNSINES+1
NSINES-1
the
is found by
lowest
and the
34
Trhe
chosen
is
value
K
fran 0.0,
pijtudes,
to be 1.0.
This gives:
WImax
d
2
11/2A
= 1.0 =
2
f
O1min
velocity
the
of
variance
the
specifying
by
WNSINESmax
-
vv(c)+dw++04vv()dw
WNSINESmin
W NSINESmax
vv Mdw
Kf
1min
so
NSINESmax
,
F-1.0/ *1min
vv(w)dw - 1.0/[g(wNSINES+1-
Te final equation for the filtered
-
amplitudes can now be written as
Ai = Ai 2
SgWNSINES+1)
integrals
The indefinite
~
g(WO
and will not be elaborated
are readily calculated
upon here.
3.2.3 The Digital Joystick Filter
As
stated
in
section
3.1
the
joystick
added to the stored velocity cammand.
is used.
where
Y(n)
is
iovstick signal:
-
the
digital
is
filter
(1-a)Y(n-1)+(a/JSCALE)U(n)
filtered
output:
U(n)
is
the
in the CART program.
input,
filter
In analog
form this
Y(s) = (K/(1.0/T+s))U(s)
T
is
or
raw
a can be varied by
represented by
where
is
order low pass filter
and n is the sample number. JSCALE and
using the JO command
it
before
filtered
first
A digital
The software implementation of this
Y(n)
is
signal
the time constant. Comoaring the two forms gives
filter
is
35
T= T/ln(1.0-a)
K = 1.0/JSCALE,
JSCALE variable
X.5is seen the
was
profile -a
never
and
at a =0.1
set
of
the Filter
shown in
is
As
filter.
and
of a
in determining the success
an important oarameter
JSCALE is
4,
,haoter
the gain
of the
pole
to vary the
is used
the a variable
is used to vary
profile
the
throughout
varied
ievel onment.
the
a=0.1
With
stripcharts
of
joystick
was
it
which
would
operates
a
the
the
easily
he
with
that
increase
To
overshoot.
seen
sec
margin compared to T=0.95
this would decrease
similar
as
the
to pilot
of
the
HO.
no
Also,
the
human
time
constant
sec.
It would not be desirable
which
gives
a
oscillations.
the cart
is
There
is
of
the
tests
and
sensory
time
safety
to increase
resonance
For these
no
system
sufficient
no reason
quite acceptable.
the
response
this
lower
would
From
delay
visible
the safety margin and possibly cause
induced
response
by
noticed
0.20
constant
time
had
response
cart
sec.
deflection
full
during
velocity
cart
the
T=0.095
is
constant
time
equivalent
T
as
effects
to decrease T,
reasons
a was
not varied.
3.3 Data Reduction
A data
file
is enabled.
is
The
The 5 outputs
The
data
samples
each
for every run during which the data storage flag
A/D's used
available
points
of
created
are
for this
grouped
channel
process the data directly
to convert the
work
into
per block.
output
signals have 8 channels.
are found in channels
blocks
The PDP
of
256
noints
1,2,3,4,
which
11/34 minicomputer
from the stored data files.
is
and 6.
gives
32
used
to
To reduce this data each channel is accessed individually and stored in a
file.
done by storing every
is
This
+ desired channel * point of the
3 th
to
original data File. The data is then concatenated to produce 1024 points
be used to
(FT) algorithm.
run the Fast Fourier Transform
The total number of data points of each output of each run is Found by
run time/sampling rate = TRUN/0.01
The number of
noints for each concatenation is
then found by
N = TRUN/(0.01)A1024)
From the
ensemble
<ietermined.
deviations
Any
of
N
the
which
are
deviation
standard
more
two
than
coded
into
directly
the
standard
This new
1024 points are
and the
RMS,
are calculated.
STD,
the 'recuencv distribution.
When all
are
determined.
printed out as REJECT.
square root of the mean squared error,
AVG,
With the concatenation
runs.
noints
N
and
average
then stored in an array of 1024 points.
standard deviation,
nrocessed
an
of the discarded points is
found the averaqe,
1; was
points
from the average are discarded and a new average is
The percentage
average is
of
all
of
channels
comnlete,
A simple fortran
stored
find
This allows the data to be
files obtained
data
used to
FFT proqram obtained from Ref.
PDP-11/34 minicomputer.
from the
an FFT is
during
the
test
Two programs are run sequentially to obtain the Final results.
The first
amplitude and phase obtained
fram the FFT are the bias values.
The subsecuent values are associated with a frequency,
f(I) = (I-1/1024)*(1.0/TRUN)
f,
defined by
37
the
here I is
array
bias
the
are
values
is
The
I-1
factor
values
as
stated.
position.
array
needed
since
run
time,
The
first
is
TRUN,
This insures
rate.
1024 times the sampling
specified to be a multiple of
the
The
by the FFT.
that the disturbance frequencies can be exactly reproduced
remnant
phases,
points
parts should be averaged and then the amplitude
8
there
shows that
The
computation.
a
is
difference
negligible
and
log(GAIN)
phases
of
the
disturbance
the
between
the real and imaginary
not precisely correct,
is
Although this
frequencies.
the
all
of
frequencies
and
amplitudes,
the
averaging
by
found
are
values
and
frequencies
and phase
between
transfer
determined,
the
Ref.
of
two methods
are
function
then
determined by
FAMPJ( N+1)
log(GAIN(N) )=log
,
phase(N)=PHASEJ(N+1)-PHASEA(N+1)+180
AMPA(N+1)
where
the joystick amplitude:
is
AMPJ
phase angle:
the joystick
PHASEJ is
The 180 deg.
correction
is
the acceleration
is
AMPA
the acceleration
PHASEA is
amplitude:
phase angle.
added since the subject opposes the cart
motion.
All count values are converted to engineering units with the calibrations
of section 3.1 before entering the FFT program.
created
with
this
data.
that
the
An
The desired plots
of
the
correct
for
explanation
is
plots
are
then
in
contained
Appendix E.
It
is
noted
means that the ouput is
high amplitude values
mind when
with
looking at
the engineering
FFT does not
the
not scaled in a meaningful way.
seen in the
these
units
plots,
frequency
time
This
To keep this
FFT has been
This only affects
used.
This results in the
spectrum plots.
the designation
notation.
run
the
in
placed
frequency
in
plot
38
data
scaling
the
as
canceled
are
factors
when
the
are
ratios
amplitude
phase data.
ta ken for the GAIN and
tie track limits for
was desired
Since it
was
effort
little
This
however.
to work with only completed
expended
was
runs were incomplete.
the
concatenated
no FFT information was obtained.
run time)
the full
used for
the initial
incomplete
testing
for
runs.
the
A
procedure
program
was
data points for a
these
since most of
and STD values were computed from only
AVG,
for
points
runs
and STD values of all
AVG,
The RMS,
1024
analyzing
on
written to calculate the RMS,
run,
the subject did not stay within
(i.e.
For runs that are not completed;
further
all
runs.
There
a
is
few
precentage points of error between the two methods of computation but it
not of
significance
Listings
provided
in
of
all
the
Appendix C.
and output samples,
L
for this
is
work.
programs
Brief
used
to
reduce
descriptions of their
are included.
data
use,
in
this
work
along with
are
input
CHAPTER 4
TEST PROCEDURE DEVELOPMENT
4.1 General
Concepts
and post-flight
pre-
the
of
background
The
testing has been developed in Chapters 1 and 2.
cause
decrease
a
otolith
it
1,
in Chapter
stated
in
sensitivity
at
This
sensitivity.
otolith
the less
to
that adapting
expected
is
sensitive
end.
Also,
the
as
will
weightlessness
increases
Any test
there
Therefore,
subjects.
among the
sensitivity
could be some variation of otolith
system
One key factor of this test
astronauts.
participating
to be used on all
is
it
is that
otolith
closed-loop
range
of
procedure must then
have two major goals:
1)
yielding an accurate description of the HO response,
2)
yielding this
for a wide range of otolith
description
sensitivities.
As mentioned in Chapter
data
analysis
felt that
with little
will
be
needs to be
the test
available,
results
confidence
which
should
be
in
it
question
in the procedure
be
helpful
standard
Because
FFT routine
for
for
due
to
short
of
this
subjects
is
runs.
it
completing
for error
means that the test
not
is
runs
in control
with
varying
so difficult
Finally
it
gives
straightforward
manner
itself.
The data analysis can also be performed
with a
delay.
limited duration and
should offer good chances
Further,
might
without
This also means that some margin
otolith sensitivities.
that
performed
procedure
practice.
period will be of
2 the test
when
in a more
runs are
completed.
This eliminates
the
40
of
problems
therefore of major practical
reSults. The run completion rate is
system was desired to
Initially a computer simulation of the closed-loop
idea
this
the development
thrust of
was
continued
until
a
4.2 The DHPR02.PRO Series,
task was as a
that
suggested
a
long as in the
the next profiles.
fit
the
previous
and High Amplitude Problems
1,
Part
track
Also,
that
Lessons
results.
development now follows.
experience with the closed-loop
of Ref.
are shown in Fig.
smaller
within the track limits.
was too
found
subject in the tests
profile
to generate this
was
the authors initial
As stated previously
nulling
profile
The main
simulation.
were applied to determine
A description of this
criteria.
linear
was then based on experimental
learned from one set of tests
This
seen were very non-
The effects
was abandoned.
so would not have been evident in a
linear and
With the first
system parameters.
help determine the general ranges of the
however,
importance
procedure.
developing a test
testing,
consistent
more
gives
runs and
incomplete
analysis with
FFT
length
it
author's
4.2.01.
be
was felt
experience
used
The parameters used
S.
This initial
to
help
experience
subjects
that a run time of
fatigue became
a
remain
184.32 sec.
factor
after
about 120 sec.
Using
this
experience
seven profiles
were
created.
calculation was used to scale the amplitudes as this
variables required to generate the profiles.
to a
range
of
1.97-2.38
m while
the
The
velocity
lessened the number of
The track
corresponding
flat
length was lowered
maximum
accelerations
ranged from 0.120-0.204 g. Various numbers and distributions of frequencies
I
41
SUM OF SINES PROFILE
184.32 SEC
1. DURATION OF PROFILE:
PARAMETERS OF SINUSOIDS:
25
2. NUMDER OF SINUSOIDS:
0.0054 HZ
3. FUNDAMENTAL FREQUENCY*
0 (-1,P;oV;+1tA)
4. EQUAL AMPLITUDE DOMAIN:
DEG
247.
5. SUCCESSIVE PHASE ANGLE:
PARAMETERS OF SHAPING FUNCTION:
6. ORDER OF FILTER:
2
0.28 HZ
7. POLE:
PHYSICAL CONSTRAINTs:
3.60 M
8. LENGTH OF TRACK
0.41 G
9. ALLOWED ACCELERATION
0.015 SEC
10. TIME INCREMENr:
RESULTING IN
FREO
CHZ3
0.016
0.027
0.033
0.060
0.07t
0. 092
0.103
0.125
0.157
0.168
0.201
0.222
0.233
0.255
0.288
0.331
0.396
0.450
0.548
0.613
0.743
0.808
0.884
0.982
1.080
THE SUM OF SINUSOIDS:
AMP
ACCEL AMP
CG3
CM/SJ
0.08
0.001
0.09
0.002
0.11
0.003
0.004
0.11
0.05
0.10
0.10
0.006
0.006
0.10
0.12
0.009
0.010
0.10
0.09
0.010
0.10
0.012
0.07
0.010
0.06
0.010
0.08
0.013
0.08
0.015
0.08
0.018
0.07
0.018
0.06
0.019
0.05
0.019
0.04
0.018
0.04
0.017
0.02
0.013
0.02
0.013
0.013
0.02
0.02
0.012
MAXIMUM ACCELERATION IN SIGNAL:
PERCENT USAGE OF TRACK: 100.00%
0.00
STARTING POSITION:
PHASE
CDEGJ
0.
247.
134.
21.
268.
156.
43.
290.
177.
64.
311.
198.
85.
332.
220.
107.
355.
242.
130.
17.
265.
153.
40.
288.
176.
0.140 G
Figure 4.2.01 Profile Parameters of Ref. 8
I
42
INFUI
PARAMETERS
TRUN- 102.400
NSINESj 11
FFRkU- 0.009766
FLAr : 0
247.000
DELFILTERx
0
FPOLE0.310
FFlS-- 3.5t
FACCz 0.300
0.010
TLOOP
ROFILE DESCRIPTION
0.:'04
MAX ACCEL1.1460
VELMAA1-FeCKz t7.50
USEAGE U
POSITICN=-0.363
ST ARrtIG
0.1881
SCALE=
FREU.
(HZ)
0.0488
0. 107 A
0.It60
0.1855
0. 2246
0.2$37
0.3027
0.3613
0.4004
0 . 4 i90
0. 176
AMPi
(M/S)
0.13
0.13
) .13
0.13
0.13
0.13
0.13
0.13
0.13
0.13
0.13
?MP2
(i)
0
4
1O
0.019
0.019
0 . 024
0.02"
0.030
0.033
0.038
0.043
PHASE
(DEG)
0.
247.
134.
21.
26.
155.
43.
290.
177.
64.
311.
Figure 4.2.02 DHPRO2.PRO Profile #6 Parameters
43
varying
of
effects
the
eliminate
to
Five
4.2.02.
tested.
were
subjects
the
of
One
value.
this
DEL=247 was used
The same
of these variables.
the eF-cts
used to test
,ere
profiles
head
open-faced
The
is
_,,ownin
Fig.
restraint
was used and subjects were asked to close their eyes during the
runs. A blindfold was not used.
The results
of
tests
subjects often lost
common to make
were
track
the initial
control
qualitatively.
Very
seen were as follows:
of their direction
This was probably
ended a run.
most illuminating
The main effects
completed.
few runs were
1)
these
of motion and it
in the wrong direction.
Often this
the cart
caused by the vibration of
giving a velocity cue without an acceleration
was
cue during approximate
constant velocity motion.
2)- There was no tendency to end all
It is
3)
noted in Ref.
5 that
runs at the same
for angular motion this
is
Control was sensitive and HO induced oscillations
Often high
decrease
frequency oscillations
their
response
range of the joystick.
were
end of
the track.
not the case.
were not uncommon.
injected by the subject
to
time and to attempt to find the zero input
Also,
the high input accelerations at
the higher
frequencies probably contributed to the HO induced oscillations.
Bode plots
Fig.
4.2.03.
plot shows
drop
were
in
relatively
large
L
general
with
flat.
signifies a
amount
each completed
run.
A typical
plot is
shown in
(Appendix E contains a discussion of the plot formats.)
the
gain
found for
higher
There
large
of
trends
is
number of
HO
induced
expected
by the Young and Meiry model.
frequencies
much
data
direction
oscillations
is
clear,
scatter,
reversals.
but
the
especially
phase
in
observed
during
test
The
remains
phase,
This corresponds
The
which
with the
runs.
This
44
With this
11tig as will be shown.
to a
_te of these gain plots
owever,
also
is
runs were
few
It
the time history data.
(or error,
since
joystick signals),
this
time.
I
was placed in analyzing
was desired to have a time domain measurement of
this.
is
stored command value
the
following.
the data is
problem at
plant
inverse
the
to
tendency.
this
suggests
more effort
completed
RMS data was used for
and
go performance
The nearness
close
go attempt was made to further investigate this
Since very
6.
Chapter
in
frequency
with
model
should tend
not clear which transfer function
is
dyramcs so it
Meiry
and
Young
the
the Bode plots
(log(GAIN)/log(freq.,rad/sec))
slope of -1
phase
the
of
flatness
the
high remnant
velocity
little
and
remnant
joystick
plant dynamics as suggested
toord the inverse
d
high
a
means
generally
,,tiity
velocity,
acceleration,
The
RMS errors
of command
the disturbance plus
that of
position,
and
joystick
signals
were calculated.
These were then divided by the corresponding value of the
no subject case,
except for those of the joystick.
for
ratios
The resulting
one subject are shown in Table 4.2.01.
It
is
difficult
position
general
other
to
corelate
and acceleration
trends.
and
time as
with
The error
completed
expected.
the
ratios
different
show
the
and velocity
runs.
There
This indicates
near
the
1.0,
RMS
the
errors
most
ratios
is
was
velocity
seen,
scatter
seem
nulling
consistency
subject was checked as repeatability
is
among
and
run.
the track
run,
The
indicated
no
with each
corelation
during the entire
value.
each
to corelate
not as much
The overall poor control is
neutral
for
that an HO reaching
not necessarily caused by poor control
crucial mistakes.
ratios
with
run
limits
is
but by a few
suggested by the ratios being
Since
the
little
individual
corelation
runs
of
of
each
a requirement for the procedure.
It
45
2.0
C
1.0
0
0
0
0
0
0.5
z
C.,
0
0
1
0.0
Ca
I
I
10C
U
C
-0.5
a
0
--
-1.0
-2.0
frequency (Hz)
0.05
0.0
100
I
0.10
0.20
0.30
|
0
0.50
0
0
0
0
+
0
0
0
-300
0.40
+
0
-200
0.15
I
0
0
-360
Figure 4.2.03 Bode Plot. Subject JL
DHPRO2.PRO Profile #7
0
L
46
ACC .
RMS RAT10
DURAT ION
(sec.)
PR
FILE
COMMAND
RMS RATIO
POS 1T ION
RMS RATIO
VELOCITY
RMS RATIO
o05
1
0.911
1.43
1.03
3.19
30.72
006
1
0.70
1.39
0.89
1.78
15.36
007
1
0.77
0.73
0.82
2.08
10.24
0.98
2.52
1.09
2.60
15.36
DAT
FILE
010
008
2
1.12
1.05
0.97
2.25
33.28
009
2
1.10
0.80
1.00
2.60
74.29
011
3
1.29
1.24
1.15
2.67
23.04
012
3
1.22
0.48
0.85
2.88
15.36
013
4
1.24
0.66
1.38
2.70
38.40
014
4
1.52
0.98
1.19
3.30
15.36
015
5
1.30
1.31
0.78
2.50
10.24
016
5
1.26
0.65
1.33
2.33
2.56
017
5
1.86
1.05
1.08
3.47
10.24
018
5
1.52
1.14
1.04
2.33
23.04
019
6
1.45
1.99
0.98
2.84
33.28
021
6
1.32
1.61
0.93
2.51
43.52
022
7
1.41
1.22
0.88
2.61
79.36
023
7
1.44
1.13
0.79
2.57
38.40
024
7
1.34
1.09
0.80
2.22
81.92
TABLE 4.2.01
RMS Ratios.
Subject DH, DHPRO2.PRO.
4.7A
found that runs 2,6,5
oth
general
The
ratios.
the
all
, 3lues Of
the
most
lack
of
were
7
,and
the
corelation
and
consistency
on
based
consistent,
amplitude
subjec: performance will be shown to improve with the lower
prOf iles.
4.2.1 Summary
information
was obtained.
During all but one of
were given to the subject
five
given last
it
is
these runs.
maximum
all
major
factor
was
the
1.53
m/s.
velocity
of
any
profile
velocity
profiles.
of
This
amplitudes
over
the
with
for
profiles
system.
was
total
much
The
higher
of
than
experience
noise
too
face
could
also
be
of
poor
run
large.
Another
gave
the
a maximum
largest
for
needed
out the
could always be sensed
not mask
lowest
maximum
the
lower
difficulty with
to the poor performance.
also pointed
could
the
generally
JSCALE=2.0
control
and contributed
The cart motion
white
hands and
the
the consistency
were
were
that
the joystick.
allowed
but
testing
The
familiarity
the
for
noise and vibration which did not hamper the
perceptible.
run was given
This high sensitivity caused increased
the already difficult
cues of the
first
which
velocity
reasons
main
the
gain
of
initial
of
disturbance
velocity
This
corresponding
and
One
was
some
gained
sessions the runs
#2 and #5 were probably consistent due to their low
Profiles
rate
completion
Often the
that practice was the main factor
felt
profiles.
the test
useful
#6 and #7 were the most consistent and were usually
acceleration
the
order.
subject
the
until
profiles
Since
system.
of
times
more
or
in numerical
some
testing
this
with
completed
were
runs
few
Although
many non-otolith
through the cart
subjects performance
all
sensed,
of
the
cart
especially
but were
noise.
at
the
Wind
higher
L
48
Subjects were required to wear long sleeves to eliminate this
Velocities.
cues
e as much as possible. Accelerations could also be sensed by tactile
ich were clear since the subjects were firmly
, 1 ints out some of the problems of this type of testing.
to eliminate
felt
the
that
cues from
non-otolith
all
system
otolith
provides
the
is not possible
It
it
Nevertheless,
subject.
the
This
strapped to the chair.
motion
predominant
is
sensing
response.
A list
follows:
results
of qualified
1)Subjects needed to be proficient with the joystick and have knowledge
of the disturbance before successful
more practice is
runs could be expected.
This means
needed.
2) Profiles needed to be of lower amplitude and use less track length
if subjects were expected to stay within the track limits.
3)
The joystick
gain
was too sensitive to precisely control the
disturbance.
4)
The maximum number of disturbance
range desired should be used as this
frequencies within the frequency
gives the largest
number of data
points in the frequency spectrum.
5)
The ability
suggested that
of subjects to complete runs was less
would be needed to determine a successful
With
profiles
the
knowledge
was created.
for subject fatigue,
This
more information about the profiles
in future testing
4.3 The DHPR02.PRO Series,
than expected.
Part II,
gained
Shorter
which some
from
profile.
and Low Amplitude Problems
the
first
run times were
profiles
a
second
set
of
used to reduce possibilities
subjects had noticed.
The maximum possible
49
rer
of
t~e.
The
were
frequencies
run
maximum
range,
m
1.01-1.26
a
to
with
which varied
profile,
each
lowered
was
length
track
for
used
0.102 g, and maximum velocity to a 0.456-0.534 m/s range.
acceleration to
A
JSCALE of 3.3 was used which gave a maximum joystick commanded velocity of
shown in Fig. 4.3.01.
0.928 m/s. A typical profile is
Four subjects were tested.
All
bear.
could
one of
these
before
to the
given null
were
subjects
profiles
was set
noise
Masking
runs.
the
during
to
the
and practice
The order
eyes
their
close
level
highest
profile
was taken.
data
was used
head restraint
subjects were asked
used but
were
no blindfolds
and
Again the open-faced
subject
runs with
were
the profiles
given in was varied.
The
run
the lower
that
completion
the
more on his
frequency
motion
joystick.
This
profile
This was mainly due to
the
subject
than his
cues rather
otolith
was also felt
It
caused
disturbance
the
internal
while
and
described
plots
set.
trying
is
in
Fig.
the
to
motion
the
find
first
The
zero
to
and
tactile
the
RMS
control
velocity
since most values were below
finished
4.3.02
runs
shows a
were
similar
typical plot.
1.0.
to
track with a high
to
of
the
search
injection
ratios
wheel
out the
control
seemed
to
(Table 4.3.01)
those
The plot
set but
profile
position
in an attempt
sign of
4.5.
first
along the
the
was done
section
control
of
than the
subjects would often drift
"walking"
disturbance
Bode
of
was generally better
Control
was noticed that
indicate better
A
amplitude
lower
disturbance.
strategy
increased.
cues as a higher level of concentration was required to detect the
external
low
were greatly
amplitudes and range of motion of the profiles.
concentrate
it
rates
of
the
first
shows the expected
~1
50
INFUr
PARAMETERS
TRUN
91.920
NS1NFS- 12
FFREU- 0.012:10
FLAI: 0
DELt 217.000
0
FILTER=
0.310
FPOLEFPOS - 2.00
FACC- 0.150
TLOOP - 0.010
ROFILE DESCRIPTION
MAX ACCEL: 0.102
0.4900
VELMAX:
Z USEAGE UF fRACK - 63.19
STAPTIH4 POSITIO0 -- 0.163
SCALE- 0.1124
FREU.
(H7)
0.0610
0. 0854
0.1099
0.1343
0.1387
0.207:;
0.2319
0.2808
0.3040
0.3784
0. 1517
0. 5005
AMPi
AIiP2
(M/S)
0.08
0.Ae
0.08
0.08
0.08
0.08
0.08
0.08
0.08
0.08
0.08
'O. 08
-
(6 )
0.003
0.004
0.006
0.007
0.008
0.011
0.012
0.014
0.018
0.019
0.023
0.026
PHASE
(DEG)
0.
247.
13S.
269.
156.
43.
290.
172.
65.
31:.
199.
Figure 4.3.01 DHPRO2.PRO Proflie #12 Parameters
51
less than previously seen.
rendS and the data scatter is not significantly
runs and low velocity RMS
1n t,,-expected, as it showed that ccrlete
s
did
problem
a
is
This
data.
consistent
give
always
not
low
of
,pl itude profiles.
to lie in the wheel
A possible cause of part of the data scatter was felt
Oystick.
any
Without
zero
in
in
high
The lack of positive control
higher remnant.
and a
the data
put
This extra motion caused more
frequency control to help sense their motion.
scatter
to
tended
subjects
reference
caused by the wide range of rotation of the wheel was also a factor.
Because of these problems another joystick was developed for use on the
sled.
the type found in model
This joystick is shown in Appendix A and is
aircraft radio control transnitters. The zeroing spring was removed so this
extra
control
would
knowledge of
better
exact
cue
influence
the
HO.
Subjects
generally
have
the input position when using this joystick but not
is
It
knowledge.
not
felt
that
this
gives
a
more
effective
control
without adding additional motion cues.
The range of joystick deflection is
40 degrees. The controller for the U.S.
Laboratory Sled, which will be used
for most of the pre- and post-flight testing,
degree range.
This
further
wheel.
felt
that this is
It
is
supports use of
is also a joystick with a 41
this joystick
instead of the
the best type of joystick to use in this
testing.
The joystick voltage output was less than that of the wheel joystick so
it
was
necessary
to
change
JSCALE=3.3
for
the wheel.
deflection
of
the
JSCALE.
The
new
Comparing voltage
joystick
then
resulted
value
found
was based
ranges gave JSCALE=1.5.
in
the
same
velocity as
on
Full
full
52
2.0 -
1.51C
1.0 -
0
0
0.0
0
*1*
0
I
I
I
0
0
0
0
I
00
-1.0
0
0
-2.0
frequency (Hz)
0.05
0.0
0.10
0.15
II
I
0.20
I
0.30
I
0.40
I
0.50
0
1
100
+
0
-200
+
0
0
0
0
0
0
0
-300
-360
Figure 4.3.02 Bode Plot. Subject DH
DHPRO2.PRO Profile #12
j
0 000
53
DURAT ION
(sec.)
DATA
FILE
PR
FILE
COMMAND
RMS RATIO
POS IT ION
RMS RATIO
VE LOC IT Y
RMS RATIO
ACCELERAT ION
RMS RATIO
03
11
1.08
0.886
0.795
0.863
74.24
04
11
1.40
1.29
0.780
0.779
20.48
06
11
1.07
1.77
0.675
0.759
-43.52
16
11
1.05
1.53
0.605
0.659
48.64
07
12
1.08
1.36
0.682
0.890
*81.92
08
12
1.06
1.07
0.723
0.994
*81.92
09
13
1.02
1.15
0.700
0.872
*71.68
10
13
1.73
0.747
0.546
1.063
7.68
11
13
1.02
1.35
0.711
0.900
*71.68
12
14
1.08
1.45
0.790
0.890
51.20
13
14
1.16
0.844
0.811
0.992
*61.44
14
14
1.29
1.65
0.768
0.914
23.04
15
14
1.05
2.35
0.682
0.805
*61.44
* Completed runs.
TABLE 4.3.01
RMS Ratios. Subject DH, DHPRO2.PRO.
54
wheel.
deflection of the
*12
between
run time and number of disturbance
was decided
results
of
completion
rate
Individual
Bode
variances
showed
was
with
similar
plots
and
one
little
subject
felt
was too
disturbance
scatter in
scatter.
was
of
the
control
the
sensitive.
masked.
the phase
equation
would give
full
scatter
was
indifferent.
using
the
The run
wheel
to previous
joystick.
plots.
However,
#12 they could be averaged and
determined.
The
resulting
Bode
plot
data.
section
It
any
gave better
caused
more
3,5,6,7,8.
control,
but
that
the
so much control
that
the
and
more
directional
activity
gain based on
was then decided to adjust the
this
specific profile.
3.1.1
part
of Ref.
was easy to put in
It
HO the least
over
The deviations (plotted) were comparable
joystick
This
calibration and system shifts
L
when
of the testing
that
the maximum velocity of
the
similar
ideas
showed the form of the Young and Meiry model and the average points
relatively
control
new
that
deviations
to those seen in the results
The
these
to
showed
sigma
studies would not be
population
the completed runs were of profile
since all
clearly
testing
and large
had been found.
successful profile
done until a
The
subject
the principle
would be
The author
some of the other profiles.
would also be given using
practice
it
More
testing.
further
in
this
of
Because
frequencies.
profile
this
on
concentrate
to
good compromise
was a
run completion and
in
success
some
had
profile
occurred.
testing
further
for
philosophy
in
change
a
time
this
At
ias
used with
sensitive
of
the
control
With
P=90% to
this
velocity known,
find JSCALE.
possible while
disturbance
with
in joystick voltage output.
some
It
still
This
giving
margin
for
was hoped that
55
t
After 5 practice runs the next 3
ests on the author were encouraging.
did
was easier
not mask the disturbance and it
input by
as the
was comfortable
Control
completed.
were
scatter.
data
control and much less
in better
would result
subject
the
to input velocity commands
tiear zero.
however,
Data analysis was also encouraging,
,as
performing
actually
velocity and joystick
plot
E. The
plot
joystick
that
indicating
control
the
HO
was
there is
The velocity plot
shows that
somewhat erratic.
This shows that
of
the
data.
than
Bode plots
The average
those of
disturbance
of
plots
A typical
in Appendix
low
was
remnant
joystick
the
some velocity nulling,
the RMS velocity ratio
It
velocity nulling performance.
of the overall velocity activity
The individual
to
responding
runs.
discussed
is
plot
the
that
clearly
spectrum
completed
three
4.3.04. This type of
shows
the HO
with
little
This suggests that the Bode plot data will be precise.
injection.
indicator
the
for
To see if
frequency
task,
nulling
made
were
Fig.
in
shown
is
the
were
(Table 4.3.02)
1.0 which caused some concern.
greater than
the RMS velocity ratios
the
level,
show
less
as it
scatter
is
is
although it
is
not an accurate
rather an indication
includes the remnant effects.
than
for most of the previous
Bode plot of the three runs shows phase variances lower
previous
test.
Fig.
4.3.03
shows
this
plot.
The
gain
variances are
similar but the average points are less scattered as may be
expected
the
from
low joystick remnants.
Also, there
is
a
flatness
in the
gain at the low frequencies and some low phase at low frequencies which is
suggested in the Young and Meiry model.
of the better
P=90% criteria.
data
These results
obtained with the lower
are a major indicator
joystick gain derived with the
56
2.0
C
"
1.0 -
C
z
C.,
I 1*
0.0
.L
C'
'r
I
I'i
IY
I
C
-0.5 --
0O
-1.0
-2.0
frequency (Hz)
0.05
0.0
-I
100
+
4'
m
A
-200
-
0.10
{
{
0.15
0.20
0.30
0.40
0.50
0
0
o~{o
-300
-360
Figure 4.3.03 Bode Plot. Subject DH,
DHPRO2.PRO Profile #12,
JSCALE=2.56
- -N-mh-ft..mw
57
25 NO,
20+
15 1
s
\O
10
5
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
25
fl
O\
I
20
~a.
~0
0
0.
Q..0O0,
00.-
0.>3--
\OQ
15
10
4
i
-J
5
0
0
E
0.03
0.'05
0.10
0.15
0.20
0.30
0.40
0.'50 0.'60
frequency (Hz)
Figure 4.3.04 Frequency Spectrum. Subject DH,
DHPRO2.PRO Profile #12, JSCALE=2.56
MMMEMMUMENIM
58
JSCALE = 1.5
RMS
JOYSTICK
DATA
FILE
RMS VELOCITY
RATIO
11
1.26
0.201
16
1.34
0.164
11
1.34
0.162
18
0.685
0.162
23
0.730
0.162
JSCALE = 2.56
DATA
FILE
RMS VELOCITY
RATIO
RMS
JOYSTICK
01
1.64
0.176
02
1.63
0.212
03
1.57
0.164
TABLE 4.3.02
RMS Data. Subject DH,
Profile #12
d
DHPRO2.PRO
59
v7elocity ratios
Since the RMS
higher
caused
was too
gain
joystick
that the
suqgests
remnant
also
It
control
for precise
high
much
was
result.
as a
scattered
these
the JSCALE=2.56
for
which
the
the use of
This data helps confirm
high joystick remnant.
the
was
plot data
Bode
average
The
.ase'
that
less than
was
nulling
the velocity
and
for three of
joystick
the
that
showed
plots
These
runs.
co1pleted
for the previous
1.0
were made
frequency spectrum plots
(Table 4.3.02),
test,
were also greater than
p=90% criterium for finding JSCALE.
4.3.1 Summary
HO were
low
too
to
difficult
control
in
increase
by
decreased,
many
performance
orders
as expected,
disturbance.
in
increase
The acceleration
amplitudes used.
show an
an
see
of
it
This would
requirements.
procedure
test
the
fulfill
to
with
performance
amplitudes
the
magnitude.
HO
were
if
in low control
to
so
have
an HO's
would be very difficult
result
low
the
already
have
would
Also,
the requirements of the
that
was felt
it
However,
procedure.
the final test
desired for
#12 were the type of results
obtained for profile
The results
It
would be
disturbance
low
to
that
precise
more
sensitivity
were
to sense the already low
input amplitudes which would
be difficult to separate from the remnant.
Another problem with this
the
acceleration
accelerations
difficult
are
to justify
that the HO is
inputs
below
at
the
the
the result
supposedly
is
profile
seen by looking at
disturbance
known
not able to sense.
dynamics of the hardware used to determine this
Many
frequencies.
threshold
of the transfer
the magnitudes of
of
0.005
g.
of
Thus,
these
it
is
function data with an input
(It
should be noted that
the
threshold were probably not
60
..
good as the Sled
dynamics,
since it
is
a more modern
system.
or that of an
threshold for an acceleration disturbance of a sinusoid form,
additional
felt
that
acceleration
would
it
intricacies and assume
form,
the
0.005
g threshold as valid.)
higher amplitudes on the order of 0.015 g at
to
problems
any
avoid
with
the
threshold.
these
avoid
to
controversial
less
be
the
was
This
that
should be used
frequencies
all
possible
was felt
It
was
it
However,
would probably be different.
the
Also,
next
direction
test
procedure
taken.
While
require
1)
these
profiles
were
deemed
unusable
nts they were very educational.
for
the
Some major points discovered were:
Lower amplitudes of the disturbance result
in more complete runs,
They also cause the HO to concentrate more which
expected.
insure that
the otolith
system is
as
should help
the major contributor to the HO
response.
2)
RMS velocity ratios
are an overall
activity
measure and not
necessarily a measure of the velocity nulling task.
3)
The velocity frequency
spectrum gives a clear view of the performance
of the velocity nulling task. The joystick frequency
clear view of the control remnant which
spectrum gives a
should be low for precise
results.
(See
4)
desired to have about 3 complete runs to use in the data analysis.
It
is
section 6.4)
This helps show the subject's consistency.
4.4 The H1PRO4.PRO Series and Profile Design Problems.
As stated in the last
it
was felt
that
section
the amplitudes of profile
the data was questionable
due
to this.
*12 were low and
It
was therefore
61
The run times of 81.92 and 92.16 seconds were primarily used
utilized.
A
,ith
only
used
to
and error design mode that
in the trial
WSStoo slow to be used effectively
minicomputer
PDP-11/34
necessary as the
was
This
was used.
program on the
generation
a profile to meet these conditions the profile
computer
To design
amplitudes be about 0.015 g.
all
at
desired that the acceleration
few
a
track
the
and
frequency,
disturbance
each
at
amplitudes
acceleration
and
velocity
the
were
interest
of
outputs
main
The
suitable
was
profile
a
if
determine
checked.
runs
second
102.4
length, maximum velocity, and maximum acceleration.
set
were
on
the
types
other
used
through
varying
Usually
these
degrees.
The
acceleration
DEL
DEL.
values
profile
of
was
profile,
DEL=37
gave
that
velocity
and
DEL
The
amplitudes
range,
restricted
as changes
output
or 33
the
all
minimum
was
the
the
to DEL=337
then
step
set
was
velocity
by
with
considered
in the output parameters
to
to
steps of 30
desired
the
be
the
best
Often the
fine
tune
varied greatly
The input variables were then adjusted as necessary until
Output parameters were found.
only
cycle
to
up
and scaling used.
decreased
the
parameters.
profile
or 333
scaling were
upon
decided
program
distribution,
and
acceleration
parameters
these
frequency.
DEL
for the frequency
variation
promising
the
values were
or
With
often.
most
was
variable
possible
and flat
with or
Flat velocity,
scaling was chosen.
the
or second order filtering,
without first
with
starting
usually
since past profiles had shown these values to be
Next
range.
proper
limits
Then,
was determined.
acceleration,
length and maximum
track
2.0 and 0.15 respectively,
in t'e
distribution
and frequency
time
run
desired
the
First
was straightforward.
for a profile
The technique used to search
a
with
the desired
62
o.Wbe
information
series that yielded the most useful
of this
e five profiles
4.4.01-.08
Fig.
examined.
and the associated
show the profiles
of velocity and acceleration
toqram data, as well as the time histories
from runs with no subject.
#1
44.1 Profile
that had 0.015
was developed in an attempt to obtain a profile
profile #1
q at each disturbance
frequency.
amplitude
flat
The
0.015 g profile
was not set up since it
of this profile
was already
A
that the maximum velocity
was felt
too high and it
was used.
scaling
higher
would be significantly
for the 0.015 g case.
The run completion rate of this
is
show that there
a
time period where there is
acceleration
direction.
enough
of
The
acceleration
This
profile
spectrum
in
for the
vibration but not sense
Also,
away and reach- the track limits.
and acceleration
velocity
acceleration
difficult.
confusion
causes
Subjects then tend to apply some low amplitude control
which causes them to drift
number
the 50-55 second
slow change in velocity with an associated low
HO since he can sense the velocity through the cart
its
at
a part of the profile
This lack of acceleration
activity.
The time
time history plots.
be seen in the histogram data and the profile
history plots
The causes can
was discouraging.
profile
input
to
histogram data
the
reversals
result
makes
as
the low
do not give
the profile
which
subject
suggests this
of
input
more
control
17% of
the profile
command points are below the 0.005 g threshold.
has
both
too
much
velocity
and
emphasis
on
acceleration
the
low
frequency
amplitudes.
The
end
high
of
the
maximum
63
INPUT
PARAMETERS
TRUN
92.160
NSlNESs 12
FFREO- 0.010850
FLAt' 1
DEL- 107,000
Fit t0
0.080
FFULE
FFUS--
'.'0
FACC-
0.200
TLt(I)Pz 0.010
PROFILE
DESCRIPTION
MAX ACCEL- 0.140
0.8095
'JELAAX
% UFLAGE OF IkACK?-100.00
STAkrING POSITIONz 0.734
SCALE= 0.1333
FREO.
(HZ)
AMPI
AMP2
(M/S)
0.33
0.18
0.15
0.11
0.10
0.08
0.07
0.0651
0.11Y4
0.1411
0.1845
0 . 2062
0.2496
0.3117
0.3364
0.4666
0.5100
(DEG)
3.
0.014
113.
0.014
221.
330.
78.
188.
298.
46.
156.
265.
373.
123.
0.014
0.014
0.014
0.014
0.014
0.014
0.014
0.014
0.05
0.05
0.05
0.04
0.4449
PHASE
0.014
0.06
0.4015
(G)
0,014
HISTOGRAM DATA
ACC
ACC
ACC
ACC
ACC
AC C
ACC
ACC
AC L
BIN=
bu 114BI
0.005
0.010
0.015
0.020
0.025
14114-
0.030
14 1N
14IM=
0. 03
0.040
BIN=
bBININt
ACC
ACC
ACC
ACC
ACt:
ACC
ACC
ACC
ACt:
ACC
ACC
ACC
ACC
ACC
0. 04:
0 .050
0.055
AC:C
14
1"
9 IN-
0.060
0.065
F4 It 0.070
BIN=
BINS
Bi I N " 0.075
0.080
6 1 m--. 0,085
BIN0.090
HIN. 0.095
0.100
41fNa 0105
SIN- 0.110
I
IN
0.115
b IN-
0.120
0.125
0.130
ACC 9 1N - 0.1 1).
ACC 14 N- 0.140
ACIC 14IN- 0. 145
ACC k4I?4- 0.150
ACC
ACC
AL C POINTS=
A,'
POINTS
ACC POINTS=
ACC POINTS-
ACC
ArC
AC:
ACC
ACC
ACC
ACCE
ACC
A C C.
ACC
ACC
ACC
ACC
ACC
ACC
ACC
POINTS=
PnINTSz;
PU INT SPOINTS POINTS=
POINTS-
1742
1327
1196
1024
831
600
455
373
286
176
POINTS,
208
POINTS
168
-
POINTSz
POINTS'POINTS=
POINTSPO114 T; POINTS'z
POINTSa
ACC PUINTSu
ACC POINTS&
A(CC POINTS ACC P[INiSz
ACC POINTS=
ACC POINTSACC PnINTSz
ACC FO I NT S
ACC P01 NT S -ACC POINTSACC PUINTSz
141
179
133
78
59
49
27
43
15
19
27
6
8
8
22
5
0
Figure 4.4.01 H1PRO4.PRO PRofile #1 Parameters
TI
I
II
velocity 0.056 a/s/division
time 1.0 sec./division
t
acceleration 0.020 &/division
~Th1L
111
j1
1}1
41
H1PRO4.PRO Profile 91
TI
+-
0 -
4
j
# -A
k
KrIh
'It
IT
I LI ILL L LI I
DTUh ACCUCHART
-+
-.
+
0-4-
ii
b
+ -
TIA
[HL bil lit
a)
ii
Figure 4.4.02 H1PRO4.PRO Profile #1 Time History
91L-* Od9d
(D
FtA
C)
I-A
-
0
-
1
.
0 00w
0
..
0
T
323232zz
0 000
0 W
33
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0
00
0
T
0000
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00
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00G
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000
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z2 3233 Z 3323z2332332
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0
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0
Li
0
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3
3
41
Ln
0'i
I
66
vAkAMETERS
INFUT
92.160
TRUN>
NSIU1'
12
FFRE)
0.010850
FL1f 0
DEL
I
217.000
FILFER1
0.100
FFOLEFF ] :
1.80
FACC 0.200
1LimPs 0.010
PROFILK
DESCRIPTION
MA
ACCELz 0.134
.IELMAX- 0.A6e9
t'-AGE OF IRACK -100.00
STAIr ING POSITION--0.Z64
028
SCALE
FRE..
AMPI
(HZ)
0 .0651
0. 11 Y4
0.1411
0. 1H45
0.2062
0.i496
0.3117
0 . 33.64
0. 4015
0.12
0.10
0.09
0.10
0.08
0.07
0.07
0. 0
0.04
0. 05
0.4666
0. 100
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
AC1
ACC
ACC
ACC
AMP2
0.16
0.4449
HISTOGRAM
(M/S)
0.19
(U)
0.008
0.012
0.010
0.012
0.012
0.016
0.01
0.014
0.017
0.013
0.013
PHASE (IEG)
1.
248.
135.
23.
270.
157.
45.
292.
179.
67.
314.
201.
0.*015
DATA
BINt- 0.005
0.010
BIN:: 0.015
PIN= 0.020
0.025
0.030
BINr 0.035
BIN0.040
81N
BIN= 0.045
DINBIN -- 0.050
BIN=
B
- 0. O
IN
0.060
0.065
BINS 0.070
0.075
BIN' 01080
BINDINZ
0.085
0.090
0.095
0.100
S4iis 0.105
BINS 0.110
BINS 0.115
SIN=- 0.120
81W'. 0. 125
0.130
0.135
BINS 0.140
bIN1
kilNa 0.145
8I?- 0.150
ACC
AC C
ACC
ACC
ACC
ACC
ACC
L CC
ALC
ACC
ACC
ACC
ACC
ACC
ACC
AC C
ACC
F 01N TS
POINTS-
ACC
POINS-
POiNTSPOINTS'
PUINTSa
P01 NT S"
POINTS-POINTS POINTSPOINTS
POINTS=
POIN TS POINTS
POINrsz
POINT=
POINTS POINTS=
ACC POINTS'
ACC POINTS*
ALC FOINr sACC POINTS=
ACC POINTSACC POINTS*
AUCC POINTS:
ACC POI NT S a
ACC POINTSz
ACC POINTS=
ACC POINTSa
ACC POINTS2
1377
1424
1243
1110
871
558
515
433
300
245
243
133
10
146
170
53
42
59
12
12
13
16
19
28
9
12
23
0
0
0
Figure 4.4.04 HlPRO4.PRO Profile #6 Parameters
J
\'\ IW
time 1.0 aec./diviaian
1T1
1TFT
dIvi]
IL
A
lIIPRO4.PRO Profile
velocity 0.056
ii{~
#3
./s/division
time 1.0 sec./division
acceleration 0.020
~Hifll
t
jut[-
g/division
ITV
TilL K4KI[
T
~i#.
F igiire 4.4.05 H1IR04.PR(O
ProfiIc #3 and #6 T ime Iistoii.-s
*W
I
I
68
INPUT PARAMETERS
81.920
TRIJN-
N9 (P
12
FFPLU-- 0.012210
FL0C - 0
,EL
t04.000
F Il I L K
I
0.200
FF0Lt.
2.00
0.200
FII
FACC
1
Lit.E
PRUFILE
mA.
0, 610
DESCRIPTION
ACCEL-
0.123
0.4337
JELMA4N
uw-ccE OF TFACh=100.00
sTrkrLiN
Pi3 9ITIONz 0.044
0
CA
FRE(I.
2
2
AMP2
(HZ)
0.0410
0
;.,4
0. 1.99
0.11
0.12
0.11
0.11
0.12
0 .1143
0.12;7
0.2075
0.10
0.12
0.10
0.08
0.'140
0.3t8 4
0.09
0.4217
0.5005
1-HASE
0.07
(DEG)
1.
105.
208.
312.
0.009
0.012
0.01:
0.015
0.021
0.022
0.020
0.025
0.023
0.11
0.2319
0.2808
(G)
0.004
0.007
0.008
5-4.
159.
263.
7.
111.
215.
319.
63.
HISTOGRAM DATA
ACC
AC C
ACC
ACC
ACC
ACC
ACL
ACC
ACC
ACC
ACC
ACC
BIHlIN
ElIN
BIN=
141 N
14IN
Ft T
BIN
BIN=
0.050
E4IN
ACC
ACC
AC C
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
0.005
0.010
0.015
0.020
01*:5
0.030
0.035
0.040
0.045
NINa
BINI4N
14IN-
0.05
0.060
0.065
0.070
0.075
0.080
0.085
0.090
0.095
4.100
0. 105
BIN= 0.110
F IIN'. 0.111
BIN7 0.120
I4INa- 0.12".
81 Nz 0.130
F.IN' 0. 135
DIN- 0.140
0.145
0. 150
ACEC P) 011N4Tc 'A4CC
POINTS ALC POINTSACC POINTSACC POINTS
ACC POINTSACC POINTSz
ACC POINTS-ACEC P 1N TS-,
ACC PnINTS"
ACC POINTSPOINTS-AC C
O1INT S
ACC
ACC PnINTS-
POINTS-
ACC
ACC P0INTS
I NT S
ACC PO
ACC P0INTS
NT a
ACC POI
PO INr-s-
ACC
POINTSACC
PoIN rs ACC
POINT sa
ACC
ACC F 0 [Nr S
ACC
ACC POINTS-
ACC
ACC
ACC
POINTS=
POINTS POINTSa
POINTS=
POINTSm
809
882
1029
1191
654
378
360
387
383
272
302
276
281
247
194
165
47
69
38
26
25
34
42
61
40
0
0
0
0
0
Figure 4.4.06 HlPRO4.PRO Profile #11 Parameters
(D
rt
0n
(D
Oj
r,
O~~~~~~
+++ +~O~DO
.
CC
0 Li -- LI J a- '-0 IL1Q0 10 Li 0
n
-4
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-
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-4 -4
i
"i
i
C)
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cn n on)
WT
T ' 2 ) 'T'i '3 r) '7 ,f
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3
3
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32
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0
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d "00A LA -
-
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++
-.
-
-
w+
-
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n nn
r.
-"+-w
-
-+4
fJ
-
0 0
Li 0 LI 0 II
'J
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:
SI
--
4
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(
.
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4--4
000
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t
4
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it
-4 -4
z z
-"-'3
rJ rJ tJ t f) EA G V1L4 W - CI 0
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in 0000
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1- 6- 6 0- 0 0 0 0
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www
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0.. 0..00.0.
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00000004000
0 044
030 " N 0' 0' L' L A b
W
LA 0 Li 0 LaO LA 0 JII 0 LI Q 0 <> Li 0
. o; LA CJ (J10'
0 0 0 0 0 0 0 C-4 4IJ
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mn
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7,
00
e
C' -0 0
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0'
.
0J
0
C
0 '.3
I-
-3
rn
w
-TVIM
velocity 0.056 m/s/diviuion
time 1.0 sec./division
~1 acceleration
0.020 Sldivioo
A
A
velo
0.P
05 Profil
,IIIII THI11TIIh II II1T Iflh1 TF[TTH1ITT
io2
Cl
')
'
velocity 0.056 a/s/division
LI
LIII'!Li
')
/
I
k:
C'
4 . I
I
6
LL
A-L'
-
GO
time 1.0 sec./division
accle
1
in 0.
~u;v
I
I
I
[TiTlE
H'I ii
I
II~
f~
I
Figure 4.4.08 H1PRO4.PRO Profile #11 and #12 Time Histories
ilI
Lowering
to the low run completion rate.
velocity
worsen
only
would
HO
the
procedure.
final test
#3 and #6
4.4.2 Profiles
Profiles
filter
less
amplitude profiles can not be used for the
flat
In conclusion,
performance.
mean an eien
the amplitude would
which
reversals
acceleration
and
contributed
command points below threshold and
of accleration
percentage
,reater
may also have
(JSCALE-1.63)
seIocity and associated high gain
#3
and #6
scaling.
Due
were
to
set up using constant
the
results
of
velocity amplitudes were increased at
the lower
frequencies.
profile
velocity and
#1
the
first
order
acceleration
and
the higher frequencies and lowered at
Profile #3's amplitudes are higher
to try to stay
away from the threshold. The maximum velocity and associated joystick gain
are high as a result.
velocity limitation
of about 0.66
elaborated upon here it
lower
limit
of
the
m/s with P=95%,
amplitudes were determined by a maximum
Profile #6's
m/s. (From some testing
was decided that
joystick
which
was
gain.
used
the
desire
threshold amplitudes,
remnant.)
0.005 g.
The
for
a
should be the practical
This allows a maximum velocity of
instead
higher velocity with the same joystick
between
JSCALE=2.0
which will not be
higher
of
P=90% to
sensitivity.
maximum
achieve
This is
velocity,
to
a
0.66
slightly
a compromise
stay
away
from
and the desire for precise HO control without a high
histograms
show a
decrease
in
the
number
of
points below
The time histories show more zero crossings as expected.
Run completion
rates with these profiles were low also.
that the emphasis on the lower
to be able
to control the profile
frequencies was still
effectively.
This signifies
too great for
subjects
One run of each profile
was
72
The
also.
frequency
joystick
The
At
frequencies.
high
is so low that it
These
low
at
low phase
gain and
profile.
test
desired for the final
which is
consistent data,
give more
input amplitudes
higher
that
theory
the
support
results
HO.
the
of
characteristic
is
that
frequencies
show the flat
tend to
The plots
amplitudes.
frequency
joystick disturbance
from the
difficult to separate the joystick remnant
is
the
amplitude
velocity disturbance
the
frequencies
these
scatter
low
except at
low remnant
shows a
spectrum
showed
#3
scatter and profile
little
shows very
Bode plot
shown in Fig.4.4.2.01,.02.
#6 are
for profile
and plots
though,
completed,
4.4.3 Profile #12
Profile #12 was set up as a limiting case test.
the previously
0.62
successful
and JSCALE-2.13
greatest
using a
amplitudes
case
acceleration
DHPR02.PRO profile
may
be
at
the
to
possible at the low frequencies so it
#11
has
some
velocity
first
order
but has less
single point.
filtering
zero crossings possible.
It
have
the
#12
The histogram data
(The
greatest
#12
flat
amplitudes
limiting case.)
included here
of profile
of
It represents the
close to profile
is
an increase of
frequencies.
also a
and is
zero crossings.
The time histories
is
just
criterion.
high
considered
is
to a maximum velocity
#12
P-95% scaling
possible
It
Profile
in maximum
to illustrate
a
show the maximum number of
shows a
low number of points
below 0.005 g as expected.
The
run
previous
show
that
begining
completion
runs.
the
No
rates
runs
maximum
and after
the
for profile
of profile
#11
velocity
activity
midpoint
of the
#12
were
intermediate
were completed.
of
run.
compared
to
The time histories
profile
#12
Those
for profile
occurs
#11
at
the
occur
73
2.0
1.5
C
1.0
IN
C
0.5
z
0.0
.1.
-0.5
t
L~
I
0
00
C
- i
1~
I
-
0
0
00
0
II
0
00
-2.0
frequency (Hz)
0.05
0.0
0.10
0.15
i
i
0.20
0.30
0.40
I
0
00
100 -
0
0
01
Ca
CU
0
00
0.
-200
4-
-300
-360
Figure 4.4.2.01 Bode Plot. Subject DH,
HlPRO4.PRO Profile #6
L.
00
0.50
74
r
60
S50
40
44
30
9
> 20
\0-Oh.
46
10
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
35 -,
(U
U
30 .
(U
25
0
0-10
20
U
(U
(.J
15
0-,-o
(U
0
""$
10
010
5
0
.
0.03
0.05
0.10
0.15
frequency (
0.20
0.30
0.40
Hz)
Figure 4.4.2.02 Frequency Spectrum. Subject DH
H1PRO4.PRO Profile #6
0.50 0.60
75
,Fore
lelocitv
activity
to react
to
the highest amplitudes
This means
center of the track.
velocity activity.
awareness
to expect.
what
of
the begining
at
velocity
maximum
the
was not allowed to drift
that the subject
also have
This may
of the
thereby
improve his
the
but
debatable
is
point
This
the subject with
to acquaint
run and
maximum
first
period before the
served
a chance
near the
still
of the disturbance while
during a low activity
ends
near the track
gave the subiect
run
of the
the beqinning
near
having the maximum
that
was felt
It
rate.
differences in the run completion
to the
to contribute
felt
is
and it
profiles,
the two
between
disference
major
the
is
This
run.
the
of
end
the
near
and
midpoint
the
idea was
useful in other ways as will be shown.
Typical
scatter.
the
but
plots
The
that
predominant
the
the
a
shows
to
can
not
amplitudes
at
high
Bode
the high
respond to
adequately
in the Young and Meiry model.
the
This is
in general,
caused
frequency
control
the higher frequencies.
off in gain associated with the otolith
is
This
shows much
plot
large
and
remnant
frequencies.
disturbance
subject
HO
The
4.4.3.01,02.
Fig.
frectuency spectrum shows a low remnant,
spectrum
the
at
of
difficulty
felt
ioystick
velocity
oscillations
in
shown
are
profile
due to
flat
the
by
motion.
system at high frequencies
In conclusion,
amplitude
It
has
that
the dropas shown
velocity profiles
do not
meet the test requirements.
4.4.4 Summary
The main points illustrated
1)
Flat amplitude profiles
the low frequencies.
by these profiles
are:
have input amplitudes that
This causes a
is
are too high at
lack of acceleration cues to the HO.
76
2.0
C
1.0 -
C~4
C
0.5
C
-
z
0.0
0
I
I
I
I
-
-
-II
C'
0
0
00
-0.5--
-2.0
frequency (Hz)
0.10
0.05
0.0
0.15
0.30
0.20
0.40
0.50
a
0
0
-100
t
0
0
C6
0
0
0
OO
-200 +
-300
-360
Figure 4.4.3.01 Bode Plot. Subject DH,
H1PRO4.PRO Profile #12
j
00
I
77
60I
50
Ii
9
40
\
\/
I
Q
30
O\-
20
0
10
0
0.03
0.10
0.05
O.S
0:20
0.30
0.50 0.60
0.40
frequency (Hz)
351
~J2
30 +1
25
20
/
P-1
+
0/ 0
y
-)a
0
10--
5
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
frequency (Hz)
Figure 4.4.3.02 Frequency Spectrum. Subject DH
HlPRO4.PRO Profile #12
0.50 0.60
78
2)
,,,h
frequency end of the spectrum.
This causes poor HO performance due
response at
otolith
o the poor
3) The intermediate
the
too high at
have input amplitudes that are
Flat velocity profiles
higher
frequencies.
rate,
scaled case shown gave a low run completion
This is
scatter.
but data with little
the type of compromise profile,
that is
in terms of input amplitudes at high and low frequencies,
desired for the final profile.
4.5 Further Population Testing
decided
was
it
point
this
At
examine the responses seen in more detail.
data
best
so
far
their
with
and
studies
that population
#3 and #6 had given the
Profiles
acceleration
JSCALE-2.03
4.4.2.
This maximum velocity was
to comply with the JSCALE=2.0
The resulting
is
profile
to
slightly
reduced
Profile #6
similar times to
was
The max velocity of profile #6
#12.
those of profile
JSCALE-1..97.
maximum velocity points occurred at
since its
above
well
amplitudes
threshold they were the best choice to use in further testing.
was favored
to
begin
should
0.66 m/s with
0.65
m/s with
limitation stated in the section
shown in Fig.
4.5.01,.02.
It
was felt
that
in this further testing the suggested veloctiy limitations should be fully
complied with to provide more coherency with the previous testing.
Using
previous
Subjects were
was used.
was explained.
desired,
it.
experience,
They were
but once they felt
A pair
of
opaque
a more procedural
seated in the cart
method
of conducting
and the velocity nulling task
told to use any cues and any control
comfortable with their
goggles
were
then
tests
put on
technique
the
subject
strategy
not to change
and
kept
on
79
INPUT
PARAMETERS
TRUN-
92.160
NSTIES-
12
FFREU- 0.010850
0
FLAI
VEL-- 247.000
FILTEFR=
I
FFOLE
0.100
1,75
FPflS.
FACC- 0.200
0.010
TLOOF
PROFILE
DESCRIPTION
MA): ACCEL' 0.131
0.,4j12
VELi'iX
% USEAGE OF lK(h=100.00
PnitioN -0.548
START-
SCALE- 0. 419
FREQ.
(H7)
AMPI
AMF2
0.19
0.15
0.11
0.10
PHASE
(b)
0.2062
0. :496
0.3147
0.3364
0.4015
0.06
0.4449
0.05
0.4666
0.04
0,008
0.012
0.010
0.012
0.011
0.015
0.015
0.014
0.017
0.013
0.012
0.5100
0.05
0.01z
0.0651
0. 1 1V
0.1411
0. 140
0.09
0.10
0.07
0. 06
14EG)
1.
248.
135.
23.
270.
157.
45.
292.
179.
67.
314.
201.
HISTOGRAM DATA
ACC
BI'IN=
ACC
ACC
ACC
ACC
ACC
BIN7
P T K--
0.005
0.010
0.015
0 . 020
B IN= 0. 025
?IN
ACC. BIN=
0.030
0.0 35
ACC )4IN- 0.040
ACtC
0 04'
E4IN ACC PIN= 0.050
ACC EIN- 0. 'i:
ACC 14 IN= 0.060
ACC SIN= 0.065
ACC YIN. 0.070
ACC bINS 0.075
ACC
0.080
ACC BINACC
0.090
ACC: PINS 0.095
ACC PIN= 0. 155
ACC BIN" 0.160
ACC 1IN- 0. 16S
0.170
ACC
0.175
ACC
Ft
N
x
ACC
0.180
ACC PIN
0.185
ACC B IN 0. 190
ACV PIN= 0, 195
ACC BIN- 0.200
ACC N IN- 0. 205
ACC
ACC
ACC
ACC
ACC
POI NTS=
POINTSPOI RT F
POINTS
POINTS vI01 NT S
ACC F 01 NT S
P0
I NT S -
ACC P(II\TS
Act P0I NT';
FA 1NT'. ACC POIN TSACC
AC:
ACC
IN T 5
POINTS
POINTS=
F'O
ACC POINTS
ACC FO 114 T cPOINTS -
ACC
POINTSo
ACC
ACC
POINTS1
POIHTSz
AIC.
CCFO I NT S
ACC, FUI;NTS=
ACC
ACC Fn I NT A(CC F( I ITS'
FOINT3=
PC0IN T S
FOINTS'
ACt
PO INT S
AC C F'(jI N T S
ACC
ACC
1425
1155
1259
1120
8164
542
523
424
:23
176
129
14
I 36
39
7
33
12
0
0
0
0
0
0
0
0
0
0
0
Figure 4.5.01 HlPRO4.PRO Profile #17 Parameters
j
11IPRO4.PRO Profile 017
V 4city '0.056 m/s/division
time
1.0
sec./division
-4-r
+
*
+
+
acceleration 0.020 a/divtsion
'.~
-
-
A+
-
jPT~lIKH1 T'
Figure 4.5.02 H1PRO4.PRO Profile #17 Time History
~
17411W
81
nira
a
11 runs.
-rilosed
The
head restraint
for
was used
this and all
urther testing. They were then given the null profile run (no disturbance
Put) and asked to practice with the joystick until they felt
comfortable
profile was then
run with no
oth
the
subject
control
input.
sensitivity.
This
A practice
profile
practice
was then
run with
subject control
maximum level of
until the subject started completing runs or reached his
The
performance.
data
profile
was
then
profile was then run with control until
stored for data profile runs only.
run with
used in the data
reduction.
data
Data wa s
3 runs were completed.
The joystick voltage range was checked
every one or two runs to check for drift.
after
The
control.
no
runs were
completed
All
Velocity and joystick frequency
spectra,
velocity RMS ratio and joystick RMS were obtained for each run.
and
Bode data
was obtained from the average of the completed runs.
Most of the reasoning used in this refined procedure is
self-explanatory
but some points should be made. Subjects were told to use any possible cues
so they would not try to avoid cues and so lose concentration on their
Subjects were allowed to ride through the profiles without
otolith cues.
any control
so they could be familiarized with the amplitudes and frequency
range of the disturbance and the associated
motion cues. Often during a run
there was confusion as to what was the disturbance
control
so this
helped alleviate this problem.
Only
and what was the HO
three data
runs were
taken to lessen the amount of data analysis required and to keep the test
time
limited
blindfolded
to roughly
so the
one
hour.
All
runs were
done
with
the
subject
subject was only concentrating on the cues used in the
data runs and not on extraneous cues from other senses.
Four
subjects were
tested.
The rate
of
completion
was not as high
as
82
were mixed,
however.
Fig.
4.5.03-06
runs
were
completed
more
or
three
The results
and run completion was secondary.
rpts was the top priority
show typical
For two
plots.
were
plots
Bode
the
and
gave good
that
profile
a
that
was felt
It
expected.
was
this
desired but
subjects
to
similar
subject
previous plots. The one sigma deviations for one of these subjects,
knowing
high
the
when
and
occurred,
this
the author had the most experience of any
two subjects the run completion rate
For the other
of the subjects tested.
were
profile,
the
with
familiar
disturbances
velocity
Also,
control.
greatly helped his
low
and
deviations
author's
the
intimately
was
author
The
low.
remarkably
but
data,
previous
to
similar
were
,
was low and the data scatter was high.
velocity
The
joystick
RMS
maintaining
errors
ratios
are
are.
(Table
precise
acceleration
frequency
RMS
cues
control
and
velocities.
the full
the
not
consistent
4.5.01)
and
This
is
associated
the
as was noted during
some
due
difficulty
to
in
subject
some
runs
these
suggests
probably
This would allow
track length,
for
runs,
still
in
too
few
the
low
slowly wander
while
the
difficulty
controlling
to
but
still
over
yielding
effective overall velocity nulling but a higher velocity RMS ratio.
strategy observed during the tests
Upon closer examination of the control
with
the most
Subject
MS
was
is
disturbance
by
noting
one
With this
4.5.03,04.
amplitude
scattered
by
of
data were
these
subjects
technique the
inputing
some
and noting the response.
if
the
motion
is
the
control
and
his
using
The two subjects
seen.
types of control were
subjects two distinct
of these
injection
data
technique.
shown
is
subject attempts to determine
high
frequency
The control
increased
or
control
position
decreased.
As
of
is
is
in
Fig.
what the
significant
then adjusted
seen
from the
pmw--
83
2.0 -
1.I-
1.0±
c.J
0.5
-
I
I
0.0
I
I
I-
0
C
-L.0 -
0
0
0
00
0
0
-2.0
frequency (Hz)
-100
0.15
0.10
0.05
0.0
I
Ca
0.30
0
0
.
0.50
i
0
0
0.40
I
i
0
+1
o.:o
I
0
0
0
-200 -
0
-300 -
-360
0
0
K
-
Figure 4.5.03 Bode Plot. Subject MS,
HlPRO4.PRO PRofile #17
(average of two runs,
deviations not shown)
84
60
50
40 -
7O
30
7/-
0
> 10
0
0.03
0.05
0.10
0.15
0.20
0.30
I
0.20
I
0.30
-4
0.40 0.50 0.60
frequency (Hz)
30
20
*00
10
44
0
0
0.03
I
0.05
I
0.10
0.15
0.40
frequency (Hz)
Figure 4.5.04 Frequency Spectrum. Subject MS,
HlPRO4.PRO Profile #17
0.50 0.60
i
85
2.0
-
1.5
C
1.0
0.5
z
I
0.0
i
Y
0
I
-
C
-0.5
--
-1.0
-2.5
-2.0
-
frequency (Hz)
0.05
0.10
0.0
0.15
0.20
0.30
0.40
-100 +
{
I
C.
-200
0.50
I
I
+
-300
-360
Figure 4.5.05 Bode Plot. Subject DH,
HlPRO4.PRO PRofile #17
I-
86
60-.
50
C
C6 40
30
20
N010
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40 0.50 0.60
frequency (Hz)
60
-50
'0
0-~~
N
N
40
I
,o
30
O0N
20
O-R
10
'--
-
0
0
0.03
0.05
0.10
0.15
0.20
0.30
frequency (Hz)
Figure 4.5.06 Frequency Spectrum. Subject DH,
HlPRO4.PRO Profile #17
0.40
0.50 0.60
i
87
DATA
FILE
RMS VELOCITY
RATIO
RMS
JOYSTICK
AA
03
3.63
0.346
MS
04
1.19
0.173
11
3.06
0.241
02
0.790
0.221
03
1.22
0.223
05
2.01
0.242
05
1.01
0.191
08
0.642
0.180
12
1.76
0.207
SUBJECT
MM
DH
TABLE 4.5.01
RMS Data. H1PRO4.PRO Profile #17
88
plots
remnants
high
in
results
control
of
type
this
of
and
velocity
joystick and also does not have much effect on the disturbance velocity.
DH
Subiects
is
technique
used
wait
to
Some
control.
MM
and
minimal
for
a
more
during
subject
DH the
although
these
differences
in
satisfying and
the
acceleration
Bode
the
are
desirable
reversals.
As
show
the
frequencies
result
as it
same
of
is
showed that
the
not a
is
then the acceleration
seen
It
is
general
the
This
with
responding
The primary cue is
much more consistent.
plots
break
before
control.
injection may also be used but it
control
results
reactionary
disturbance
the
significant amount of the control.
sensed
passive,
gain
the
in
the
data
also noticed
trends,
plots.
for
that
there
This
transfer
are
was
functions
could detect differences in subject performance.
4.5.1 Summary
The conclusions of this
1)
For data with little
should try
testing
are as follows:
scatter and overall
better
velocity nulling the HO
to REACT to the disturbance and not attempt to search out the
disturbance.
2)
This profile
still
has input amplitudes that are too high at
the lower
frequencie s.
3)
The data
for the reacting subjects was similar in quality to that for
other HO experiments. Individual differences could also be seen which is
an indication of the effectiveness of the profile
and the closed-loop
test.
4)
Practice and knowledge of the profile
performance and the quality of the data.
a
can greatly improve the subjects
89
5) The test
It
run completion rate.
too
still
high,
too
in
resulting
disturbance
the
few
control
to
distinguish
effectiveness
higher
amplitudes
length
and
at
maximum
between
question
the
more
lower
velocity
the
number of low frequency disturbance
very low frequency point at
that a profile
with
scale was desirable.
this
As is
it
velocity
Also,
while
was
frequencies.
the
makes
difficult.
frequencies
Another
in
This resulted
0.065 Hz with the next at
0.11
the
it
is
remnant
and
order
maintaining
necessary
seen
of
the high frequencies.
two and
constraints
the
spectrum
disturbance and the remnant will often mesh at
difficult
cues.
acceleration
the high frequencies.
frequency
velocity
the low frequencies
the amplitudes at
that
was felt
problem was the low velocity amplitude at
from
One was the low
some major problems with this profile.
There were still
were
sound.
procedure and data analysis procedure are basically
to
the
limit
to
get
track
the
in only one
Hz. It was felt
more evenly distributed frequencies on the log(rad/sec)
Another profile
was needed.
CHAPTER 5
THE FINAL EXPERIMENT
5.1)
All
The Experimental
of
the
lessons
velocity
amplitudes
the previous
this
testing
were
used
to
determine
the
data had been obtained from a very low amplitude
profile,
of
requirements.
and were
of
Consistent
final profile.
flat
Method
DHPRO2.PRO
were
profile
Flat acceleration
#12.
profile
too
to
low
profiles
However,
the
fulfill
yielded
the
test
input
procedure
low run completion
not favorable due to the portions of the profile
that
rates
had minimal
acceleration disturbances and few zero-crossings.
Profiles
with
acceleration
very consistent Bode plots.
the
amplitudes at
low
amplitudes
However,
frequencies
a
high
run
completion
some inconsistency and it
low
high
amplitudes
at
the
frequencies.
was felt
low
This
rate.
is
the
0.008-0.017
these profiles
too much.
increased amplitudes to 0.004-0.031
and
in
A
were
flat
g
still
range
gave
emphasizing
velocity profile
with
g gave a high number of zero crossings
The
Bode plots
from this
that the results
frequencies
and
particularly
would
corresponding
important
since
profile
showed
suffer due to the
emphasis
better
on
the
velocity
nulling generally occurrs at the low frequencies. This also points out the
need for more low frequency points than had been used in the previous test.
As is
In
so often the case in engineering work a compromise was needed.
generating
amplitudes at
a
final
the low
profile
the
desire
frequencies and raise
An average range between H1PR04.PRO profiles
was
them at
to
lower
the
input
the high frequencies.
#17 and #12 was felt
to yield
91
the best values of
input acceleration
had
second run time should be used as it
that the 81.92
It was also felt
g.
This range was 0.06-0.24
amplitudes.
given the desired track length of about 2 m and a maximum velocity of about
0.65 m/s while allowing more low frequency points.
the
maintaining
amplitudes
had
to
be
amplitudes
had
given
0.005-0.021
was
felt
g.
to be
results
poorer
0.63
m/s
giving
than
that
for
in
while
velocity
limits.
The
input
higher
input
this
the
The lowest amplitude
as
situation
The
past.
final
is
still
are
profiles
not below
amplitudes
threshold so it
The maximum velocity has also been lowered
JSCALE-2.13,
to allow
of
profile
the
requirements
seen the range of acceleration
As is
acceptable.
amplitude
maximum
resolve
to
lowered
shown in Fig. 5.1.01-.03.
is
and
length
track
input
these
obtain
to
impossible
was
It
slightly
less
The
4.5.
section
joystick
sensitivity
emphasis of
overall
to
the
input amplitudes have been shifted to the higher frequencies as desired. A
frequency
determined by an even number multiplying
included to prevent
other
with
DEL=103
In
degrees.
order
to
its
of the run. Profile
but
4.5,
is
on
chosen
almost a
the
mirror
occurrence
to be the
the
run
when
image
the
of
data profile
all
was
halves.
one with DEL=253 and the
one profile
for
As is
5.1.03)
seen profile #2
the midpoint
and after
the beginning
obtaining
#1 is about 180 degrees out of phase with this activity
A further advantage of profile
of
at
maximum velocity activity
chose
(Fig.
data the time histories were checked.
has
frequency
from being made up of two identical
the profile
found to meet these conditions,
were
Two profiles
the base
the
of
profile
maximum
with profile
#2.
velocity
#1
the
Using
being
are
converging
of
section
#2
profile
activity,
was
the practice profile.
#2, and similar profiles,
sinusoids
theory
is
to
zero
that
at
the end
amplitude,
the
92
is
disturbance
there
should
low.
This means that the HO' s control
a bias
not be
FFT data reduction.
#1,
and
is
a
more
in the joystick
data
input will be low
so
could influence
the
that
This should result in cleaner data than with profile
reason
valid
for
chosing
#2
profile
to
be
the
data
with
the
last
profile.
5.2)
The Formal Test Procedure
The
same
basic
test
procedure
used
for
population
was used for these population tests.
profile
was made in the instruction given
has been
described in
However,
to the subject.
section 4.5,
but
its
tests
a major modification
The basic test
procedure
main features will be repeated
here.
The
enclosed
testing.
The
velocity,
do this
instruction
and
given
motion
sense of motion
joystick
to
the
stopped,
subjects must sense their
should
sense their
should
then
not
be
this
is
changed
input position.
many
to
This explanation
used
for
maintain
all
zero
To
seems to occur during acceleration changes and
acceleration.
until
the
subject.
That
subjects
For the cleanest data
is,
they
sense
should
input.
their
sensed the joystick
Above all,
by inputing high
subjects and
are
motion and respond with a joystick input.
If no acceleration is
out the disturbance
noted with
to
subjects
acceleration before responding with a control
changing again.
the zero
REACT
controller
by REACTING to the disturbance.
should be the primary motion cue to the
subjects
to
restraint
or keep their
The clearest
this
head
clearly
This input
acceleration
should be moved
subjects should not try to
frequency control.
should be avoided as it
should be told to the subjects and their
This is
leads
search
a tendency
to poor
data.
control technique
93
INP(lT PAkAMETERS
TRUN91.920
NSINES= IFFREU-- 0.012210
FLAf= 0
LEL- 103.000
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1
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FACC- 0.200
TLUP
0.010
PROFILE UESCRIPTION
MAX ACCEL- 0.117
0.- 285
')ELMAX; UFEAGE OF TRACK-100.00
STr<RTIHG POSITION- 0.1:
CtLz 0.2551
FREQ.
AMPI
(H7)
0.0610
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0.1099
0.1343
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0. 2319
0. 2O d
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0. 417
0.500
AMP2
(M/S)
0.13
0.13
0.12
0.11
0.12
0.11
0.10
0.11
(G)
0.005
0.007
0.008
0.010
PHASE
0.012
0. 0 1:;
0.09
0.07
0.07
0.06
0.014
0.020
0.021
0.019
0.021
0.020
(DEG)
2.
106.
210.
314.
-;7.
162.
266.
11.
116.
220.
325.
70.
HISTOGRAM DATA
ACC
ACC
ACC
ACC
ACC
ACC
0,005
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B IN:; 0. 020
e IN= 0. 025
Et IN- 0.030
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ACC
0. 0351
ACC
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0. 045
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ACC
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ACC
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ACC PIN- 0.130
ACC
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ACC
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ACC F 01 NT S-. 1034
ACC POINTS1095
848
ACC P1)INrSACC P 11 NT S
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5vs
ACC 10 11NT S
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ACC POINTS463
344
ACC FO I N T S 344
A CC POINTS
307
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193
ACC POINTS
217
ACC POINTS173
ACC POINTS:.
177
ACC POINTS=
114
ACC POINTS-107
ACC POINTS=
31
ACC POINTSrACC POINTS-t
25
28
Al: C POINTS 46
ACC POINTSs
37
ACC POINTSACC POIN
14
AC C POINTS18
ACC POINTS0
ACC POINTSz
0
ACC POINTS=
0
ACC POINTS=
0
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0
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Figure 5.1.01 HlPR05.PRO Profile #2 Parameters
ix
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Figure 5.1.03 H1PR05.PRO Profile #1 and #2 Time Histories
.losely
necessary.
repeated if
once
motion
profile
or start
completing
stored
or 5
for
runs are
data
is
The data profile
completed.
runs only,
runs
the
and
enabled
then
level
ride through the data
then run with subject control
This completes the test
but all
to familiarize
maximum performance
their
then given a
Subjects are
runs.
profile without control.
until 4
subjects reach
run until
practice
is
joystick
The
disturbance.
the
through
ride
done
This is
practice profile with the joystick disabled.
the
given a
are
subjects
given
is
instruction
this
them with
should be
to REACT to the disturbance
The explanation
monitored.
should be
session.
logged on the
Data is
run data
sheets.
The data analysis is
all completed runs.
be
calculated
plots.
The
started by determining frequency
The velocity RMS ratio and the joystick RMS should also
to provide
additional
information
To chose
criteria
The
should
below or about
joystick
remnant
remnant.
be less
the
with
oscillations.
be used as a
10
units.
control
guide.
The joystick
amplitudes
at
should
the
that
contained
be
roughly
value
subject
can be
stated.
remnant
should be
subject.
of
the
no
curves
of
The
velocity
subject
velocity
should
This will vary depending upon
to perform the velocity nulling
All
low,
should be 25-30% or less
frequencies.
that
the
and RMS data
frequency amplitudes with control
than the amplitude with no
of the
remnant
in
the best runs the following
joystick
disturbance
The velocity disturbance
capability
definite
to
three best runs are then chosen from these plots
and used to determine the Bode plots.
the
spectrum plots for
should be
The RMS data should be consistent
task
so no
smooth with no erratic
for the three chosen runs ,
but this is of secondary importance. If the frequency plots and RMS data do
nOt
conform
the data
criteria,
the above
to
further
not be used in
should
analysiS.
This lists
A formal test procedure checklist is shown in Appendix D.
the important
for acceptable
steps required
covers the entire
It
results.
This checklist
spectrum from setting up the Sled system to plotting data.
it
should be emphasized
the instruction
testing.
future
should be used in all
to the
data
should
runs
in
improvement
It
subject.
not
while
participants,
will
yield
performing
desirable
clear
the procedure
is
to the subject
to
Practice
all
can occur.
involved
These
also important and
is
are
are
the
will
their
results.
sure
that
two
critical
no
procedure that must be monitored closely.
some subjects will give desirable results
others
due to
until
made
be
of
This should be discussed with subject/test
performance
subject
expected that
variance,
should be made
during the practice runs.
subjective elements of the test
It is
important part
a very
that
try to REACT to the disturbance.
conductor dialogue
all
not.
skill
It
is
felt
at operating
However,,
that
most
of
with little
the astronaut
complex man-machine
subjects
who
have
the task should not be used in the final analysis.
difficulty
systems,
in
CHAPTER 6
RESULTS AND DISCUSSION
Results
6-1)
subjects were
Five
6 0 wever,
but
all
in
subjects performance.
of velocity zero-crossings.
it
tended
to
subjects to
needed
the
for
low
mask
the
the
major
is
acceleration
determine
velocity
clearly.
major goals of this
The
plotted
change
in
the proper
sense
shows little
ignored
RMS
scatter
of
the
tests
data
is
shown
for most
are
of gain and phase at
RMS data
for
Either
change
in
for
the
much practice
was
or
changes more readily,
since
shown
formats.
it
could
it
not be
is
felt
subjects.
low frequencies,
Also,
subjects.
The
sensed
that
the
velocity and joystick
is
which
also
are shown in
As
the one
sigma deviations are
There is
seen
the
data
The general
a flatness
or peak
high frequencies.
desired.. Table 6.1.01
tend to
For most of
remnants were low,
E,
6.1.01.
and a drop-off at
velocity ratios
level of velocity nulling performance.
Appendix
subject experiments.
shown.
show differences which is
all
in
Two typical plots
in Table
trends seen in previous testing are also
plots
this
difficult
was
vibration hampered the testing,
as low or lower than those of other human
Individual
velocity portion
work have been accomplished.
results
6.1.01,.02.
input.
the acceleration
was
As
it
subject,
control
contains an explanation of the plot
Fig.
acceleration.
the
to
cue
acceleration
Although this
the
hampered
was of such a magnitude and frequency that
It
subject to
the
the low
This vibration occurred at
5.
Chapter
in
vibration
unwanted
an
test
first
the
described
the procedure
with
tested
show
shows the
the relative
the subjects tested the
and the data
snooth.
Under these
99
condition s,
subjects, however.
individual
among
inconsistency
some
is
there
performance
general
indicate
can
ration
RMS
that
noted
is
It
levels.
velocity
the
activity,
shows the level of joystick
The joystick RMS
as always.
Fig.
with
6.1.03
acceptable
explained
in
encouraging.
runs.
shows a
Fig.
Bode plot
of the average values of the four subjects
data.
(Subject
next
section.)
the
An acceptable
6.1.04
LR
did
The
not
have
valid
consistency
data
between
range of values can encompass
shows the average values of all
subject DH. The consistency of this
data is
as
the
will
be
subjects
all
of
is
the valid
the significant
tests
for
also encouraging.
6.2) Discussion of Individual Subject Results
The results
first
of subject MS are shown in Fig.
subject
tested
with
done
poorly
subject
MS
control
injection
had
the disturbance his
spectrum
plots
a
The
velocity
the velocity
joystick
disturbance
velocity
nulling.
remnant.
The
improving.
clear
With
this
results
RMS
These
shows acceptable
nulling
data
three
between
wa s
Runs 07,
is
also
not
included
consistent
scatter
in
the
for
to
the
disturbance
the
being
yielded the best
the
these
the
frequency
effective,
separation
in log(GAIN),
The
4
to
at 30-40% of
and 09
due
he used
joystick
somewhat
08,
Chapter
instruction
improved.
runs were used to generate
deviations and
the
with the remnant
has been
This was the
because
and
amplitude/remnant
02
noted
testing
testing,
seperation
frequency
As
have greatly
disturbance.
Run
procedure.
previous
amplitudes and the remnant,
disturbance.
50-90% of
show
final
in the
technique.
REACT to
frequency
the
E6.1.01,.08-.11.
and
high
three
the best
velocity
runs
and
Bode plot.
The plot
0.0-0.25
log units,
100
n
2.0
1.5
1.0
'Of
0.5
lof
0.0
6
*1
6 .
I~
nc
x
I ,
I
0
-0.5
0
-1.0
-1.5
-2.0
0.05
0.0
-100
*1
{
-+
A
OD
-200
0.10
+
frequency (Hz)
0.15
0.20
I
~
0.30
I
0.40
I
0.50
I
Q
o
}
-300
-360
Figure 6.1.01
Bode Plot. Subject DH, Final Profile
Average of Runs 15,21,22
I
101
60
U
3
t.
50
'a.
GD
40
2
O-
hal
I
-
30
GD
hal
20
0
-0-,
GD
10 -
0 ----0.03
GD
0.05
0.10
0.15
frequency (Hz)
0.20
0.30
0.40
0.50 0.60
60
I
50
'I.
GD
40
2
hal
a-
I
GD
30
(00'
N , -n
C
GD
0
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10
0
7
I
|
-
-0.03
0.05
.
0.10
MOMM-00-
0.15
I
0.20
0.30
frequency (Hz)
Figure 6.1.02
-- U
Frequency Spectrum. Subject DH,
Run 15, Final Profile
0.40
0.50 0.60
102
2.0
O
A
-
o
Subject
o
0
Subject MS
Subject HK
JH
Subject DH
1.0 -
03
A6
03
0.3
2
C.,
0.0
to
I
0
Sa03
I
Q-
0
,0
~010
i
I
0.5
--
I
0
-l.0
-2.0
-
0.05
.1
0.0
0.10
I
I
A
aO
CI
-100 -
0
8
(I
-200
I
0.30
I
0.40
0.50
I
I
A6
0
0
0
U)
frequency (Hz)
0.15
0.20
00 0
A
0
8
0
0
a
0 03
8
+
- 300
-360
Figure
6.1.03
Summary Bode Plot, All Subjects, Final Profile
103
A
o
o
2.0
1.5
-
0
DHPR02.PRO Profile 412,
JSCALE-1.5
DHPROZ.PRO Profile #12,
JSCALE-2.56
HlPR04.PRO Profile #17
Final Profile
1.0 1
0.5 -
0
2
C.,
C
I
Q
0.0
A
-o.5
0
0
J30
a
-1.0
-2.0
I
a
+
frequency (Hz)
0.05
0.0
0.15
0.10
.9
I
0
0.30
0.40
I
a
0
0
W-100-
I
0.20
0O 00
A
C
0
0
j
SI
-200 --
-300
-360
Figure
6.1.04
Summary Bode Plot,
Subject DH
0.50
104
RMS VELOCITY
RATIO
RMS
JOYSTICK
SUBJECT
DATA
FILE
mS
02
2.33*
0.206
07
1.56
0.210
08
1.29
0.216
09
1.11
0.189
02
3.51
0.294
03
2.47
0.304
06
1.24
0.284
03
0.885*
0.242
06
0.627
0.253
08
0.979
0.245
09
0.720
0.251
12
1.39*
0.190
15
0.870
0.170
21
0.699
0.175
22
0.735
0.195
23
0.777*
0.160
03
0.697
0.215
09
0.702
0.206
12
0.812
0.213
15
0.716*
0.212
18
0.759*
0.205
LR
JR
DH
MM
* Not used
for Bode plots.
TABLE 6.1.01
RMS Data.
H1PR05.PRO Profile #2.
105
,requencies,
and a break at
low
zero gain at
also an approximately
is
There
deg.
0.0-50.0
ad phase,
of
These are the characteristics
about 0.2 Hz.
this subject which will be quantified further in section 6.3.
sbject MM was tested twice with this
The vibration
was also
The run completion rate
not prevalant
during
was not stored.
the data
Unfortunately
testing.
first
,,as 100% during the
procedure.
this
test.
This gives
strong
support to the fulfillment of the test requirements, however.
Subject
MM had
always
given
never used the control
injection
data
(FIg.
to
is
readily
generate
frequencies
spectrum
seen.
the
Bode
than
for
plots
As
subject
show
is
seen,
MS.
This
velocity
the
higher
data.
disturbance
values.
frequencies.
The data
log(GAIN)
is
and
Runs 03,09,
there
is
is
a
also
nulling
at
and
in
50% of
gain at
the
the
the high frequencies,
shown
as
a
drop-off
of his
12 were used
higher
shown
had
low
frequency
disturbance
being 70-100%
in
gain
at
the
The phase data also follows the same trends as the gain
scatter
and
This
in past testing
The overall high quality
E6.1.02,.12-.16)
values. The nulling is not effective at
of
results
technique.
plot.
which
acceptable
and deviations are quite acceptable,
50 deg.
joystick activity,
phase.
The RMS data
at
roughly
0.3
shows roughly the same level of
but much lower velocity activity
than
subject MS.
This
is as suggested by the plots.
Subject
JH
experiments
had
of
large
Ref.
amplitude/remnant
(Fig.
a
The
seperation
E6.1.03,.17-.20)
subject remnant,
8.
amount
of
experience
data
shows a
that
is
is
joystick
the highest
The velocity remnant
and the nulling
as a
the best
is
sled
disturbance
seen at
low,
seen at
subject
low
in
the
frequency
frequencies.
approximating the nolow frequencies,
being
106
plot
Bode
the
in
reflected
frequencies.
This
is
at
low
seen
gain
which seems
80-100%,
The phase data is
to be a general characteristic of the HO.
seen at low
disturbance.
highest
the
high frequencies,
poor at
The nulling is
frequencies.
shows
which
the
25% of
about
at
remnant
the
into
down
pushed
also the lowest
RMS shows the next to the highest
The joystick
The
values, reflecting the high joystick disturbance frequency amplitudes.
RmS velocity ratios
are some of the lowest seen,
as expected.
Subject DH had the most experience with the type of testing of this work.
The
data
shows
average
joystick
disturbance
frequency
amplitude/remnant
seperation, 25-30% of the disturbance, but there is some fluctuation in the
disturbance
joystick
frequency
remnant
is
amplitude
the
values.
lowest observed
(Fig.
being at
E6.1.04,.21-.25)
or below
The
10 units.
The
velocity nulling is effective through the mid-frequency range, being about
60-100% of the disturbance.
This results in the flatness in gain and phase
through this same frequency range seen in the Bode plot. The RMS data shows
the lowest joystick values,
which is
due to the low remnant.
ratios are also some of the lowest seen.
felt
to
have
in
the
has caused the subject
then,
disturbance,
is
resulted
while clearly
an encouraging
result
lowest
The velocity
The experience of the subject was
remnants observed.
to be able to sense
The experience,
and respond only to the
showing his specific level of performance.
and
shows that
practice
leads to better
This
data and
not to the best velocity nulling performance.
The
DH
stumary
6.1.04,E6.1.07)
All
Bode
the
It
is
noted
that
all
shows
individual
#12,
for DHPR02.PRO profile
#2.
plot
tests
some
encouraging
show acceptable
JSCALE=1.5 and the phase of
tests
results.
agreement
(Fig.
except
H1PRO5.PRO profile
used a P=90 or 95% JSCALE criterion
except
107
#12 JSCALE=1.5 test.
tor the profile
before
1
it
g(GAIN).
the
is
scaled
The
JSCALE=1.5
DlpRO 2 .PRO
23
log(2.56/1.5)Q0.
is
a
If
data.
JSCALE=2.56
#12,
profile
of
correction
would then agree
it
data
applied to the JSCALE=1.5
as the
same profile
from the
was obtained
data
the
of
magnitude
the
effects
directly
JSCALE
stored
is
the joystick voltage
Since
with all the other data. The JSCALE=1.5 data does have the most scatter,
H1PRO5.PRO
the
lowest log(GAIN)
tests.
of all
It
sensitive.
The
frequency phase,
and
too
gain being
joystick
in
shows a difference
02 data
profile
the
by
was caused
which
however,
low
suspected
is
that
caused by the cart
vibration problems as noted in Chapter
agreement
different
of
the
supports the validity
tests
is
still
the
least
5.
The overall
which
of the closed-loop test.
experience
with
the
Sled,
as
student tested.
this
was
her
She also
second
The plots
Only three runs were completed during her testing.
session.
was mainly
though,
acceptable,
Subject LR was the only female and non-graduate
had
this
test
show
high remnant activity of joystick and velocity. (Fig. E6.1.05,.26-.28) The
is
control
trends,
general
frequencies,
The
but
is
the
high
by
joystick
disturbance
the plot
of Fig.
The data
scatter,
The Bode plots
particularly
does
be
will
shown
remnant.
As
frequency
amplitude/remnant
to yield valid results.
sufficient
much
frequencies.
at
80
deg.
shows the highest joystick and velocity activity,
suggested
better
there
the low
and some larger than desirable deviations,
data
RMS
at
only effective
6.1.03,E6.1.06.
Thusly,
show steady improvement,
data may be obtained.
so in
high
in phase.
which is
6.4,
the
separation
is
not
is
not included in
shown as an illustration
though,
the
section
in
the Bode data
The data is
show the
future test
only.
sessions
108
The Transfer Function Model
6.3)
function model
A transfer
desired so that
is
A BMDP non-linear regression analysis
the HO responses can be quantified.
was
desired
to
model.
However,
not
allow
used as
tried
to
fit
this
model
a
this
determine
to
used
program
the
the
two
with
real
Rather,
allows
the poles
a
poles,
2
to become
all
the variations
simple as possible.
seen
in
in
as
numerical
order
nd
the
was
originally
Meiry
Young and
problems which
Various
would be
the
It
structures were
sufficiently
HO responses,
does
must be
system equation
complex.
in attempts to define a structure that
include
16)
(Ref.
model.
BMDP program contains
restriction.
seen in
the characteristics
general
while
being
as
The final structure .used was as follows:
K(jw + a)
(jw + b)(jw
The following limits
2
2'
+ 2cn jW + W )
n
n
were placed on the parameters:
min
max
K
0.0
100.0
a
0.0
25.0
b
0.0
25.0
0.0
10.0
0.0
100.0
parameter
Wn
The HO response
data was converted to GAIN
(rad/sec)
before
units
inputing.them
GAIN data was used in the fit.
Fig.
6.3.01-.04,E6.3.01-.04
against the Bode plots.
As is
to
(amplitude
ratio)
and frequency
the regression analysis.
Only
the
No phase data was used in the analysis.
show
the
models
seen the gain fits
and
their
curves
ploted
are very precise but the
109
are poor.
Orresponding phase fits
No
frequencies.
ain
the models
in a
resulting
the
zero
has been placed at
This is
differentiator.
young and Meiry model
by the
reflects
of
the accuracy
zero at
high
the
corresponding
therefore
data
Also,
not
does
model.
conform to a minimum phase system with this
On all
without a
The
fit.
better
a
yield
would
than at
frequencies
of about
the data.
to
to conform
adjustment,
simple phase
other
adjustment,
the low
needed at
is
adjustment
tvore phase
the phase curve
needed for
would be
50 deg.
but subject DH a shift
For all
the
0.0076
the
lead
limit
term as
rad/sec.
value of
suggested
0.0,
in
the
That the zero is
0.0
the regression analysis and also the problems of
trying to define the system over a narrow range of frequencies.
The pole
shows
individual
placed at
pole
some
structure
the limit
is
variation
not
each
of 25
needed.
approximately
for
-1.0
and is
subject.
rad/sec.
This is
the main factor
seen
In
two
(log(GAIN)/log(freq. ,
gain,
In
the
disturbance
frequencies,
pole
remains at
approximately
range
of
magnitude of this
the
pole
has
the
been
for these cases the
frequency
rad/sec)).
also caused the K,
the
cases
This suggests that
in the high
in determining
The
slopes
large
which are
pole
has
values of these cases to be larger than necessary.
0.383-3.145
25.0.
The
rad/sec,
the
K values should
therefore be lowered by a factor of 25.0. The corrected values are shown in
brackets.
For
subject
integrator.
needed.
slope
the
pole
This implies that
This is
of
DH
due
to the
approximately
has
for this
flatness
-2.0
been
placed
at
0.0
resulting
in
an
case neither the pole nor zero are
in gain at
the low frequencies and the
(log(GAIN)/log(freq.,
rad/sec))
at
the
high
I1
19.95jw
(jw + 25.0)(Jw 2 + 2(0.553)(0.5 4 7 )jw +
1.5
0
[0.7981
r
2.0
0.547
)
1.0
0
0.5
T4m.m4L I
=
C,
on
0.0
I
I~
%d
T
I
I
0
-0.5 -
-1.0 tm
-2.0
-+frequency (Hz)
0.05
0.0
1
0.10
0.15
0.20
0.30
0.40
.
-100 +
.-0
-200 +
-300
w
-360-
Figure
6.3.01
Model and Curve Fit. Subject MS
0.50
111
(0.7961
2.0 T
1.5 0
19.891w
(jw + 25.0)(jw
+ 2(0.141)(0.517)jw
+ 0.5172)
1.0
'.4
0.3
z
I
0.0
- ___
- -
--
I
I
i
I
-
0
-0.5 -
-1 .0 +
i
&
I
-,**
I
-1.5
-2.01
frequency (Hz)
0:05
0.10
0.15
0.20
0.30
0.40
0.0
It
4'
-100 +
4'
4'
4'
a.
-zoo
+
-300
-360
Figure
6.3.02 Model and Curve Fit. Subject MM
0.50
-
EIa
I
112
2.0
-
2
(jw + 1.42)(jw
0
1.0
.0 21w
+ 2(0.144)(0.540)jW-+
0.540
)
-
'.4
0
0.5 2
4
I
0.0
I
-0.5
t
I
aT
ON
I
-
I-
~ ~~
I.W
0
-2.0 -f-
frequency (iz)
0.05
0.0
I
0.10
I
0.15
I
0.20
I
0.30
0.40
-100 +
V
In
G6
-zoo --
-300
-360
Figure
6.3.03 Model and Curve Fit. Subject JH
0.50
I
113
2.0
1.30LL
(jw + 0.0)(jw
+ 2(0.524)(1.022)jw + 1.022 )
1.5
0
1.0
C~4
0
0.5
z
ci
0.0
1
.6
0
II
1
I
0
I
-0.5
-1.0
-1.5
-2.0
frequency (Nz)
0.05
0.0
ci
cJ
Q
0.10
I
0.15
0.20
0.30
0.40
I
-100 +
41
41
a.
Ii
-200
--
-300
-360
-
Figure
6.3.04 Model and Curve Fit. Subject DH
0.50
--
114
would then be a
The resulting model
frequencies.
the
that
shows
Tjnjs accurately
rad/sec.
1.42
at
pole has been precisely placed
the
JH,
cse for subject
nd order system. In the
2
and
frequency slope is between -1.0
high
-2.0 (log(GAIN)/log( freq. , rad/sec)).
nulling
the wn
less,
been
has
emphasizes
low
the
is
peak
very effective,
nulling has been
does not seem
performance.
and does
the plot.
cases
roughly
frequency
performance.
the
The
DH)
which
for
model
velocity
subject
MS
as
it
trend,
this
follow
not
the
This may show the limitations of
(
plots
show
25-30% of
the
the
than 0.5,
much lower
is
that
the
there
velocity
disturbance in the
However,
responses,
In
(Compare
this
way
K
corresponds
K can be
subjects DH and- MS,
in
shows modifications
the
C
values and low
'
for cases with similar
zero defines the low frequency
task performance
K values and the task
velocity nulling than subject MS.
Subject MM had much better
are different.
levels.
below
to be a corelation between all
Their K values are the same but their
low
shows no peak,
on. (subjects MMJH)
region of
There
(subject
these
For
peak.
reasonance
frequency
For cases where
the regression analysis.
a
break
much
too
should from looking at
seems it
is
the
effective.
most
task
One The wn precisely defines the break frequency
For cases where the low frequency log(GAIN)
of the response.
(=0.5 or
, and
(
are K,
performance,
the
reflecting
of
terms
in
importance,
most
of
values
The
frequency
needed
for
the
to
the
values,
yielding
similar
of
velocity
nulling
level
varying
used to determine
and
of
The K,
the
(
, and w
response
define the
And the pole
disturbance.
high frequency
performance
In summary,
subjects MM and JH.)
response.
range
freguency responses
at
the
higher
115
frequencies of the disturbance.
Remnant Analysis
6.4)
No remnant correction has been applied to the data in this
Ref.
Ref.
7
results
jai
is
found
a
shown in Fig.
is
6.4.01
parameters are also
function
based
on
the
with the joystick
The analysis of
labeled.
power
spectrum
of
these
is
the
the power
linear
GcI
acceleration:
power
of
of
the
is
joystick
the joystick
interpolation:
2
1//2/1
-
/1-
=
Okk
by
required
in
in
found
is
criteria
this
too large to
This function is:
parameters.
where;
The
shown.
is
will be shown here.
system under consideration
remnant
of
developement
full
result
Only the final
7.
The
The
results.
yield valid
the joystick remnant
if
can be used to determine
a criteria
However,
work.
remnant
OA
output,
at
is
including
the disturbance
the
power
of
the
remnant:
frequencies,
the
disturbance
the power of the cart dynamics taken from the plot of
Chapter 3.
The
limiting
behavior
of
this
jai
function
is
based
on
the
remnant
power:
1/2
as
=>
|al
as
=
=>
This says that
to be valid,
a
L
_
1
al => (O/XX/ AA/2GHO
typical
1.0/Gc = inverse plant dynamics
for the
transfer
the joystick
test
run
function of
the HO as defined
remnant must be low.
was
used
to
find
How low is
specific
0.0
C
in this
work
not suggested,
values
for
the
so
above
116
I
cart
velocity
disturbance
velocity
command
cartca
dynamics
ra
acceleration
Gc (j)
~A A)
human
operator
velocity
command
ecMantcotl
filter
G
(jW )
V-0
otolith
systemi
strategy
Gyn(m i)
(Cs
human
operator
Figure 6.4.01
The Closed-Loop System with
Remnant Analysis Parameters Labeled
117
from subject DH, H1PR05.PRO profile *2, run 22 was used
qua tions. The data
it
35
a
showed
shows
The table
to have
are seen
joystick
of
25-30%
amplitudes
the
quality of
the
determining
In
considered
as
a
amplitude/remnant
ratios in this
of the data.
which confirms the validity
frequency
checked
if
This
frequencies.
however.
The
Possibly,
any
point
remnants were
may
quality of
the above
remnant
a
for most
introduced
have
overall
low
with
the
some
data
analysis
frequencies
to
in this
obtained
the results
of
the
of
guideline
In this work, the velocity and joystick
the
10
25-30%
discarded.
used.
Ref.
of
joystick
and
of
considered
remnant
high
was
work
All
frequency
except those of subject LR,
the
be
can
data.
work have joystick disturbance
range,
frequency
is
type of experiment
this
joystick
the
Therefore
frequency
disturbance
disturbance
the
and GAIN values have a maximum difference of
The resulting Jal
acceptable.
points
other
all
joystick
the
A 12% error in the GAIN data of
quite
For
frequencies.
disturbance
is
remnant
amplitudes.
12%.
the
at
amplitudes
the joystick
about 80% of
value of
remnant
a joystick
the other
The two points noted
and the GAIN.
there is no major difference between lal
Ialand
as
for all but two points
As is seen,
needed in the calculation.
parameters
GAIN as well
function
the transfer
in Table 6.4.01.
shown
is
The data
separation.
anpiitude/remnant
frequency
disturbance
joystick
of
range
middle
remnant
spectra were
entire
the
unwanted
error
appears
to be
shoud be
done
was
at
a
run
few
acceptable,
for all
runs
and bad points discarded in the future.
As described previously,
function
should approximate
if
the joystick remnant
the
is
inverse plant dynamics.
high the HO transfer
However,
if
the HO
118
I
FREQ.
(Rz)
JOYSTICK
REMNAT
JOYSTICK
ACC.
AMPLITUDE AMPLITUDE
|GI
IIal
GAIN
o.061
13.69
37.49
24.86
0.575
1.48
1.51
1.89
0.085
7.15
25.65
25.77
0.390
0.961
0.995
3.54
0.110
5.14
43.84
21.15
0.637
2.08
2.07
-0.53
0.134
9.81
18.52
32.50
1.07
0.511
0.570
11.55
0.159
12.14
38.50
33.26
1.13
1.21
1.16
4.14
0.207
11.99
40.59
32.38
1.28
1.36
1.25
-7.93
0.232
11.95
25.79
31.11
1.78
1.01
0.829
17.59*
0.281
8.43
30.59
64.89
1.96
0.469
0.471
0.43
0.354
12.13
29.54
86.10
2.36
0.332
0.343
3.31
0.391
12.96
19.15
104.47
3.19
0.147
0.183
24.49*
0.452
6.73
24.83
114.89
3.30
0.212
0.216
1.89
0.500
6.61
15.82
116.64
3.29
0.126
0.136
7.94
* Out of tolerance points.
TABLE 6.4.01 Remnant Analysis. Subject DH, H1PR05.PRO
Profile #2, Run 22.
PPPPP__119
function
ansfer
I
Lfective
inverse
dynamics
plant
transfer
closed-loop
The
nulling.
velocity
tt
mean
can
function
of
the
except
for
the
is:
neglecting the filter,
stem,
the
approximates
-GHOGcl
Acceleration
G cl
0 GcGHO
1.
If
the
opposite
HO
matches
sign,
HO
inverse
the result
Gd
The
the
has
= 1/2
Disturbance
plant
dynamics
exactly,
is:
=>
therefore
Acceleration = 1/2 Disturbance
effectively
nulled
50%
of
the
acceleration or aproximately 50% of the disturbance velocity.
is very adaptable,
it
him to approximate
high and
shows
the
that
dynamics.
the
HO
however,
is
the
not unlikely that his
inverse
cart
velocity nulling is
the
In
when
from
the joystick
then,
is
dynamics.
should
inverse
remnant
is
it
is
plant
low,
the most important
if
the
inverse
difficult
is
cart
to separate
dynamics.
the data
criteria
the remnant
remnant analysis also
approach
type of testing
the
the
Since the HO
strategy would cause
However,
not effective,
function
with this
function
remnant analysis,
data quality.
transfer
short,
transfer
that
HO
control
disturbance
is
It
is
clear,
accurate.
The
for determining the
CHAPTER 7
CONCLUSIONS AND RECOMMENDATIONS
7.1)
Conclusions
The
requirements
of
test
the
procedure
have
been
by
fulfilled
the
procedure developed in this work. It is felt that the test procedure is the
best that
can be obtained using the simplest disturbance profiles
reduction
techniques
for
most
procedure
the
of
also
astronauts
participating
clearly
the
procedure
that
sensitivity
The procedure
and data
scatter
subject
testing.
results
of
all
varying profiles
work is
in this
different
shows
suggested
as
will
be
able
to
of
levels
subjects. Therefore,
performance with different
that
expected to yield near 100% completion rates
is
It
rates for most subjects.
any
also yields very accurate
are at
of the valid results
subjects
is
is
for
shown
compared
also shown.
an accurate
test
results.
task
in
differences
otolith
testing.
sigma
deviation
or below those of other human
results
Consistency
This proves that
method.
nulling
The
a high probability
The one
individual
together.
5.
Chapter
velocity
there is
reveal
in
may occur between the pre- and post-flight
This
completion
run
yields high
The procedure
possible.
and data
as
of
well
response
with
used
the closed-loop test
This response consistency
the
as
is
the
most encouraging result discovered in this work.
The major effort
that
this
of this
consistency
the test
work has been to optimize
could
be
obtained
as
as possible.
readily
factor in the success of the procedure has been restricting
profile
to a maximum velocity of approximately
0.63
procedure
so
A major
the disturbance
m/s and a track length
121
to roughly
2.0
and varying levels of
margin for error
This allows some
m.
Another major
rate.
yielding a high run completion
performance while still
factor has been scaling the joystick gain to the maximum velocity using the
p?95% criterion.
(Chapter 3)
This gives a quantitative value for the lowest
practical sensitivity of the joystick control for any profile.
most
important
has
factor
been
the disturbance
frequencies.
been
to
tailored
significantly
the
helped
the
scaling
With this
capabilities
the
run
velocity amplitudes at
the
of
Perhaps the
scaling,
the disturbance
of
human
the
completion
rate
operator.
and
the
has
profile
This
quality
has
of
the
results. These are the most important factors discovered in the development
of the profile
itself.
but
factors
that
the
It
is
felt
described
that a
successful
above
are.
profile
is
Therefore,
not unique,
there
are
many
possibilities for further work with similar profiles.
A
final
major
instruction
to
following this
factor
the
in
subject
No
would
REACT
to
to
filtering
keep
was
the
the
results
has
disturbance.
used
as
in
With
been
the
subjects
This improvement
but in the subjects performance
the procedure
add a below
of
have been improved.
This was a major discovery
washout
desired
to
success
instruction the results
not only shows in the data,
sessions.
the
during the test
for obtaining consistent data.
the
procedure
development
simple as possible.
threshold velocity to the cart
if
as it
was
A desirable washout
it
was moving toward
the track center and subtract this same velocity if it was moving away from
the
the
track center.
track.
oscillations
was
often
It
would
when
seen
This would tend to help keep the cart
be
the cart
during
especially
is
near
the testing
the
useful
track
and usually
at
during
limits.
led
the center
periods
of
of
small
This type of motion
to
a
short run.
It
is
122
increase in the maximum
felt that a washout would not allow more than a 15%
frequency below
velocity or a disturbance
requirements
destroy
the
and
the
then be needed
analysis would
A non-linear
analysis.
tend to
This would
disturbance
sines
of
sum
in these
Larger changes
amplitudes.
washout
the
of
quasi-linearity
function
describing
larger
require
would
0.03 Hz.
which would be much more difficult to use and interpret.
The procedure reveals differences in subject response which is
These differences
are difficult
Due
problems
to
numerical
to quantify with the model used,
a
simpler
transfer
function
poles could not be obtained, as noted in Chapter 6.
with
task
to compare
performance.
the parameter
The
model
primarily
due
non-complex
data,
it
was
values of the models with the associated
parameters
comparison to task performance in all
The models also do not
however.
Although the structure
used yielded models with excellent agreement to the log(GAIN)
difficult
desirable.
do
cases,
not
show
a
simple
direct
which would be desirable.
show good agreement with the phase data.
to the emphasis on the
low frequency
peak,
This is
seen in the Bode
plot log(GAIN) data, which adds more phase lead. Since such peaks were not
clearly
by
shown until
the
influence
performance.
testing
it
phase
less
Also,
is
variance,
by
the
for the
it
excessive
is
suspected that
cart
vibration
to find a model which will
using
however,
it
only
is
the GAIN
the best
data.
data
not a minimum phase system.
vibration,
should resolve
this
they are caused
on
the
subjects
frequency range used in this
sanll disturbance
show good log(GAIN)
Since
the
log(GAIN)
and
showed
to use for modeling purposes.
the peaks are not valid and therefore
the HO is
the cart
of
difficult
agreement
Either
the final testing,
Further
should not be emphasized,
population testing,
discrepancy.
or
without
123
That
the
phase
stated that
data
shows more
constant velocity motion.
often
unsure
could
direction
and
magnitude
reversals there was confusion.
have
little
influence
would have
on
on
Subjects often used
vibration,
has been
data,
between
small control
due to their
but were
reversals
but
the
these
inputs to
Such inputs would
of the profile.
data,
the phase
and
sensed,
clearly
be
the GAIN
much influence
It
Subjects usually
acceleration
During the
motion during these parts
their
determine
suprising.
in testing.
noise
cart
the
through
direction.
their
of
not
This often occurred
motion,
their
sense
is
as accelerometers and would not sense a
organs act
the otolith
could
variance
low amplitudes,
due to their
but
sign reversals.
It is probably this effect which results in more phase variance.
7.2) Recommendations for Further Work
The
most
testing.
in this
important
A larger
work
are
recommendation
subject sample is
valid.
This will
is
the
need
for
further
needed to confirm that
also help determine
population
the trends seen
the effects
of the
cart vibration.
Another
model
structure
for all
direct performance
better
phase
fit
structure
should
be
investigated.
A
subject responses would be desirable.
indication
may
also
more
A more simple and
from the model parameters is
be obtained
by a
different
consistent
also desired.
model
A
structure.
Possibly both the GAIN and the phase data could be used in the modeling to
achieve this.
A washout
would be to
filter
should
also
be
investigated.
increase the run completion rate.
The
If this
main
result
desired
occurred perhaps the
124
effects of a
higher maximum velocity and/or a
This would help
investigated.
range could be
lower
disturbance
to more
frequency
fully define
the low
frequency response.
Since
response
the
in
cart
dynamics
work,
this
would be interesting
HO
response.
It
clearly different
hopefully reveal
this
particular
to
would
it
have
is
not been
felt
that
clearly
should
this
see what effects varying
be
desirable
to
use
seperated
a
cart
be
task.
the
investigated.
HO
It
dynamics had on the
system with
than the HO response discovered in this
more clearly the capabilitiy
form
cart
dynamics
work. -This would
and adaptability of the HO in
125
I
APPENDIX A
SLED SYSTEM PICTURES
The
following
pictures
show
the
various
head
restraint
configurations used in the testing.
Figure A.1
Seated Subject with Open-Faced Head
Restraint Used in Initial Tests
and
joystick
126
I
Figure A.2
Seated Subject with Enclosed Head
Restraint
127
Figure A.3
Seated Subject with Wheel Joystick
Used in Initial Tests
128
Figure A.4
Seated Subject with Joystick Controller
129
APPENDIX B
PROFILE GENERATION PROGRAMS
work are
generation program used in this
the profile
The two versions of
The hierarchy is as follows:
listed.
Program
Subroutines
Data Files
Page
QSOS.FUN
SUMSIN.FUN,POWER.FUN
PRIMES.DAT
131-139
DSOS.FOR
SUMSIN.FOR, FPOWER.FOR
PRIMES.DAT, DSOS.DAT
AMPAG.DAT
140-145
Program
QSOS.FFUN
command.
It
is
is
a
CART program
subroutine
accessed
used with the PDP 11/34 minicomputer.
by
the
Program DSOS.DAT
SO
is
used on the VAX computer and is a simplified copy of QSOS.FUN. (DSOS.DAT is
also a
subroutine,
as a
simple command program (not listed)
is
used to run
it.)
Both programs
are
the
is
user
Program QSOS.FUN
data
separate
file.
inputs and outputs
same
except
friendly.
for
Only
their
input and
displayed
formats.
the prime numbers are input from a
The program prompts the user
are
output
in a
for all
other inputs. The
self-explanatory
format.
A
sample
input and output is shown.
Program DSOS.FOR uses inputs from separate files.
prime
numbers
parameter
as
inputs.
in
the
The
QSOS.FUN
program
program.
prompts the
PRIMES.DAT
DSOS.DAT
user
contains the
contains
to determine
if
all
other
single
or
multiple DEL frequencies are to be used. The multiple DEL frequencies must
be
set
in
the
program
arbitrary
amplitudes
determine
if
itself.
It
will be
histogram data
also
prompts
used as contained
is
required.
The
the
user
in file
to
determine
AMPAG.DAT,
and
if
to
input aand output parameters
130
,re
by
displayed
their
variable
names
as
described
in
3.
Chapter
as in QSOS.FUN.
profile amplitudes and frequencies are then displayed
and output is
also
program example.
shown
for
the
same
example
run used
for
the
The
Input
QSOS.FUN
I
131
0001
0002
0003
o004
0005
0006
0007
0009
0009
0010
0011
0012
0013
0014
0015
0016
CART SYSTEM V03
INTEGER FUNCTION QSOS (TRUNSTPOSTLOOPRSINESTO)
C
C Sets parameters for sum of sinusoids Profile.
C
Author: A.P. Arrott
C
Adapted from RANDOM.SUB (Arrott,4-Maw-79)
C
Reauired subprograms:
(which shares COMMON BLOCK/FILCOM/)
C
FUNCTION POWER
FUNCTION SUMSIN
C
FUNCTION ACCEPT
C
FUNCTION IACCEP
C
C
C
C DECLARATIONS
C =i=""U"
C
INTEGER PCODEPRIME(50),FLAMPA
LOGICAL ANSWERYES
REAL LVEL
REAL W(50),WT(50),BOXW(51),COSAMP(50),COSPHI(50)
C
INTEGER ZNSINEZTOFLAT
INTEGER FILTER
REAL TL(5)
REAL KCMD
REAL AMP(50),WDELT(50),PHI(50)PAMPAG(50)
C
COMMON/GLOBAL/ TRACKtGMAXDECMAXTL
KCMD
COMMON/UNITS/
COMMON/SOS/
AMPWDELTPHIZTRUNZSTPOSZTLOOPZNSINEZTO,
+
DELPHIPOSLIMACCLIMFLAT
COMMON/FILCOM/ FILTERPPOLE
C
DATA PI/3.14159/,YES/'Y'/,INFLAG/0/
DATA PRIME/3,5,7,11,13,17,19,23,29,31,37,41,43,47,53,61,73,83,
+
101,113v137,149,163,181e199,233,263,293,317,353,383,421,457,
+
499,547,587,619,661,691,739,787,823,863,911,947997,1051,
+
1091,1163,1193/
C
OSOS=4
0017
0018
FLAMPA-0
C
C
0019
0020
0021
0022
0023
0024
0025
-?A
0027
0028
0029
0030
0031
0033
0034
0035
0036
0037
0038
0039
0040
0041
0042
0043
Convert phase angles from Phase at t=TO-TLOOP to Phase at t=0.
DO 112 I=1,ZNSINE
PHI(I)=PHI(I)+(ZTO/ZTLOOP-1)*WDELT(I)
112
C
Convert amplitudes from */s to cart command units.
DO 114 I=1,ZNSINE
AMP(I)-AMP(I)/KCMD
114
C
Previous parameters
C
TRUN=ZTRUN
3TFOS=ZSTPOS
TLOOP-ZTLOOP
NSINES-ZNSINE
TO-ZTO
C
Cmmmmmmmmmmmimminininminmmin
OBTAIN PRIME NUMBER SERIES
C
C
C
CALL TTYOUT('SUse prime number table T
READ(5,116) ANSWER
FORMAT(A1)
116
IF(ANSWER.NE.YES) GOTO 120
CALL ASSIGN(4,'PRIMES.DAT')
READ(4,117) NPRIME
FORMAT(15)
117
DO 118 I-lNPRIME
READ(4,117) IPRIME
PRIME(I)=IPRIME
118
D0 119 I-NPRIME+1,50
PRIME(I)=0
119
CALL CLOSE(4)
WRITE(7,1195) PRIME
FORMAT(2X,5I5)
1195
C
S')
132
C
C
C
120
DISPLAY
TABLE OF PARAMETERS
WRITE(7.121)
TRUNNSINES,1./TRUNFLAT,360.*DELPHI/(2.*PI),
FILTERPOLE/(2.*PI),POSLIM*2.,ACCLIM/9.812,TLOOPFLAMPA
FORMAT ('0==============
===================================='/
+
SUM OF SINES PROFILE'//
+
1. DURATION OF PROFILE:
',F7.2,' SEC'/
PARAMETERS OF SINUSOIDS:'/
+
+
2. NUMBER OF SINUSOIDS:
'pI6,/
3. FUNDAMENTAL FREQUENCY: ',F9.4,' HZ'/
+
4. EQUAL AMPLITUDE DOMAIN:'#16,' (-1,P00,Vl+1,A)'/
+
+
5. SUCCESSIVE PHASE ANGLE:',F7.0,'
DEG'/
PARAMETERS OF SHAPING FUNCTION:'/
+
+
6. ORDER OF FILTER:
',I69/
7. POLE:
+
',F9.2,' HZ'/
PHYSICAL CONSTRAINTS:'/
+
+
8. LENGTH OF TRACK:
'tF9.2,' M'/
9. ALLOWED ACCELERATION:
+
',F9.2,' G'/
10. TIME INCREMENT:
',F1O.3,' SEC'/
+
'
ARBITRARY ACCELERATION AMPLITUDE:'/
+
'
11. ARBITRARY AMP FLAG:
'p16,' (OPNOP1PYES)'/)
IF (INFLAG.EQ.0) GO TO 650
WRITE(7,122)
FORMAT ('0 RESULTING IN THE SUM OF SINUSOIDS:'/
+
FREG
AMP
ACCEL AMP
PHASE'/
+
'
CHZ3
CM/S
CG3
CDEG')
+
121
0046
4
00 8
0049
122
C
C
0050
0051
0052
0053
0054
0055
0056
0057
0059
0060
0061
0062
0063
0064
0065
0066
0067
0068
0069
0070
0071
0072
0073
0074
U
C GENERATE FREQUENCY TABLE
C -----------------------C
200
CONTINUE
C
C FIRST METHOD:
USE PRIME NUMBERS STORED IN FILE, 'PRIMES.TAS'
C
C
CALCULATE HARMONIC FREQUENCIES
FUNDAn2.*PI/TRUN
I FUNDAMENTAL FREQUENCY
DO 220 J-lNSINES
W(J)-PRIME(J)*FUNDA
HARMONIC FREQUENCIIES
WDELT(J)-W(J)*TLOOP
! INCREMENT OF SINE0 ARGUMENT FOR W(J)
220
CONTINUE
GO TO 230
C
C SECOND METHOD:
DETERMINE EQUAL SPACING OF LN(PRIMES)
C
(ALLOWS INDEPENDENT SETTING OF HIGHLOWs
C
AND NO. OF FREQUENCIES IN SIGNAL)
C
C
** TO BE DEVELOPED **
C
GENEATEnAMPLITUDET=ALE
C
C GENERATE AMPLITUDE TABLE
C ==n====n=n===n===n==n==a
C
C USE ARBITRARY ACCELERATION AMPLITUDES FROM FILE 'AMPAG.DAT'
230
IF(FLAMPA.EQ.0)GO TO 240
CALL ASSIGN(10,'AMPAG.DAT')
READ(10,*)(AMPAG(I),InlNSINES)
DO 232 I=1,NSINES
232
AMP(I)-AMPAG(I)*9.81/W(I)
GO TO 260
C
C
240
CONTINUE
IF(FLAT) 241P242,243
C
241
DO 2415 J-lNSINES
EQUAL AMPLITUDES OF POSITION
2415
AMP(J)-W(J)
GO TO 244
C
242
DO 2425 J=1.NSINES
EQUAL AMPLITUDES OF VELOCITY
2425
AMP(J)-l.
GO TO 244
C
243
DO 2435 J-lNSINES
I EQUAL AMPLITUDES OF ACCELERATION
2435
AMP(J)-l./W(J)
C
244
CONTINUE
C
133
IF(FILTER.EO.O) GO TO 260
IF(NSINES.EQ.1) GO TO 260
0075
0077
C
C
C
C
C
0079
0080
S
H
A P
I
N G
F U
(acapted
N
C T IO
N
from LN#-RUN bv G.L.Zacherias)
CALCULATE FICTITIOUS END FREQUENCIES
WOW(1)*W(1)/W(2)
W(NSINES+1)-W(NSINES)*W(NSINES)/W(NSINES-1)
C
C
0081
Q082
0083
0084
0085
0086
CALCULATE BOX FREQUENCIES
DO 245 J=NSINES+1e2,-1
BOXW(J)=SQRT(W(J-1)*W(J))
245
BOXW(1)-SORT(WO*W(1))
C
C
CALCULATE AMPLITUDES
GAIN-2./(POWER(BOXW(NSINES+))-POWER(BOXW(1)))
DO 248 J-1,NSINES
248
AMP(J)-AMP(J)*SORT(GAIN*(POWER(BOXW(J+1))-POWER(BOXW(J))))
C
uin==min===
C
C GENERATE PHASE ARRAY
C
0087
0088
0089
0090
0091
0092
0093
0094
0095
0096
0097
0098
0099
0100
0101
0103
0105
0106
0108
0109
0110
0111
0112
=
=
=
=
C
CONTINUE
260
C
C
FIRST METHOD: CONSTANT PHASE DIFFERENCE
PHI(1)-0.
DO 264 J-2,NSINES
PHI(J)-PHI(J-1)+DELPHI
PHI(J)=AMOD(PHI(J),2.*PI)
I REMAINDER FUNCTION
264
CONTINUE
(ADJUSTS PHASES > 2*PI)
GO TO 400
C
C SECOND METHOD: SET PHASES INDIVIDUALLY
C
** TO BE DEVELOPED S$
C
C
C m=
=mmmmmm
C FIND FIRST ZERO CROSSING
(THEREBY ESTABLISHING THE
C
=--=-----==--minuin
-BEGINNING OF THE SIGNAL)
C
400
CONTINUE
C
C
GENERATE VELOCITY SIGNAL
C
INITIALIZE
TO-0.
DO 420 J-1pNSINES
420
WT(J)u-WDELT(J)
LVEL-SUMSIN(NSINESAMPWTWDELT.PHI)
VALUE AT T=0
C
(ALGORITHM IGNORES POSSIBILITY THAT T-0 IS
C
A ZERO CROSSING)
C
ITERATE
TO=TO+TLOOP
430
VEL=SUMSIN(NSINESAMPWTWDELTPHI)
C
COMPARE VALUE WITH VALUE OF PREVIOUS ITERATION
C
IF (VEL.GE.0.AND.LVEL.LE.0.) GO TO 440
IF (VEL.LE.0.AND.LVEL.GE.O.) GO TO 440
LVEL-VEL
I ZERO CROSSING NOT FOUND: UPDATE 'LVEL';
IF (TO.GT.TRUN) GO TO 434
I CHECK FOR END OF SIGNAL,
GO TO 430
1 AND ITERATE AGAIN.
C
C
ERROR: NO ZERO CROSSING FOUND IN SIGNAL
434
WRITE(7p435)
435
FORMAT (' -=n>ErrorCOSOSJ Unable to find zero crossing of',
+
'
signal.')
GOTO
120
C
C
ZERO CROSSING DETECTED
440
CONTINUE
C
134
C
CI
C
C
C
DETERMINE SIGNAL SCALE FACTOR
*m
m
m
m
m
m
m
m
m
m
mm=="===""
GENERATE POSITION PROFILE
INITIALIZE
DO 520 JilNSINES
START SIGNAL AT TO
WT(J)mT0*W(J)-WDELT(J)
! INTEGRATION COEFFICIENT
COSAMP(J)=AMP(J)/W(J)
INTEGRATION PHASE (1/4 CYCLE LAG)
COSPHI(J)=PHI(J)-.5*PI
CONTINUE
520
NSTEPS-TRUN/TLOOP
POSMAX-0.
POSMINNO.
ITERATE
C
DO 540 IT-ItNSTEPS
POS=SUMSIN(NSINESCOSAMPWTWDELTCOSPHI)
C
FIND MAX/MIN
C
IF(POS.GT.POSMAX) POSMAX-POS
IF(POS.LT.POSMIN) POSMINwPOS
540
CONTINUE
C
SCALE SIGNAL TO LENGTH OF TRACK
C
PSF-POSLIM*2./(POSMAX-POSMIN)
POSITION SCALE FACTOR
C
GENERATE ACCELERATION PROFILE
C
C
INITIALIZE
DO 570 J=1rNSINES
C
0113
0114
0115
0116
0117
0118
0119
0120
0121
0122
0123
0125
0127
0128
0129
0130
0131
0132
0133
0134
0135
WT(J)=TO*W(J)-UDELT(J)
570
C
0136
0137
COSAMP(J)-PSF*AMP(J)*W(J)
DERIVATIVE COEFFICIENT
DERIVATIVE PHASE (1/4 CYCLE LEAD)
COSPHI(J)-PHI(J)+.5*PI
CONTINUE
ACCMAX-O.
ACCMIN0.
ITERATE
DO 580 ITMlrNSTEPS
ACC*SUMSIN(NSINESCOSAMPWTWDELTCOSPHI)
C
C
0139
0140
0142
0143
0145
0146
0148
0149
0150
0151
0152
0153
0154
0155
0156
0157
0158
0159
FIND MAX/MIN ACCELERATION
ACCMAX=ACC
IF (ACC.GT.ACCMAX)
IF (ACC.LT.ACCMIN) ACCMIN=ACC
580
CONTINUE
C
C
DETERMINE ACCELERATION SCALE FACTOR
IF (ABS(ACCMIN).GT.ACCMAX)
ACCMAX-ACCMIN
ASF-ACCLIM/ACCMAX
IF (ACCMAX.LE.ACCLIM) ASF-1.
C
C
CALCULATE SIGNAL SCALE FACTOR AND SCALE AMPLITUDES
PERCENT USAGE OF TRACK
USAGE-ASF*100.
! SIGNAL SCALE FACTOR
SCALE-PSF*ASF
DO 590 J=1,NSINES
AMP(J)-SCALE*AMP(J)
590
! MAXIMUM ACCELERATION IN SIGNAL
ACCMAX-ASF*ACCMAX
C
C
CALCULATE STARTING POSITION
DO 594 J-1lNSINES
WT(J)-TO*W(J)-WDELT(J)
COSAMP(J)-AMP(J)/W(J)
!CHANGED + TO - DWH 25/AUG/82
COSPHI(J)-PHI(J)-.5*PI
594
CONTINUE
STPOS-SUMSIN(NSINESCOSAMPWTWDELTCOSPHI)
-(POSMAX+POSMIN)*.5*SCALE
+
C
=mumm==nain
C
C DISPLAY SIGMAL CHARACTERISTICS
in===m=mn=m
C
C
600
C
C
0160
0161
0162
0163
CONTINUE
DISPLAY FREQUENCIESP AMPLITUDES, AND PHASES OF SINUSOIDS
DO 620 Ja1,NSINES
WRITE(79611) W(J)/(2.*Pl), AMP(J)v AMP(J)*W(J)/9.Slp
+
W(J)*TO+360.*PHI(J)/(2.*Pl)
611
FORMAT(Fi1.3,F1I.2,F1X.3@F11.0)
620
CONTINUE
C
133
I
DISPLAY OTHER SIGNAL CHARACTERISTICS
WRITE(7,631) ACCMAX/9.81
I CONVERT TO UNITS OF GRAV.ACC.
FORMAT('OMAXIMUM ACCELERATION IN SIGNAL:'.F7.3,' G')
631
WRITE(7,635) USAGE
PERCENT USAGE OF TRACK
FORMAT(' PERCENT USAGE OF TRACK:'pF7.2r'%')
635
WRITE(7,637) STPOSTO*100/TRUN
C
C63 7 FORMAT(' INITIAL POSITION:'PF5.2y' FT
[SIGNAL SHIFT:',F6.2,'%J')
+
C
C
WRITE(7,638) STPOS
FORMAT(' STARTING POSITION:',F7.2)
638
WRITE(7,6383) SCALESCALE*POSMAXPSCALE*POSMIN
C
SCALE:' PF5.2p 'PMAX: ' vF6.2, 'PMIN: ' ,F6.2)
C63 83 FORMAT('
WRITE(7.6385) SCALE*(POSMIN+POSMAX)*.5,SCALE*(POSMAX-POSMIN)*.5
C
C63 85 FORMAT(' AVG:',F7.2r'TRACK USED:',F7.2)
WRITE(7,639)
FORMAT(' inm==uu
-mummmmmm=min==f==
m=inuinuinuamin==n=m=='
639
C
C
C INTERACTIVE PARAMETER CHANGES
C
C
640
WRITE(7,641)
FORMAT('SOK? ')
641
READ(5,643) ANSWER
FORMAT(A1)
643
IF (ANSWER.EO.YES) GO TO 750
C
CHANGE PARAMETERS
C
INFLAG-1
650
WRXTE(7,651)
FORMAT('$ PARAMETER *')
651
READ(5.653PERR=650) PCODE
FORMAT(19)
653
IF (PCODE.EQ.0) GO TO 120
! REDISPLAY SIGNAL PARAMETERS
IF (PCODE.LT.1.OR.PCODE.GT.15) GO TO 650
660
GO TO (701p702r703r704p705v706t707p708v709v710,711712,
+
713.714P715) PCODE
C
DURATION OF RUN
C
701
WRITE(7,7011) TRUN
7011
FORMAT('$DURATION OF RUN:',F5.0,' SEC.
ENTER NEW VALUE: '
READ(5p7013,ERR=701) TEMP
7013
FORMAT(F15.6)
IF (ACCEPT(TEMP,1.,10000.))
660P650,7016
7016
TRUN-TEMP
W(1)=2.*PI/TRUN
W(NSINES)-PRIME(NSINES)*W(1)
GO TO 650
C
C
NUMBER OF SINES
702
WRITE(7P7021) NSINES
7021
FORMAT('$NUMBER OF SINUSOIDS:',I5,'
ENTER NEW VALUE: ')
READ(5.7023,ERR-702) ITEMP
7023
FORMAT(I9)
IF (IACCEP(ITEMP,1,50))
660,650.7026
7026
NSINES=ITEMP
W(NSINES)mPRIME(NSINES)*W(1)
GO TO 650
C
C
FUNDAMENTAL FREQUENCY
703
WRITE(7P7031) W(1)/(2.*PI)
7031
FORMAT('SFUNDAMENTAL FREOUENCY:',F7.4,' HZ. ENTER NEW VALUE: ')
READ(597013,ERR-703) TEMP
IF (ACCEPT(TEMP..0001,1.)) 660#650.7036
7036
W(1)-TEMP*2.*PI
TRUNai./TEMP
W(NSINES)-PRIME(NSINES)*W(1)
GO TO 650
C
C
EQUAL AMPLITUDE DOMAIN
704
WRITE(7,7041) FLAT
7041
FORMAT('SPOS-1,VELO0,ACC=+1, NOW-',I2,'
ENTER NEW VALUE: ')
READ(5.7023 .ERR-704)
ITEMP
IF (IACCEP(ITEMP,-1,j))
660,7046,7046
7046
FLAT-ITEMP
GO TO 650
C
C
0164
0165
0166
0167
0168
0169
0170
0171
0172
0173
0174
0175
0176
0178
0179
0180
0181
0182
0183
0185
0187
018
0189
0190
0191
0192
0193
0194
0195
0196
0197
0198
0199
0200
0201
0202
0203
0204
0205
0206
0207
0208
0209
0210
0211
0212
0:13
0214
0215
0216
0217
0218
J
136
0219
~220
0223
0224
0225
0226
0227
~229
0229
0230
0231
0232
0233
0234
0235
0236
0237
0-138
0239
0240
0241
0242
0243
0244
0245
0246
0247
0248
0249
0250
0251
0253
0 Te 4
0255
0256
0259
0259
0260
0261
0262
0263
0264
0265
0266
0267
0268
0269
0270
0271
0272
0273
0274
0275
0276
0277
0278
)279
jIsoS
SUCCESSIVE PHASE ANGLES
C
WRITE(7,7051) DELPHI*360./(2.*PI)
705
7051
FORMAT('$SUCCESSIVE PHASE ANGLE:',F5.0,' DEG. ENTER NEW VALUE:
READ(5,7013,ERR-705) TEMP
660,650,7056
IF (ACCEPT(TEMP,0.,36000.))
DELPHI=TEMP*2.*PI/360.
7056
GO TO 650
C
ORDER OF FILTER
C
WRITE(7P7061) FILTER
706
ENTER NEW VALUE: ')
FORMAT('SORDER OF FILTER:'PI59'
7061
READ(5,7023,ERR-706) ITEMP
660,7066,7066
IF (IACCEP(ITEMP,1,3))
FILTER-ITEMP
7066
GO TO 650
C
POLE OF FILTER
C
707
WRITE(7P7071) POLE/(2.*PI)
7071
FORMAT('SPOLE OF FILTER:'rF5.2p'
ENTER NEW VALUE:
READ(5,7013,ERR-707) TEMP
IF (ACCEFT(TEMP,.001,10.))
660,650.7076
7076
POLE=TEMP*2.*PI
GO TO 650
C
LENGTH OF TRACK
C
708
WRITE(7,7081) POSLIM*2.
7081
FORMAT('$LENGTH OF TRACK:'F5.2.' M.
ENTER NEW VALUE:
READ(5,7013PERR-708) TEMP
IF (ACCEPT(TEMP,1.,15.))
660,650,7086
POSLIM=TEMP*.5
7086
GO TO 650
C
MAXIMUM ALLOWED ACCELERATION
C
709
WRITE(7,7091) ACCLIM/9.812
7091
FORMAT('SALLOWED ACCELERATION:'tF5.39'.
ENTER NEW VALUE:
READ(5,7013,ERRu709) TEMP
IF (ACCEPT(TEMP9.001,1.))
660#650,7096
7096
ACCLIM-TEMP*9.812
GO TO 650
C
TIME INCREMENT
C
710
WRITE(7,7101) TLOOP
7101
FORMAT('STIME INCREMENT: ',F5.3,' SEC
ENTER NEW VALUE:
TEMP
READ(5,7013,ERR-70)
IF (4CCEPT(TEMP,.001,.500)) 660,6507106
7106
TLOOP-TEMP
GO TO 650
C
C ARBITRARY ACCELERATION AMPLITUDE FLAG
WRITE(7p7111) FLAMPA
711
ENTER NEW VALUE:
FORMAT('SARBITRARY ACCEL AMP FLAG:'15p'
7111
ITEMP
READ(5,7023,ERR=711)
IF (IACCEP(ITEMP,0,1))660,7116,7116
7116
FLAMPA-ITEMP
GO TO 650
CONTINUE
712
CONTINUE
713
CONTINUE
714
CONTINUE
715
GO TO 650
C
! Float no. of sines.
RSINES=NSINES
750
Convert from Phase ansies at t=0 to phase angles at twTO-TLOOP
C
00 755 I-1pNSINES
PHI(I)-PHI(I)+(TO/TLOOP-1)*WDELT(I)
755
Convert amplitudes from m/s to cart command units.
C
DO 760 IilNSINES
760
AMP(I)-KCMD*AMP(I)
C
WRITE(7p762)KCMD
FORMAT(5Xp'KCMD-',F10.4)
762
C
Save parameter values.
C
ZTRUN-TRUN
ZSTPOS-STPOS
ZTLOOP=TLOOP
ZNSINE=NSINES
ZTO=TO
C
RETURN
END
'
'
')
'
'
'
137
1,
0001
0002
0003
0004
0005
0006
0067
CART SYSTEM V03
FUNCTION SUMSIN (NA.WTWDELTPHI)
C
C AUTHOR: ARROTT
C CREATION DATE: 18-JAN-79
C
C PURPOSE: ITERATES SUM OF SINES SIGNAL
C
NUMEER OF SINES IN SUM.
N:
C
ARRAY OF SINE AMPLITUDES.
A:
C
ARRAY OF PRODUCTS OF SINE FREQUENCIES AND CURRENT TIME.
WT:
C
(IN RADIANS)
C
WDELT: ARRAY OF PRODUCTS OF SINE FREQUENCIES AND ITERATION
C
INTERVAL.
C
ARRAY OF PHASE ANGLES
PHI:
C
C
C
DIMENSION A(50),WT(5O),WDELT(50),PHI(50)
SUMSIN=0.
DO
1 J=IFN
WT(J)=WT(.J)+WDELr(J)
SUMSIN'3UMSIN+A(J)*SIN(WT(J)+PHI(J))
CONIINUE
I
000
CUMSIN
END
FUNCTION POWER (W)
)0O01
C
C
C
C
C
C
C
C
C
Used in calculation of amplitudes of discrete freauencies
in the snapins
function alsorithm in suoprosram QSOS.FUN
Author: G.L.Zacharias (orisinallw FUNCTION PWR in LNKRUN Prouram).
Adapted bw Arrott for use bw module RANDOM.SUB in the SLED Prosram.
Adaptation date: 10-Jan-79
No chanses necesidrw
for use bw module QSOS.FUN in CART Prosram.
INTEGER FILTER
COMMON/FILCOM/FILTERPPOLE
0002
0003
C
0004
0005
TEMP=(ATAN(W/POLE))/POLE
GO TO (1,2v3) FILTER
C
C
()006
0007
1
C
C
000A
.2
0009
0010
Coil
0012
)013
0014
C
C
3
FIRST ORDER FILTER
FOWER=TEMP
RETURN
SECOND ORDER FILTER
FP=POLE*POLE
-OWER='W/(F*+W*W)+TEMP)/(2.*PP)
RETURN
THIRD ORDER FILTER
FF=POLE*POLE
PI=PP+W*W
FOWER=-(W*W*W/(PI*PI)-(5.*W/PI+3*TEMP)*.5)/(4.4PP*PP)
RETURN
C
-015
FPOWEF%
END
138
PRIMES.DAT
12
5
7
9
11
13
17
19
23
37
41
AMPAG.DAT
0.08,0.09.0.09,0.10,0.10,0.130.13,0.12,0.13,0.11,0.11,0.13
RUN
H1CAR7
CART CONTROLLER
V04.7 (9-NOV-81)
CART -SO
Use Prime number table v YES
13
11
9
5
7
17
19
23
29
32
0
0
37
41
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
SUM OF SINES
16:26:06
06-JAN-83
PROFILE
184.32 SEC
1. DURATION OF PROFILE:
PARAMETERS OF SINUSOIDS:
25
2. NUMBER OF GINUSOIDS:
0.0054 HZ
3. FUNDAMENTAL FREQUENCY:
4. EQUAL AMPLITUDE DOMAIN:
0 (-1,Pio.VI+1,A
DEG
247.
5. SUCCESSIVE PHASE ANGLE:
PARAMETERS OF SHAPING FUNCTION:
2
6. ORDER OF FILTER:
7. POLE:
0.31 HZ
PHYSICAL CONSTRAINTS:
4.00 M
B. LENGTH OF TRACK:
0.41 G
9. ALLOWED ACCELERATIONS
10. TIME INCREMENT:
0.015 SEC
ARBITRARY ACCELERATION AMPLITUDE:
11. ARBITRARY AMP FLAG:
0 (0,NOIYES)
PARAMETER $1
DURATION OF RUN: 184. SEC.
PARAMETER 02
25
NUMBER OF SINUSOIDS:
PARAMETER 03
FUNDAMENTAL FREQUENCY: 0.0122 HZ.
PARAMETER #5
SUCCESSIVE PHASE ANGLE: 247. DEG.
PARAMETER 06
2
ORDER OF FILTER:
PARAMETER $7
POLE OF FILTER: 0.31
PARAMETER #8
LENGTH OF TRACK: 4.00 M.
PARAMETER #9
ALLOWED ACCELERATION:0.408,
PARAMETER 010
TIME INCREMENT: 0.015 SEC
PARAMETER $
)
ENTER NEW VALUE: 81.92
ENTER NEW VALUE: 12
ENTER NEW VALUE: 0.0122
ENTER NEW VALUE: 253.
ENTER NEW VALUE:
1
ENTER NEW VALUE: 0.16
:
ENTER NEW VALUE: 2.05
ENTER NEW VALUE: 0.20
ENTER NEW VALUE:
.010
139
SUM OF SINES
PROFILE
DURATION OF PROFILE:
81.92 SEC
PARAMETERS OF SINUSOIDS:
12
Z. NUMBER OF SINUSOIDS:
0.0122 HZ
3, FUNDAMENTAL FREQUENCY:
0 (-1,P;OV;+1.A)
4. EQUAL AMPLITUDE DOMAIN:
DEG
253.
5. SUCCESSIVE PHASE ANGLE:
PARAMETERS OF SHAPING FUNCTION:
1
6. ORDER OF FILTER:
0.1# HZ
7. POLE:
PHYSICAL CONSTRAINTS:
2.05 m
8. LENGTH OF TRACK?
0.20 G
9. ALLOWED ACCELERATION:
0.010 SEC
10. TIME INCREMENT:
ARBITRARY ACCELERATION AMPLITUDE?
0 (0rNO11,YES)
11. ARBITRARY AMP FLAG:
RESULTING IN THE SUM OF SINUSOIDS:
FREO
AMP
ACCEL AMP
CHZ3
CM/S3
EG3
0.061
0.005
0.12
0.085
0.13
0.007
0.110
0.12
0.008
0.134
0.11
0.009
0.159
0.12
0.012
0.208
0.11
0.015
0.232
0.10
0.014
0.281
0.11
0.019
0.354
0.09
0.021
0.391
0.07
0.019
0.452
0.07
0.021
0.500
0.020
0.06
MAXIMUM ACCELERATION IN SIGNAL:
PERCENT USAGE OF TRACK: 100.oo%
-0.24
STARTING POSITION:
OK'
YES
PHASE
EDEG3
0.
253.
147.
40.
293.
186.
79.
332.
226.
119.
12.
265.
0.113 G
I
140
1000I
SUPRUUTINE DSS
C
00v
000
0005
P'
!'ile
CProfile senervtion for VAX.
true CART wrugrem subruutxine
C Cuiod
0006
C
0007
0008
C
0009
0010
0011
0012
0013
0014
0015
0016
C SET
0017
001
0019
0020
500
0021
0022
10
0023
0024
0025
)0
C SET
0026
0027
C
C INPUT
0031
212
FORMAT(5Xt'SET
0032
0033
0034
213
READ(5r213)A1
FORMAT(I4)
0035
214
ACCELERATION
AMPLITUDES ARBITRARILY AND EITHEk CHECKS
WRITE(:9212)
ACCEL AMPS PER AMPAG.IBAT'
(lzY/O-N)')
WRITE(5P214)
FORMAT(SX''MULTIPLE DEL FREQUENCIES'
READ(5,215)A2
FORMAT(14)
WRITE(5.110)
FORMAT(5X,'CALCULA1E HISTOGRAM DATA?
READ(5,112)IBC
FORMAT(I4)
0036
215
110
112
(1=YES/0=NO)')
(YES*1/NOv0)')
C
IF(A2.EO.0)GO TO 501
C
C SET DEL FREQUENCIES FOR MULTIPLE RUNS
C
DO 900 III:-1.12
DEL=(III-1)*30.0+13.0
WRITE(7,499)
FORMAT(IXt'INPUT
501
499
PARAMETERS',/)
WRITE(7.502)TRUNNSINESFFREOFLATtELFILTERrPOLE FFOSFACCTLOOF
02
0052
0053
0054
0055
0056
0057
0058
0059
0060
0061
0062
0063
0064
0065
0066
0067
0068
0069
0070
0071
0072
0073
0074
0075
0076
0077
0078
0079
0080
0081
Hiltner St-pt-82
OSOS.FUN
REAL LVELTL(5) KCMDAMF(50) ,WFELT(50),PHI(50)
REhL W('O) WT(50) BOXW('51) COSAliP(50) COSFHI (50)
REAL AMPAk50)
NSINEZTOFLATFILTER
INTEGER PCODE.FRIME(50)o.
1
INTEGER AlA ,E IB,NBINNABIN(4I)
COMMON AMPWDELTPHITLOOFNSINESNSTEPSTRUN
COMMON/FILCOM/F[LTERPPOLE
DATA PI/3.14159/
PRIME NUMBERS
CALL ASSIGN(4#'PRIMES.DAT')
READ(4.500)NPRIME
ORMAT(I5)
DO 10 IlzIpNFRIME
REAt(4.500)IPRIME
PRIME(Il)mIPRIME
DO :0 12!NPRIME+1,50
PRIME(I2)=O.0
OTHER INPUT PARAMETERS
CALL ASSIGN(6,'DSOS.DAT',0)
READC6,*)TRUNNSINESFFREQFLATDELFILTERFPOLEFPOSFACCT-LOOP
0028
0029
0030
0037
0038
0039
0040
0041
0042
0043
0044
0045
0046
0047
0048
0049
0050
0051
W.
v/,'Xv'HS IES-'13 / 5Xv'FFRE ) ',F9. 6 /,
',oF8.
5X,'FLAT=',I2,/,5X,'EL-',F8.3,/,5X,'F!LTEFv',I3.,
5X,'FPOLE -',F9.3,/,5X,'FPOS=',F6.2,/.5X,'FACC='.F6.3./
FORMAT((v,'rkUN
+
+
+
5Xt'TLO0PS',F6.3)
C
DELPmIrDEL*2.0*PI/360.0
POI.E FPOLES2.0PI
POSLIM=FPOSSO.5
ACCLIM=FACC19.812
C FIND HARMONIC FREOUENCIES
FUNUA,.0*PI,'TRUN
DO 30 13&INSINES
W(I3)-tPRIME(I3)%FUNDA
30
WDELT(I3)zW(I3)*1LOOP
CONTINUE
C
C
SET
ACCELERATION
AMPLITUDES AkBITRAFILY
240
CALL ASSIGN(10,'AMPAG.DAT',0)
READ(10.1)(AMPA(I) .I-l.NSINES)
CALL CLOSE(10)
1F(A1.FU.0)GU 1'
DO
220
220 I-IiNSINES
AMP(I)=AMPA'I)*9.81/W(I)
GO TO 260
C
C GENERATE AMPLITUDE TABLE
240
IF(FLAT)241,242.243
241
DO2415 I1-1.NSINES
2415
AMP(I1)=W(I1)
GO TO 244
141
0082
242
,083
2425
0084
o085
243
0086
0087
7435
0088
C
244
0089
0090
0091
0092
0093
0094
009w
0096
0097
0098
0(99
,1o0
0101
0102
0103
0104
0105
0106
0107
0108
0109
0110
0111
0112
0113
0114
0115
0110
011
0118
0119
0120
01-1
0122
0123
0124
01:5
0126
0127
0128
01:9
0130
0131
0132
0133
0134
0135
0136
0137
0138
0139
0140
0141
0142
0143
0144
0145
0146
0147
0148
0149
0150
0151
0152
0153
0154
0155
0156
0157
0158
0159
0160
DO 2425 12=1,NSINES
AMP(12)r1.3
60 TO 244
110 2435 1:'.1,NSINES
AMPiI3)-1.0/W(I3)
IF(FILTER.EO.0)GO TO .'60
IF(NSINES.EQ.1)GO TO 260
C
C SHAPING FUNCTION
C
C CALCULATE FlUTICTIOUS LND FREOUENCIES
C
WO-W(1)*W( )/W(2)
W(NSINES+1) W(MSINES)*W(NSINES)/W(NSINES-1)
C
C CALCULATE BOX FREQUENCIES
DU 245 J=NSINES+192,-l
BOXW(J)=SORT(W(J-1)tW(J))
245
(1))
BOXW(l)-S0RT(W0*14
C
C CALCULATE AMPLITUDES
GAIN=2.0/(FFOWER(BOXW(NSINES+l))-FPOWER(BOXW(1)))
00 248 Jet#NSINES
AMP(J)zAMP(J)*SORT(GAIN(FPOWER(BOXW(J+1))-FPOWER(BOXW(J))))
248
C
C
CO?TINUE
260
C CONSTANT PHASE DIFFERENCE
PHI(1)-0
DO 264 J-2PNSINES
PH
'J)=PHI(J-L)+DELPHI
PHI(J>=AMOD(PHI(J)#2.0%PI)
CONTINUE
264
C GENERATE VELOCITY SIGNAL
To=o.0
DO 420 J-1,NSINES
WT(J)t--d!ELT(J)
LVEL SUMSIN(NSINESAMF,WT WDELT PHI)
TO'TOfTLOOP
430
VEL=SUMSIN(NSINESAMPWTWnELTPPHI)
IF(VEL.GE.O.ANDLJEL.LE.0)G3 TO 440
IF(VEL.LE.0.AND.LJEL.GE.0)GO TO 140
LVEL'VEL
IF(TO.GT.TRUN)GO TO 434
GO 0 430
WRITE(7,135)
434
FORMAT('NO ZERO CROSSING FOUND. IERMINATE
435
GO TO 99999
C FIND MAX. MIN VELOCITY
NSTEPS=TRUN/TLOOP
440
420
VELMAX=0.0
445
450
VELMIN0.0
DO 445 14=19NSINES
WT(J) T0*14(J)-WDELT(J)
DO 450 I'a1,NSTEPS
VEL- SUMSIH(NSINESAMPIT,WDELTPPHI)
IF(VEL.GT.VELMAX)VELMAX=VEL
IF(VEL.LT.VELMIN)VELMIm2k.EL
CONTINUE
IF(ABS(VELMIN).GT.VELMAX)VELMAX=-VEL
IN
C
C GENERATE POSITION PROFILE
DO 520 Jm1,NSINES
WT(J) T0*W(J)-WDELT(J)
COSAMP(J)=AMP(J)/W(J)
COSPHI(J)=PHI(J)-0.5*PI
CONTINUE
520
C FIND MAX AND MIN POSITION
NSTF.PS=TRUN/TLOOP
POSMAX 0.0
POSMIN-0.0
DO 540 IT l,NSTEPS
POS SUMSIM(NSINESCOSAMPWTWDELTCOSPHI)
IF(POS.GT.FOSMAX)F0SMAX=FOS
IF(POS.LT.POSMIN)POSMIN'FOS
CONTINUE
540
C SCALE SIGNAL TO LENGTH OF TRACK
PSFuPOSLIM*2.0/(POSMAX-POSMIN)
NGRAN.
142
01
C GENERATE ACCELEXATInN
DO 570
PROFILE
JlNSINES
WT(J)-TO*W(J)-W0ELT(J)
016COSAMF(J)=PSF*AMP(.) *(J)
013
015COSPHI(J)-PHI(J)+O.Z*PI
CONTINUE
570
016
C FIND MAX AND MIN ACCELERATION
0t67
ACCMAXmO.0
168
ACCMINH0.0
0169
DO 580 IT-1,NSTEPS
0170
f)
ACC SUMSIN(NSINE;,COSAMP ,IJTWDELTPCOSP
IF(ACC.GT.ACCMAX)ACCMA'=ACC
01:2
IF(ACC.LI.ACCMIN)ACCMIN=ACC
013
CONTINUE
580
C DETERMINE A(CELERATION SCALE FACTOR
0175
.iT.ACCMAX)ACCMAXz-ACCMIN
I/IF(AS(ACCMIN)
ASFACCLIM/ACCMAX
0177
IF(ACCMAX.LE.ACCLIM)ASF 1.0
0179
C CALCULATE SIGNAL SCALE FACTOR AND SCALE AMPLITUDES
0179
USAGEASF*100.0
0180
SCALE=PSF*ASF
0181
DO 590 J-lvNSINES
0182
AMPF(J)zSCALEVAMF(J)
590
0183
ACCMAXmASFAACCMAX
0184
C CALCULATE STARTING POSITION
Ol8
DO 594 J 1,NSINES
0186
WT(J)101W(J)-WDELT(J)
0187
COSAMP(J)TAMP(J),W(J)
0188
COSPHI (J)rPHI(J)-0.59PI
0189
CONTINUE
594
0190
STPOS=SUMSIN(NSINESCOSAMPWT ,WDELTCOSPHI)
0191
- (POSMA:(+PO-I1*)0).5*3CALE
0192+
0193
C HISTOGRAM DATA CALCULAlION
IF(IC.EQ.0)GO TO 831
0194
DO 1 0 J-19NSINES
0195
TC*W(J)-WDELT(J)
WT(J)
0196
COSAMP(J,2AMP(J)9WfJ)
0197
COSPHI(J-PHI(J)+0.5*I
0198
CONTINUE
120
0199
ACC-0.0
0200
DO 124 Ir1l41
0201
NABIN(I)=0
124
0202
DO 122 I-1.NSTEPS
0203
ACCrSUMSIN(NSIMES.COSAMPtATWDELTCOSFHI)
0204
VACC=AbS(ACC/9.81)/0.005
0205
NBIM=VACC+1
0206
NAIN(NbIN)rNAbIN(N8IN)+1
0207
CONTINUE
122
0208
C
0209
C DISPLAY OUTPUT
0210
WRITE(7,829)
0211
FORMAT(XX,/,'PROFILE DESCRIPTION',/)
829
0212
831
WRITE(7,830)ACCMAX/9.81,VELMAX*SCALEUSAGE,3TFOSSCALE
0213
FORMAT(5X,'MAX ACCEL:',F6.3,/,5X,'VELMAX ',FS.I,/,
830
0214
SEAGE OF TRACK' .F6.2,/,
5X,'%
+
0215
5X#'STARTING POSITIONz',F6.3#/,
+
0216
+X,'SCALE:':F7.4/)
4
0217
WRITE(7#800)
0218
(G)
Y r'APF2
(M/S)'
(HZ)',3X,'AMP1
FORMAT(1XF'FREO.
0219
800
2X,'PHASE (DEG)')
+
0220
DO 620 JwINSINES
0221
WRI rE(7,810)W(J)/(2.0*PI) ,AMP(J) #AMP(J)*W(J)/9.81,
0222
W(J)*TO+360.0*PHI(J)/(2.0*FI)
+
0223
FORMAT(1X F11.4v.X.F11.293XF11 .393XvFI1.0)
810
0224
CONTINUE
620
0225
C
0226
C OUTPUT HISTOGRAM VALUES
0227
IF(IBC.EQ.0)GO TO 899
0228
02:9
WRITE(7,11')
0:30
117
FORMATt..1X,'HISTOGRAM DATA',/)
0231
DO 116 1-1,11
0232
VBINrl*0.005
0233
WRITE(7.1IS)V9INNABIN(I)
0234
118
FORMAT(tX,'ACC EIN-',F6.3v.S
'# ACC POINTS:',16)
0235
116
CONTINUE
0236
899
IF(A2.E.0)GO TO 99999
C
0237
0238
900
CONTINUE
0239
C
0240
99999
RETURN
0241
END
143
C Calculate% sua of tiriusoids. F oe SUMSIN.FUN ir
C CART Prouram. Stored b- Dale W. Hiltrer/ SEPT-82
C
REAL A(50),WT(50),WrELT(50)dNHI(50)
SUMSIN 0.0
DO 10 11-1,N
4
0005
0007
0008
WT(Ii)zWT(II)+WDELT(II)
SUMSINmSUMSIN+A(I1)*SIN(WT(11)+PHI( 1))
0009
0010
0011
0012"END
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
001,
0016
0017
0018
0019
0020
0021
0022
0023
0024
10
CONTINUE
FUNCTION FPOWER(W)
C
C Calculates filter
Ce'lxtudes form as*ritudt
C sc3lin
in
Fr).
Fr
POWR.FUN ii
CART
C Prucraf.
Stoved b%; Dale W. Hiltner/ OCT-82
INTEGER FILTER
COMMON/FILCOM/FILTERPOLE
C
TEMP=(ATAN(W/POLE))/POLE
GO TO (1'2,3)FILTER
C
C FIRST ORDER FILTER
1
FPOWER-TEMP
GO TO Y999
C
C SECOND ORDER FILTER
2
PP-POLEPFOLE
FFOWER (W/ (PP+WtW
GO TO 9999
C
C THIRD ORDER FILTER
3
FP=POLE*FOLE
+TEMP ) /
2.F03r)
PI=FP+W*W
FPOWE=-
0025
0026
0027
SUM'IN(NAWrWDEI.TPmI)
FUNCTION
C
3
00
W*W*W/(FI*PI)-(5.O*W/FI+3*TEMP)*0.5)/(4.0*P*PP)
GO TO 9999
C
9999
END
144
IMES .DAT
5
7
9
ii
j3
19
23
29
32
37
41
DS09.DAT
ei .9-.1t12#0.01221 POP253.Op I P . 1692.05PO.20,0.010
AWPAG.DAT
0.08.0.090.09t.O10,0.10,0 *13.0.13.O.120.13,0.11.0.11.0.13
SET
ACCEL AMPS PER AMPAG.DAT' (1 Y/0
N)
0
MULTIPLE
DEL FREQUFNCIFS?
(1YFS/0-NO)
DATA?
(VI i1/NO-0)
0
CALCULATE wISTOGRAM
INPUT PARAMETERS
81.920
12
0.012210
TRUNNSINES=
FFREOFLAT- 0
2S3.000
DEL
FIlTER1
FPOLE0.160
2.n05
FFfi%
FACC- 0.Z0O
0.010
TLQ0lPROFILE
DESCRIPTION
MAX ACCEL - 0.113
0.6290
VELMAX
X USEAGE OF TkACKsl00.00
STARTING POSITION -',236
0.2502
SCALE
FREG.
(HZ)
0.0610
0.0(454
0.1099
0.1343
0. lJ87
0.2075
0.2319
0.2808
0.3540
AMPI
0.4017
0.07
0.07
0.5005
0.06
0.3906
AhFM2
(M/S)
0.12
0.13
0.12
0.11
0.12
0.11
0.10
0.11
0.09
PMASE
(CS)
0.005
0.00/
253.
0.008
0.009
0.012
0.015
0.014
0.019
I i7.
40.
293.
1(46.
0.021
79.
332.
226.
0.019
0.021
0.020
12.
265.
119.
HISTOGRAM DATA
AcC
ACC
ACC
ACC
ACC
ACC
ACC
ACC
FINe
11INEt IN
BIN=
DIN'BIN=
14IN:
BINS
0.005
0.010
0.015
0.020
0.025
0.030
0.035
0.040
I
I
I
I
I
I
S
(0EG)
0.
ACC
POINTS=
ACC
POINTS-
ACC
ACC
POI NTSm
POINTS-
ACC
OI NT S
ACC
POINTS
ACC
POI
ACl
POINTS=z
NTS:-
862
1059
1048
808
684
551
579
426
- --
0
o
4
'i
T
of
-4
0L
e
-4
I)--d-0 LA 0
CM
4D CP 0 0 0 C
(()
is46 . m,.HoIif
)C
O
'A
0
-4
-,
-- 4
4&.Ca 0
k. em
-4
..
'
--4 -4 -4
i
U-
11lCflWUIW
-4
0 C. C
*-* -- " tJ
Lta (A (A
tJ 0L - 0 .d- A LA
aso
-- 4 -4
0
- j 4 Q 0. "s U 0. 0 "i j 0 (eA tj 0
tJ
S 'a! Is
A Ln L ) U LA3flWU)U)
o1
2m2
LA
LII
000000C
LA
o Li 0 LA 0 CA 0 LA
--
00
0 C WJO> 0000000
Q o LA X
0 0 X
4 0 0-
000030300000ooo
0* o
' I) o
. -
-
N 1 0 IdIf If !X
T U 2
--1 - -- -1 - - -
- n w)0 m m 0030000000
)V
-4-4 -4 -4 -4 -4 -U) 1( )
333333000
-
a
1; 9 VX
W
n)00000
L
e-
&
a - w -
b
LA 0
-4--
-
v 'I
i tN
'p
0 C' IA
0, LI 0
00043000000000
i in u-) tn u)
-4
0
Z
?1.1
W W
r
- -. - -
C> > C <> C, Ic <> 1= C>
4 If If ..
s a, u)in
Ll
0
0~~~~~~~
LA 0 LA 0
-4 - -----
In
00
-14
~ 2of 0
) 5 - CO- 3
0 00000
H2If I 2
-
W W o r
146
APPENDIX C
DATA REDUCTION PROGRAMS
as
Their hierarchy is
The programs used in the data reduction are listed.
follows:
H1PIKY.DHF
H1CNDY.DHF
148-151
H1CY.DHF
H1FFTC.DHF, H1TRFY.DHF
H1TY.DHF, H1NFC.DHF
152-159
H1PIKP.DHF
H1CNDP.DHF, H1SUM.DHF
and 6 into separate
of
calibrations
The
units.
3
Chapter
H1PIKP.DHF
Up
to
data
files
All
(If
the last
not
used.)
engineering
points contained
block in the data
Individual
units.
The
used
beyond
statistics
file
the
same
to
them
2,3,4,
so the
the
engineering
statistics.)
its
finding
performs
generate
with the
from
out the
then prints
It
convert
to
used
these files,
to
1,2,3,4,
1024 points of channels
A sample run is
used
is
and therefore
filenames,
one run.
30
not
then accesses
the desired response results.
Program
be
reduction
data
are output in count units
statistics
must
is
data
position
H1CY.DHF
Program
(The
files.
the
the 8192 points of channels
and outputs the
of each channel
statistics
in
used
into 1024 points.
and 6 stored in the run data file
160-166
H1RATK.DAT
program
first
accesses and concatenates
It
process.
the
is
H1PIKY.DHF
Program
files.
Page
Data File
Subroutines
Program
FFT,
and
outputs
shown.
for
statistcs
first
same
three
session,
test
of
groups
in
letters
data
their
can be processed
in
in full blocks are used in the calculations.
file
is
are
output
HlRATK.DAT
block is
the data in this
not full,
as
with
stores the
H1PIKY.DHF,
position,
but
in
velocity,
147
acceleration, and command RMS values from the no subject runs, or any other
baseline values desired.
These
values
,atios which are ouput in summary form.
sre
then
used
to
produce
A sample input and output is
the
RMS
shown.
148
0001
FROGRAM HlPIKY
C
C
C
C
C
C
C
C
C
C
Aut-iior: Jen-Kuang Huang/Dale, W. Hiltner
Creation Date: 22-APR-62/SEPT-82
Pick ui sled data(5 channels, 256 word record, 385 blocks)
Current1w assumes input data file is 10240 ticks lons, with data
points Per time tick
Proaram writes out a data point for everv tick, for one specified
--'> can run HICY to reduce data.
channel of data
DIMENSION INEUF(256),IOBUF(256)
REAL JSCALETRUN
INTEGER 0UT1(10240)
INTEGER PRFILE(30)
LOGICAL*i ZFILE(10),FILEP(3),FILEN(120),FILEE(4)
COMMON/CM1/IBRII9
COMMON/CM2/JSCALETRUN
DATA FILEE/'.','C','V'9'4'/
0002
0003
0004
0005
0006
000.7
0008
0009
C
WRITE(79100)
100 FORMAr(' Pick
0010
u input/output sled data. Channels lv2,3,4,6.'q/,
Per channel ')
Currentlw accepts ma-imum of 10240 samples
0011
C
C
WRITE(79121)
121 FORMAT(/,2X,'ENTER JSCALE FACTORPRUN TIME TRUN')
READ(5,123)JSCALETRUN
123 FORMAT(F6.2,F9.4)
0012
0013
0014
0015
C
0016
0017
0018
0019
0020
0021
0022
0023
WRITE(7,102)
101
102 FORMAT(/,2X,'ENTER INPUT FILE 6 LETTER CODE (XXXXXX.CV4)')
READ(5,120)((FILEP(I)tI=1,3),(FILEN(I),I=1,3))
120 FORMAT(3A1t3A1)
C
WRITE(7,122)
C
122
FORMAT(/,2Xr'ENTER #FILES TO BE REDUCED')
READ(5,124)NFILE
C
FORMAT(I2)
C
124
WRITE(7,126)
C
FORMAT(/.2X,'ENTER PR FILE 0, DATA FILE NUMBER.
C
126
ONE SET PER LINE')
+
C
DO 127 I7=1,NFILE
C
READ(5128)PRFILE(17),(FILEN(I),I=(I7-1)*3+1,(I7-1)*3+3)
C
FORMAT(I3w3A1)
C
128
CONTINUE
C 127
NFILE=1
INC=O
C
DO 710 17=1,NFILE
INF=I7
DO 720
00Z
I2=1,3
7Z0 ZFILE(I2)=FILEP(I2)
DO 740 14-1,3
IN-3+14
0026
0027
0028
INC=INC+1
0029
740 ZFILE(IN)-FILEN(INC)
Do 760 I6=1,4
0030
0031
IE=6+I6
0032
760
ZFILE(IE)-FILEE(16)
C
C
CALL ASSIGN(1,ZFILE,10)
DEFINE FILE 1 (0,256PUrNREC)
0033
0034
C
WRITE(7v770)(ZFILE(I),I-1,10)
770 FORMAT('0',2X,'CURRENT FILE',3X,1OAL)
DO 600 19=1,6
0035
0036
0037
C
C
C
DEFINE FILE
1
(0,256PUvNREC)
IF(I9.E0.5)GO TO 600
119=19
0038
0040
C
P.-
149
I
DO 130 K=,10240
130 OUT1(K)u2048
NREC-2
Jul,384
DO IO
READ(1'NRECEND-200)
ISAVE=32*(J-1)
DO 140 1=1,32
0041
0042
0043
0(44
)045
0046
0047
0049
0050-
OUT1(ISAVE+I)=INBUF(I1)
140 CONTINUE
150 CONTINUE
0051
C
C
0052
0053
0055
0056
0058
0059
200
IBR=INT((J-2)/9.)+1
200 IBR-INT((J-1)/8.0)
IF(II9.GT.1)GO TO 220
WRITE(7,210) J-1,IBR
210 FORMAT(2X,14i' Records(256 words/record) a> 'PI2t'
C
C CALL H1CNDY TO CONCATENATE DATA
C
220 CALL H1CNDY(OUT1)
C
600 CONTINUE
C
CALL CLOSE(1)
C
710 CONTINUE
0060
C
0061
HiP1K Y
INBUF
11=8*(1-1)+19
()048
0057
Initialization
END
Records')
.
.....
.....
I150
SUBROUTINE HICNDY(OUT1)
)001
C
C
C
C
C
C
C
C
C
C
C
Author: Jen-Kuans HuanS/Dale W. Hiltner
Creation Date: 8-JUN-82/ SEPT-82
Concatenates sled data(l channel, 256 word record' up to 48 blocks)
Method: Window filter (Window: two standard deviation)
Currentlw assumes input data file has max 12288 ticks long, with
data points Per time tick
Program writes out 1024 data pointse for two
channels of data ==> can run HICY to output final results.
INTEGER OUT(1024)
INTEGER OUTI(10240)
REAL JSCALEPTRUN
COMMON/CM1/IBRII9
COMMON/CM2/JSCALETRUN
0002
0003
Q004
o005
0006
C
IF(II9.GT.1)GO TO 120
0007
0009
WRITE(7P100)
100 FORMAT(' Sled data concatenation. Channels 1,2,3,4,6.',/,
+
Currentlw accepts maximum of 10240(256*40) samples
0010
C
120 INTVLE-INT(256*IBR/1024+0.)
IF(II9.GT.1)GO TO 130
WRITE(7,116) INTVLE
116 FORMAT(2X,'Pick up one Point from everv
WRITE(79125)
125 FORMAT(' ')
0011
0012
0014
0015
0016
0017
C
0018
0019
0020
0021
0022
0023
0024
0025
NRECIl
130
IR-0
SUMS0.
RMSE-0.
C
C PERFORM WINDOW FILTERING
C
DO 190 L-1,1024
TSUM10.
TSUM2-0.
TRMSE0.
0026
IAm0
0027
0028
0029
0030
0031
0032
0033
0034
0035
0036
0037
0038
0039
0040
0042
0044
0045
0046
IC=INTVLE*(L-1)
00 170 M-IINTVLE
P1-OUT1(IC+M)-2048
TSUM1-TSUM1+OUT1(IC+M)-2048
TRMSE=TRMSE+Pl*Pl
170 CONTINUE
TAVG-TSUMI/INTVLE
TRMS-SORT(TRMSE/INTVLE)
TSTD-SORT(TRMS**2-TAVG**2)
ULIM-TAVG+TSTD*2
LLIM=TAVG-TSTD*2
DO 180 NlIINTVLE
P1.OUT1(IC+N)-2048
IF(P1.GT.ULIM) GOTO 180
IF(P1.LT.LLIM) GOTO 180
TSUM2-TSUM2+0UT1(IC+N)-2048
IA*IA+1
180 CONTINUE
OUT(L)-INT(2048+TSUM2/IA)
0047
C
0048
0049
0050
0051
0052
0053
0054
0055
0056
0057
0058
0059
OUT(L)=2048+TSUM2/IA
IR-IR+INTVLE-IA
190 CONTINUE
C
C FIND STATISTICS FOR 1024 POINTS
C
DO 305 I.1,1024
P1=OUT(I)-2048
SUMuSUM+OUT(I)-2048
RMSE-RMSE+P1*P1
305 CONTINUE
AVG-SUM/1024
RMS=SORT(RMSE/1024)
STD=SURT(RMS**2-AVG**2)
RPC=IR*100./INTVLE/1024.
C
GO TO(510,520,530,540,550,560)II9
'I2,'
Points.')
'
1'1
C
C OUTPUT 1024 POINTS TO RESPECTIVE FILES
0060
510
0061
GO TO 307
WRITE(7,525)
520
0062
WRITE(7P515)
C
CALL ASSIGN(2,'H1TMPV.DAT')
DEFINE FILE 2 (1,2048YUIREC2)
WRITE(2'1)OUT
CALL CLOSE(2)
0063
0064
0065
0066
C
TO 307
CALL ASSIGN(2,'H1TMPA.DAT')
DEFINE FILE 2 (1,2048,UIREC2)
WRITE(2'1)OUT
CALL CLOSE(2)
G0
0067
0068
0069
530
0070
0071
C
WRITE(7p535)
GO TO 307
0072
0073
0074
540
WRITE(7,545)
C
CALL ASSIGN(2r'H1TMPC.DAT')
DEFINE FILE 2 (1,2048,UvIREC2)
WRITE(2'1)OUT
CALL CLOSE(2)
0075
0076
0077
0078
C
0079
0080
0081
0082
0083
0084
0085
0086
GO TO 307
550 WRITE(7,555)
GO TO 9999
560
CALL ASSIGN(2,'H1TMPJ.DAT')
DEFINE FILE 2 (1,2048eUIREC2)
WRITE(2'1)OUT
CALL CLOSE(2)
WRITE(7,565)
C
0087
0088
0089
0090
0091
0092
0093
0094
0095
0096
0097
0098
HICNDY
307 WRITE(7,309) RPCRMS9AVGSTD
309 FORMAT(IOXF1O.2,5X,3(F9.4v2X))
C
C OUTPUT STATISTICS
C
WRITE(7.570)
570 FORMAT(' '
C
515 FORMAT(' POSITION'6X,'REJECT(%)'t3X,'RMS'7X,'AVG',7X,'STD')
525 FORMAT(' VELOCITY' 6Xv'REJECT(%)' 3X,'RMS',7X,'AVG',7X,'STD')
535 FORMAT(' ACCEL
'p6X#'REJECT(%)'t3X,'RMS'v7X,'AVG',7X,'STD')
545 FORMAT(' COMMAND ',6Xt'REJECT(%)' 3X,'RMS' 7X'AVG',7X,'STD')
555 FORMAT(' !! ERROR !! 119*5. EXIT CONDTD')
565 FORMAT(' JOYSTICK'v6X,'REJECT(%)',3X,'RMS' 7X,'AVG',7X,'STD')
C
9999 RETURN
400 END
152
0001
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0021
0022
0023
0024
0025
0026
0027
0028
0029
0030
0031
0032
(33
0034
0035
0036
0037
0038
0039
0040
0041
0042
0043
0044
0045
0046
0047
0048
0049
0050
0051
0052
0053
0054
0055
0056
0057
0058
0059
'060
0061
PROGRAM HICY
C
C
C Written bw Dale W. Hiltner. Sept-82
C Computes FFT from files created bw H1PKIY and
C outputs response results.
C
C
INTEGER IIR(1024)
REAL A1RJSCALETRUN
4
REAL AMP1(60),PHASE1(60),AI1R(102 )
COMPLEX A1C(1024)
COMMON/CM2/JSCALETRUN
C
C
C
WRITE(7,02)
02 FORMAT(5X,'INPUT JSCALEPRUN TIME TRUN')
READ(7,04)JSCALETRUN
04 FORMAT(F9.4,F9.4)
C
CALL CLOSE(S)
CALL CLOSE(6)
CALL CLOSE(7)
CALL CLOSE(S)
C
11-1
900 GO TO (l0.20,30,40,50)II
C
C RRAD IN 1024 DATA POINTS AND SCALE PER CALIBRATION BEFORE GOING
C TO FFT. THEN STORE FIRST 60 AMPLITUDE AND PHASE VALUES
C IN ANOTHER FILE.
C
10 DEFINE FILE I (1,2048,UPIREC1)
CALL ASSIGN (1,'H1TMPA.DAT')
READ(1'1)I1R
Do 12 I-1,1024
12 AI1R(I)=I1R(I)*0.01
GO TO 100
210 CALL CLOSE(1)
CALL ASSIGN(5,'H1OUTA.DAT')
WRITE(5,*)(AMP1(I),In1,60)
WRITE(5t*)(PHASE1(I),I1,60)
CALL CLOSE(5)
112
GO TO 900
C
20 DEFINE FILE 2 (192048,UIREC2)
CALL ASSIGN(2,'HITMPJ.DAT')
READ(2'1)I1R
DO 22 I=1,1024
22 AI1R(I)-I1R(I)*0.003998/JSCALE
GO TO 100
220 CALL CLOSE(2)
CALL ASSIGN(6,'H1OUTJ.DAT')
WRITE(6,*)(AMP1(I)vIil60)
WRITE(6r*)(PHASE1(I)I=1,60)
CALL CLOSE(6)
11-3
GO TO 900
C
30 DEFINE FILE 3 (1,2048,UIREC3)
CALL ASSIGN(3,'H1TMPV.DAT')
READ(3'1)I1R
DO 32 1=1,1024
32 AI1R(I)=I1R(I)*0.002722
GO TO 100
230 CALL CLOSE(3)
CALL ASSIGN(7u'H1OUTV.DAT')
WRITE(7,*)(AMP1(I),I-1960)
WRITE(7,*)(PHASE1(I)I=1,60)
CALL CLOSE(7)
11-4
GO TO 900
C
40 DEFINE FILE 4 (1,2048,UvIREC4)
CALL ASSIGN(4,'H1TMPC.DAT')
READ(4'1)I1R
DO 42 I-1I1024
42 AI1R(I)1I1R(I)*0.003999
GO TO 100
I53
0062
240
0063
0064
0065
0066
CALL CLOSE(4)
CALL ASSIGN(8.'H1OUTC.DAT')
WRITE(8,*)(AMP1(I),I=1i60)
WRITE(8B*)(PHASE1(I)I =1,60)
CALL CLOSE(S)
0067
11-5
0068
GO TO 900
C
0069
0070
0071
0072
0073
0074
0075
0076
0077
0078
0079
0080
0081
HICY
100 DO 110 I1=1,1024
A1R=AI1R(I1)
A1C(I1)=CMFLX(A1R,0.0)
110 CONTINUE
C
C CALL FFT SUBROUTINE
C
CALL H1FTCY(A1C,10,1024)
C
C CALCULATE AMPLITUDE AND PHASE FROM FFT OUTPUTS
C
DO 120 12-1,60
AMP1(I2)=SORT(REAL(A1C(12+1))**2+AIMAG(AC(1I2+1))**2)
PHASE1(12)=ATAN2(REAL(A1C(I2+1)),AIMAG(A1C(I2+1)))*57.29577949
120 CONTINUE
C
GO TO (210,220,230,240)II
C
C CALL HITRFY TO CALCULATE AND OUTPUT RESPONSE RESULTS
C
50 CALL H1TRFY
C
C
C
C
STOP
9999 END
154
I
0001
0002
0003
0004
0005
0006
0007
0008
0009
0011
0012
0013
0014
0015
0017
0018
0019
0020
0021
0022
0023
0024
0025
0026
0027
0028
0029
0030
0031
0032
0033
0034
0035
H1FTCY
SUBROUTINE H1FTCY(A.MN)
C
C
C Fortran FFT subroutine. Stored bw Dale W. Hiltner
C
C
COMPLEX A(N)pUpW9T
INTEGER NM
C
C
N=2**M
NV2=N/2
NM1=N-1
J-1
DO 7 I=1rNM1
IF(I.GE.J)GO TO 5
T=A(J)
A(J)-A(I)
A(I)=T
5 K-NV2
6 IF(K.GE.J)GO TO 7
J-J-K
K-K/-
GO TO 6
7 J-J+K
PI=3.141593
DO 20 La=,M
LEa2**L
LE1-LE/2
U=(1.0,0.0)
!653589793
W-CMPLX(COS(PI/LE1),SIN(PI/LE1))
DO 20 J=I1,LE1
DO 10 I=JNLE
IPmI+LE1
T=A(IP)*U
A(IP)=A(I)-T
10 A(I)=A(I)+T
20 U-U*W
RETURN
END
16-sePt-82
155
0001
SUBROUTINE H1TRFY
C
C
C
C
C
C
C
C
0002
0003
0004
0005
0006
0007
Author:
Date:
Jen-Kuano Huanv/Dale W. Hiltner
14-Mar-82/AUG-82
Accesses Phase and amplitude output from HiCY and
outputs transfer function and freauencu spectrum data.
REAL PHASE(60),FREO(60),FREOR(60),LFREQR(60)
REAL GAINDB(60),LGAIN(60)
REAL AMPA(60),AMF'J(60),AMPV(60),AMPC(60)
REAL PHASEA(60),PHASEJ(60),PHASEV(60) PHASEC(60)
REAL JSCALETRUNNFC(25)
COMMON/CM2/JSCALETRUN
C
C ACCESS DATA FILES
C
0008
CALL ASSIGN(5,'H1OUTA.DAT')
0009
READ(5,*)(AMPA(I),I=1,60)
0010
READ(5,*)(PHASEA(I),Im1#60)
0011
CALL CLOSE(5)
C
0012
CALL ASSIGN(6,'HlOUTJ.DAT')
0013
READ(6,*)(AMPJ(I),I:1,60)
0014
READ(6,*)(PHASEJ(I),I=1,60)
0015
CALL CLOSE(6)
C
0016
CALL ASSIGN(7#'H1OUTV.DAT')
0017
READ(7,*)(AMPV(I),I=1,60)
0018
READ(7,*)(PHASEV(I),I=1,60)
0019
CALL CLOSE(7)
C
0020
CALL ASSIGN(8t'H1OUTC.DAT')
0021
READ(8,*)(AMPC(I),I=1,60)
o022
READ(8,*)(PHASEC(I),I-1,60)
0023
CALL CLOSE(8)
C
C
0024
DO 5 I=1,60
C
C COMPUTE TRANSFER FUNCTION DATA
C
0025
IF(AMPJ(I).EO.0.)GO TO 11
0027
IF(AMPA(I).EO.0.0)GO TO 11
C
0029
GAINDB(I)=20.*AL6O10(AMPJ(I)/AMPA(I))
0030
GO TO 12
0031
11 GAINDB(I)-0.0
0032
12 LGAIN(I)-GAINDB(I)/20.0
0033
PHASE(I)=PHASEJ(I)-PHASEA(I)+180.0
0034
IF(PHASE(I).LT.-360.0)PHASE(I)-PHASE(I)+360.0
o036
IF(PHASE(I).GT.O.0)PHASE(I)=PHASE(I)-360.0
0038
FRE0(I)-I/TRUN
0039
FREOR(I)=I/TRUN*6.2832
0040
LFRER(I)=ALOG10(FRER(I))
0041
5 CONTINUE
C
C OUTPUT TRANSFER FUNCTION DATA
C
0042
WRITE(7,220)
0043
220 FORMAT(//,5X,'N',2Xu'NF',4X,'FREOH' 4X'FREOR',4X,'LOG F',BX,
+
'GAINDB',7X,'LGAIN',8X,'PHASE',/)
0044
WRITE(7P230)(IIFREQ(I),FREOR(I),LFREQR(I),
+
GAINDD(I) LGAIN(I)PPHASE(I),I=1,45)
0045
230 FORMAT(2XP2I4,2XF7.3,2XF7.3,2XF7.3,3F12. )
3
C
156
0046
0047
0048
0049
0050
0051
0052
0053
0054
0055
0056
0057
0058
0059
0060
HITRFY
C
C CALL HiTY FOR DATA REORDRING
C
CALL H1TY(AMPAAMPA)
CALL H1TY(AMPJAMPJ)
CALL HlTY(AMPVAMPV)
CALL H1TY(AMPCAMPC)
CALL H1TY(PHASEAPMASEA)
CALL H1TY(PHASEJPHASEJ)
CALL H1TY(PHASEVPHASEV)
CALL H1TY(PHASECPHASEC)
C
CALL H1NFC(NFCPNFC)
C
C
C OUTPUT FREQUENCY SPECTRUM DATA
C
WRITE(7p260)
260 FORMAT(//,5X,'I',3X,'NF',7X,'INAMPACC',8X,'INPHS',5X,
+
'OUTAMPJOY',7X.'OUTPHS',4X,'VELAMP'P1OX,'VELPHS',4X,
+
'COMAMP'v10Xp'COMPHS',/)
WRITE(7,270)(INFC(I).AMPA(I),PHASEA(I),
+
AMPJ(I),PHASEJ(I),
+
AMPV(I),PHASEV(I),
+
AMPC(I)PHASEC(I)rI=1,25)
270 FORMAT(4X, 122XF5 .,1X,3X.E12.5t2XF9.4,3X.E12.5,2XF9.4,
+
3XE12 .5,2X.F9.4.3XEl12.5,2X,F9.4)
C
C
C
RETURN
END
&
157
SUBROUTINE HITY(AINAOUT)
C
C
C Output reorderinS. Remnant averase calculations
C
C
REAL AIN(60),AOUT(60)
C
0001
0002
C
AOUT(1)=(AIN(1)+AIN(2)+AIN(3)+AIN(4))/4.0
DO 20 1=2#10
20 AOUT(I)=AIN(I+3)
0003
0004
0005
C
AOUT(11)=(AIN(14)+AIN(15)+AIN(16))/3.0
DO 40 I.12,14
40 AOUT(I)=AIN(I+5)
0006
0007
0008
C
AOUT(15)=(AIN(20)+AIN(21)+AIN(22))/3.0
AOUT(16)-AIN(23)
AOUT(17)=(AIN(24)+AIN(25)+AINt(26)+AIN(27)+AIN(28))/5.0
AOUT(18)=AXN(29)
AOUT(19)=(AIN(30)+AIN(31))/2.0
AOUT(20)-AIN(32)
AOUT(21)=(AIN(33)+AIN(34)+AIN(35)+AIN(36))/4.0
AOUT(22)=AIN(37)
AOUT(23)=(AIN(38)+AIN(39)+AIN(40))/3.0
AOUT(24)=AIN(41)
AOUT(25)=(AIN(42)+AIN(43)+AIN(44))/3.0
RETURN
END
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0021
HITY
0001
SUBROUTINE H1NFC(A1,A)
C
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0021
0022
HINFC
C
C Set up N values for freouencw
C
C
REAL A(25),A1(25)
A(1)=2.5
DO 10 I=2,10
10 A(I)=I+3.0
A(11)=15.0
A(12)=17.0
A(13)-18.0
A(14)=19.0
A(15)=21.0
A(16)=23.0
A(17)-26.0
A(18)=29.0
A(19)=30.5
A(20)=32.0
A(21)-34.5
A(22)-37.0
A(23)-39.0
A(24)=41.0
A(25)=43.0
RETURN
END
spectrum
output.
158
.RUN H1PIKY
Pick up input/output sled data. Channels 1,2,3,4,6.
Current1w accepts maximum of 10240 samples per channel
ENTER JSCALE FACTORRUN TIME TRUN
2.1.81.92
ENTER INPUT FILE 6 LETTER CODE (XXXXXX.CV4)
H11506
HlI506.CV4
CURRENT FILE
256 Records(256 words/record) a> 32 Records
Sled data concatenation. Channels 1,2,3v4,6.
Currentiw accepts maximum of 10240(256*40) samples
Pick up one point from everw 8 points.
POSITION
REJECT(%)
5.54
RMS
366.2113
AVG
-73.0781
STD
358.8458
VELOCITY
REJECT(%)
6.51
RMS
98.9566
AVG
-23.1777
STO
96.2039
ACCEL
REJECT(%)
6.97
RMS
58.4783
AVG
-4.1484
STD
58.3310
COMMAND
REJECT(%)
0.78
RMS
49.0192
AVG
4.6982
STD
48.7935
JOYSTICK
REJECT(%)
3.76
RMS
85.1156
AVG
13.8730
STD
83.9774
STOP
--
.RUN HICY
INPUT JSCALEPRUN TIME TRUN
2.1V81.92
N
NF
FREGH
FREOR
LOG F
1
2
3
4
5
6
7
8
9
10
11
12
13
14
1
2
3
4
5
6
7
8
9
10
11
12
13
14
0.077
0.153
0.230
0.307
0.383
0.460
0.537
0.614
0.690
0.767
15
15
16
17
16
17
18
19
20
21
22
23
24
25
26
0.012
0.024
0.037
0.049
0.061
0.073
0.085
0.098
0.110
0.122
0.134
0.146
0.159
0.171
0.183
0.195
0.208
0.220
0.232
0.244
0.2-6
0.269
0.281
0.293
0.305
0.317
0.330
0.342
0.354
0.366
0.378
0.391
0.403
0.415
0.427
0.439
0.452
0.464
0.476
0.488
-1.115
-0.814
-0.638
-0.513
-0.416
-0.337
-0.270
-0.212
-0.161
-0.115
-0.074
-0.036
-0.001
0.031
0.061
0.089
0.115
0.140
0.164
0.186
0.207
0.227
0.247
0.265
0.283
0.300
0.316
0.332
0.347
0.362
0.376
0.390
0.403
0.416
0.429
0.441
0.453
0.465
0.476
0.487
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
27
28
29
30
31
32
33
34
35
36
37
38
39
40
0.844
0.920
0.997
1.074
1.150
1.227
1.304
1.381
1.457
1.534
1.611
1.687
1.764
1.841
1.917
1.994
2.071
2.148
2.224
2.301
2.378
2.454
2.531
2.608
2.684
2.761
2.838
2.915
2.991
3.068
GAINDB
11.859
13.306
10.653
9.321
4.831
-9.560
9.920
0.476
0.173
1.763
-1.527
-11.614
-3.277
-0.039
5.334
-6.209
-5.477
6.256
-7.620
-0.286
-1.779
-13.788
-8.311
-11.249
-21.572
-6.288
-12.571
-10.857
-17.166
-3.425
-7.832
-11.362
-8.445
-5.589
-7.037
-3.497
-17.499
-9.906
-10.603
-6.041
LGAIN
0.593
0.665
0.533
0.466
0.242
-0.478
0.496
0.024
0.009
0.088
-0.076
-0.581
-0.164
-0.002
0.267
-0.310
-0.274
0.313
-0.381
-0.014
-0.099
-0.689
-0.416
-0.562
-1.079
-0.314
-0.629
-0.543
-0.858
-0.171
-0.392
-0.568
-0.422
-0.279
-0.352
-0.175
-0.875
-0.495
-0.530
-0.302
PHASE
-2.409
-185.733
-309.691
-112.378
-20.619
-123.847
-11.427
-275.422
-104.327
-207.855
-91.992
-196.790
-111.106
39.861
-155.023
-255.527
-110.918
-194.005
-149.175
-256.559
-202.910
-261.260
-123.637
-270.350
-241.995
-254.745
-237.121
-235.816
-122.504
110.388
-271.848
-158.459
80.213
111.461
-309.420
-238.041
-169.986
-225.813
-259.397
-245.417
I
159
I~
41
42
41
42
0.500
0.513
43
43
0.525
44
45
44
43
0.537
0.549
I
NF
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
STOP
3.375
0.498
0.508
0.518
0.528
3.451
0.538
3.145
3.221
3.298
INAMPACC
2.5
0.66695E+01
5.0
6.0
7.0
8.0
9.0
10.0
11.0
1.2.0
13.0
15.0
17.0
18.0
19.0
21.0
23.0
26.0
29.0
30.5
32.0
34.5
37.0
39.0
41.0
43.0
0.24067E+02
0.91114E+01
0.10824E+02
0.93956E+01
0.22955E+02
0.73120E+01
0.25363E+02
0.59945E+01
0.40620E+02
0.83275E+01
0.48100E+02
0.28506E+01
0.59440E+02
0.81336E+01
0.73136E+02
0.11571E+02
0.91271E+02
0.96311E+01
0.79010E+02
0.13236E+02
0.12468E+03
0.17577E+02
0.10299E+03
0.12054E+02
INPHS
60. 2222
79.6106
-132.0222
-49.6864
-81.6831
-79. 9227
92.6190
159.1630
109.0695
73.7615
-78.1470
-11.5155
-8s.1315
-104.3898
87.9839
154.6477
-J9.7801
61.6987
9.3120
-15.8167
-39.2202
-115.5391
20.0071
153.1838
3.8769
--
COMAMP
0.22681E+02
0.40994E+02
0.38364E+01
0.35627E+02
0.86879E+01
0.38705E+02
0.82803E+01
0.36411E+02
0.19444E+01
0.39206E+02
0.58240E+01
0.34272E+02
0,42274E+01
0.36801E+02
0.43229E+01
0.36560E+02
0.30703E+01
0.37374E+02
0.44440E+01
0.31863E+02
0.54566E+01
0.37331E+02
0.56506E+01
0.31416E+02
0.33353E+01
COMPHS
-4.2415
-19.7886
-85.9229
-98.2199
-179.0743
-178.6416
64.8018
84.6310
126.5418
-10.1903
-28.3612
-107, 2774
-106. 7055
170.1163
18. 0284
71.6213
47.1517
-25.5031
97.1317
-100.3662
40.1723
161.9321
-59.5094
71.4905
57.9965
-15.469
-7.248
-11.626
-12.079
-13.509
OUTAMPJOY
0.25057E+02
-0. 773
-0 . 362
-0.581
-0.604
-0.675
-167.939
96.345
-106.323
-243.301
-212.177
OUTPHS
0.99246E+01
0.23416E+02
-2. 3307
-121.0087
-75.8689
110.8866
-177.1055
-4.2493
0.89580E+01
64.7642
0.21273E+02
0.15742E+01
0.27855E+02
0.64369E+01
0.25604E+02
0.58582E+01
0.24722E+02
0.42859E+01
0.28091E+02
0.33207E+01
0.12648E+02
0.46275E+01
0.21360E+02
-112.8292
91.2791
142.6557
-21.7099
0.41973E+02
0.30311E+01
0.33915E+02
VELAMP
VELPHS
0.16548E+02
0.16966E+02
0.76074E+01
-11.7246
148.8168
128 . 5295
0.21012E+02
74.9835
71.1522
0.43357E+01
0.,24299E+02
0.11401E+02
27.7408
0.44437E+01
-3.3412
-127.4970
-94.0382
8.6655
166.0A47
3.4708
81.9786
-66.0477
-12.4083
-21.2059
-148.9891
-8.2254
119.1949
108. 5822
0.23776E+02
-114.4484
5.7247
0.22982E+02
0.64904E+01
51.8331
0.16629E+02
0.63231E+01
0.17352E+02
-105.5256
0.60775E+01
0.24003E+02
0.40758E+01
0.22157E+02
0.45189E+01
0.13312E+02
57.5666
0.87842E+01
0.22678E+02
-102.1369
-73.5648
0.71245E+01
0.12970E+02
-43.5354
165.2443
99.4505
0.64729E+01
0.32483E+02
-3.0979
151.7377
0.49632E+01
-14.3616
0.52098E+01
0.15809E+02
0.58476E+01
88.7080
-60.4718
-23.7358
Z3. 4820
-115.4404
-25. 7926
160
FORTRAN Iv
0001
vo:.:-:
PROGRAM
C
C
C
C
C
C
C
C
C
C
C
Sun 03-Jan-82 17:22:30
PAGE 001
H1PIKP
Author: Jen-Kuans Huang/Dale W. Hiltner
Creation Date: 22-APR-82/ Sept-82
Pictlup sled data(5 channelsr 256 word record, 385 blocks)
is 10240 ticks long.
Currentlv assumes input data file
Points in full
Program finds RMS ratios, AVG. STD for all
with one program run.
block.s. Can access groups of files
number.
Uses H1SUM.DHF to output data bw channel
This program is a variant of H1PIKY.DHF
DIMENSION INBUF(256),IOBUF(256)
REAL DURT(30),JSCALE
REAL POSR(30),FOSS(30),POSA(30)vPOSRAT(30)
REAL VELR(30).VELS(30),VELA(30)tVELRAT(30)
REAL ACCR(30),ACCS(30).ACCA(30),ACCRAT(30)
REAL COMR(30),COMS(30),COMA(30),COMRAT(30)
REAL JOYR(30)rJOYS(30),JOYA(30)
INTEGER OUT1(10240),PRFILE(30)
LOGICAL*1 ZFILE(10),FILEP(3),FILEN(120),FILEE(4)
COMM0N/CM1/OUT ,IBRII9,JSCALEFPRFILE
COMMON/SUMP/POSRPOSSPOSAPOSRAT
COMMON/SUMV/VELRVELS.VELAVELRAT
COMMON/SUMA/ACCRvACCSACCAPACCRAT
COMMON/SUMC/COMR.COMSCOMACOMRAT
COMMON/SUMJ/JOYRPJOYSPJOYA
COMMON/WFILE/FILEPFILEN.FILEE
COMMON/CFILE/NFILEINF.DURT
DATA FILEE/'.'v'C','V'.'4'/
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
001:2
0013
0014
0015
0016
0017
0018
0019
C
WRITE(79100)
100 FORMAT('
Pick up input/output sled data. Channels lv2,3,4v6.'r/.
+
'
Currentl
accepts maximum of 10240 samples per channel ')
0020
0021
C
C
0022
0023
0024
0025
0026
0027
0028
0029
0030
0031
0032
0033
0034
0035
0036
0037
0038
0039
0040
0041
0042
0043
0044
0045
0046
0047
0048
0049
0050
0051
0052
0053
0054
0055
0056
WRITE(7,121)
121 FORMAT(/,2X.'ENTER
READ(5,123)JSCALE
123 FORMAT(F6.2)
JSCALE FACTOR')
C
C ENTER MULTIPLE FILES
C
WRITE(7.102)
101
102 FORMAT(/,2Xr'ENTER INPUT FILE 3 LETTER CODE')
READ(5. 120)(FILEP(I)rI.1,3)
120 FORMAT(3A1)
WRITE(7.122)
122 FORMAT(/v2X,'ENTER #FILES TO BE REDUCED')
READ(5.124)NFILE
124 FORMAT(12)
WRITE(7,126)
126 FORMAT(/92X,'ENTER PR FILE Or DATA FILE NUMBER.
+ ONE SET PER LINE')
DO 127 17=1NFILE
READ(5,128)PRFILE(17).(FILEN(I).IU(17-1)*3+lv(17-1)*3+3)
128 FORMAT(I393A1)
127 CONTINUE
INC=O
C
DO 710 17-1tNFILE
INF17
DO 720 12w1,3
720 ZFILE(12)-FILEP(12)
DO 740 14u1.3
IN-3+14
INC.INC+1
740 ZFILE(IN)=FILEN(INC)
DO 760 16-1P4
IE=6+16
760 ZFILE(IE)-FILEE(I6)
C
C
CALL ASSIGN(1,ZFILE.10)
DEFINE FILE 1 (OP2569UPNREC)
C
WRITE(7,770)(ZFILE(I),I-1.10)
770 FORMAT('O'.2Xr'CURRENT FILE',3X.10A1)
DO 600 19.1,6
C
i
161
0057
0059
IF(19.EG.5)GO TO 600
119-19
C
0060
0061
0062
0063
0064
0065
0066
0067
0068
0069
0070
DO 130 K-1v10240
130 OUT1(K)-2048
NREC=2
DO 150 J-1,384
READ(1'NREC#ENDu200) INBUF
ISAVE=32*(J-1)
DO 140 I.1,32
9
Initialization
Il=e*(1-1)+I9
OUT1(ISAVE+I)=INBUF(II)
140 CONTINUE
150 CONTINUE
C
C
200
IBR-INT((J-2)/8.)+1
0071
200 IBR=INT((J-1)/S.0)
0072
0074
0075
IF(119.GT.1)GO TO 220
WRITE(7P210) J-1,IBR
210 FORMAT(2XI4r' Records(256 words/record)
0076
=>
',12r' Records')
C
C CALL H1CNDP TO CALCULATE STATISTICS
C
220 CALL H1CNDP
C
0077
600 CONTINUE
C
0078
0079
CALL CLOSE(1)
DURT(INF)mIBR*256*0.01
C
0080
0081
710 CONTINUE
C
C CALL H1SUM TO OUTPUT STATISTICS BY CHANNEL NUMBER
C
CALL HISUM
C
0082
END
HIPLKP
I
162
0001
SUBROUTINE HlCNDP
C
C
C
C
C
C
C
C
C
C
Author: Jen-Kuans Huans/ Dale W. Hiltner
Creation Date: 8-JUN-a2/ SEPT-82
Prosram finds RMS ratios# AVG, STD of 256*ibr Points.
The no-subject RMS values are stored in file HlRATK.DAT
This is the maximum number of Points contained in all
full blocks of the file. This Prosram is a variant of
HlCNDY.DHF
C
DIMENSION INBUF(256)
REAL POSR(30),POSS(30),POSA(30)POSRAT(30)
REAL VELR(30)eVELS(30),VELA(30)OVELRAT(30)
REAL ACCR(30).ACCS(30),ACCA(30).ACCRAT(30)
REAL COMR(30),COMS(30),CMA(30),COMRAT(30)
REAL JOYR(30),JOYS(30),JOYA(30)tDURT(30),JSCALc
LOGICAL*1 FILEP(3),FILEN(120),FILEE(4)
INTEGER OUT1(10240),PRFILE(30)
COMMON/SUMP/POSRPPOSSPOSAPOSRAT
COMMON/SUMV/VELRVELS.VELAVELRAT
COMMON/SUMA/ACCRACCSACCAACCRAT
COMMON/SUMC/COMRCOMSPCOMACOMRAT
COMMON/SUMJ/JOYRJOYSJOYA
COMMON/CFILE/NFILEINFPDURT
COMMON/CM1/ OUT1,IBR,1I9,JSCALEPRFILE
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0021
0022
0023
0024
0026
0027
0028
0029
0030
0031
0032
0033
0034
0035
0030
0037
0038
0039
0040
0041
0042
0043
0044
ATK(17#4)
C
C FILE H1RATK.DHF CONTAINS ALL THE NO-SUBJECT RMS VALJES
C
CALL ASSIGN(10,'H1RATK.DAT'P'NC')
DO 10 In1,17
DO 20 JIn,4
20 RATK(IJ)=O.0
10 CONTINUE
C
READ(IOv*)((RATK(IJ),J=I,4) ,II,7)
READ(10,*)((RATK(IJ),J=1,4),Ia10,17)
C
IF(II9.GT.1)GO TO 120
WRITE(7,100)
100 FORMAT(' Sled data reduction. Channels 1,2,3,4,6.',/,
+
Current1w accepts maximum of 10240(256*40) samples
C
NPNTS=IBR*256
DURT(INF)=NPNTSO0.01
IPR-PRFILE(INF)
C
WRITE(7,116)NPNTS
116 FORMAT(2X,'Analwsis of '15,' Points.')
WRITE(7,125)
125 FORMAT(' ')
C
120
SUM0.
RMSE0.
C
C CALCULATE STATISTICS USING 2*VARIUANCE WINDOW FILTER
C
DO 305 I-1NPNTS
Pl=OUTI(I)-2048
SUM=SUM+OUT1(I)-2048
RMSE=RMSE+P1*Pl
305 CONTINUE
AVGUSUM/NPNTS
RMS-SORT(RMSE/NPNTS)
STDaSORT(RMS**2-AVG**2)
C
0045
0046
0047
0048
0049
0050
00I1
0052
C SCALE AND STORE VALUES IN FILES TO BE OUTPUT
C NUMBER BY HlSUM.DHF
C
GO TO(510,520,530,540,550o,60)II9
510 RMS-RMS*0.002
STD=STD*0.002
AVG=AVG*0.002
WRITE(7,515)
POSR(INF)-RMS
FOSS(INF)=STD
POSA(INF)-AVG
C
PER CHANNEL
')
163
0053
0054
0055
0056
0057
0058
0059
0060
0061
0062
0063
0064
0065
0066
0067
0068
0069
0070
0071
0072
0073
0074
0075
0076
0077
0078
0079
0080
0081
0082
0083
0084
0085
0086
0087
0088
0089
0090
0091
0092
0093
0094
0095
0096
0097
0098
0099
0100
0101
0102
0103
0104
H1CNDP
POSRAT(INF)-POSR(INF)/RATK(IPRI)
GO TO 307
520 RMS=RMS*0.002722
STDSTD*0.002722
AVG=AVG*0.002722
WRITE(7,525)
VELR(INF)-RMS
VELS(INF)-STD
VELA(INF)=AVG
VELRAT(INF)-VELR(INF)/RATK(IPR,2i)
GO TO 307
530 RMS=RMS*0.01
STD=STD*0.01
AVG-AVG*0.01
WRITE(7v535)
ACCR(INF)-RMS
ACCS(INF)=STD
ACCA(INF)=AVG
ACCRAT(INF)-ACCR(INF)/RATK(IPR,3)
GO TO 307
540 RMS-RMS*0.003998
STD=STD*0.003998
AVG-AVG*0.003998
WRITE(7,545)
COMR(INF)-RMS
COMS(INF)-STD
COMA(INF)=AVG
COMRAT(INF)-COMR(INF)/RATK(IPR,4)
GO TO 307
550 WRITE(7,555)
GO TO 9999
560 RMS-RKS$0.003998/JSCALE
STD=STD*0.003998/JSCALE
AVGAVG* .003998/JSCALE
WRITE(7,565)
JOYR(INF)=RMS
JOYS(INF)=STD
JOYA(INF)=AVG
GO TO 307
C
C OUTPUT STATISTICS FOR EACH INDIVIDUAL RUN
C
307 WRITE(7,309)RMSAVGrSTD
309 FORMAT(15XF8.4v2XFB.4u2XFB.4)
C
WRITE(7,570)
570 FORMAT(' ')
C
515 FORMAT(' POSITION',9Xv'RMS'p7X,'AVG'7X,'STD')
525 FORMAT(' VELOCITY',9X,'RMS',7X,'AVG',7X,'STD')
535 FORMAT(' ACCEL
'v9XP'RMS',7XP'AVG',7X,'STD')
545 FORMAT(' COMMAND ',9X,'RMS'p7X#'AVG'p7X,'STD')
555 FORMAT(' !! ERROR !! 119-5. EXIT H1CNDP')
565 FORMAT(' JOYSTICK' 9X,'RMS',7X,'AVG',7X,'STD')
C
CALL CLOSE(10)
9999 RETURN
400 END
164
0001
SUBROUTINE HISUM
C
C
C
C
C
C
C
C
C
0002
0003
0004
0005
0006
0007
0008
0009
0010
0011
0012
0013
0014
0015
0016
0017
0018
0019
0020
0022
0023
0024
0025
0026
0027
0028
0029
0030
0031
0032
0033
0034
0035
0036
0037
0038
0039
0040
0041
0042
0043
0044
0045
0046
0047
0048
HlSUM
Written bw Dale W. Hiltner / Sept-82
Uses files senerated bu H1CNDP.DHF and
outputs RMS ratio, AVG, STD values bw
channel content. This provides a ouick
summary of a test session.
POSR(30),POSS(30),POSA(30),POSRAT(30)
REAL VELR(30),VELS(30),VELA(30),VELRAT(30)
REAL ACCR(30),ACCS(30),ACCA(30),ACCRAT(30)
REAL COMR(30),COMS(30),COMA(30),COMRAT(30)
REAL JOYR(30),JOYS(30),JOYA(30),DURT(30)
LOGICAL*1 FILEP(3),FILEN(120),FILEE(4)
COMMON/SUMP/POSRPFOSSPOSAPOSRAT
COMMON/SUMV/VELRVELSVELAtVELRAT
COMMON/SUMA/ACCRACCSACCA.ACCRAT
COMMON/SUMC/COMRCOMSCOMA.COMRAT
COMMON/SUMJ/JOYRJOYSJOYA
COMMON/WFILE/FILEPFILENFILEE
COMMON/CFILE/NFILEINFDURT
REAL
C
C SUMMARY OF DATA FROM HIPIKP
C
WRITE(7,600)
600 FORMAT('O','HIPIKP DATA ANALYSIS SUMMARY')
C
WRITE(7t610)(FILEP(I),-I1,3) (FILEE(I)v.1-14)
610 FORMAT('0',5X,'DATA FILE',2Xu3A1.'XXX'r4A1)
C
C OUTPUT ALL DATA BY CHANNEL CONTENT
C
DO 710 11-1,5
C
IF(Il.EQ.5)GO TO 500
WRITE(7,720)
720 FORMAT('0',4X,'CHANNEL',3X,'FILE *'q7X.'RMS'r7Xr'RMSRAT',4X,
+
'STD',7XP'AVG',6X'DURATION')
C
GO TO (100v200u300,400,500)I1
C
100 DO 120 12-1,NFILE
120 WRITE(7,130)(FILEN(I),I-(12-1)*3+1,(12-1)*3+3),
+
POSR(12),POSRAT(12),POSS(I2),POSA(I2),DURT(12)
130 FORMAT(5X,'POSITION'2X,3A1,7X,5(FB.4,2X))
GO TO 710
C
200 DO 220 12-1,NFILE
220 WRITE(7.230)(FILEN(I),I=(I2-1)*3+1,(12-1)*3+3),
VELR(12),VELRAT(12)PVELS(I2),VELA(I2).DURT(12)
+
230 FORMAT(5X,'VELOCITY',2X,3A1,7X,5(F8.4,2X))
GO TO 710
C
300 DO 320 12=1rNFILE
320 WRITE(7,330)(FILEN(I),XI(12-1)*3+1,(12-1)*3+3),
+
ACCR(12),ACCRAT(12),ACCS(I2),ACCA(I2),DURT(12)
330 FORMAT(5X,'ACCEL
',2X,3A1'7X,5(F8.4,2X))
GO TO 710
C
400 DO 420 12-1,NFILE
420 WRITE(7,430)(FILEN(I),I-(12-1)*3+l,(I2-1)*3+3),
+
COMR(I2)PCOMRAT(12).COMS(I2).COMA(12),DURT(12)
430 FORMAT(5Xr'COMMAND 'r2X.3A1.7X,5(F8.4,2X))
GO TO 710
C
500 WRITE(7,510)
510 FORMAT('0',4X,'CHANNEL',3X,'FILE *',7X,'RMS',7X,'STD',7X,
+
'AVG' 6X,'DURATION')
DO 520 12-1rNFILE
520 WRITE(7.530)(FILEN(I),Iu(I2-1)*3+1.(12-1)*3+3)t
+
JOYR(I2),JOYS( 12),JOYA(12),DURT( 12)
530 FORMAT(5X,'JOYSTICK',2X,3A1.7X,4(FB.4,2X))
C
710 CONTINUE
C
RETURN
C
C
END
165
HIRATK.DAT
0.5373.0.5436,1.2651.0.5944
0.8623.0.4777,0.9994v0.3959
1.0367.0.5045,1.1612,0.4583
0.5432, .4749,1.0417,0.3381
0.7032.0.4888,1.0931.0.2770
0.435990.464691.0182,0.2993
0.7495,0.5704.1.1825,0.3077
1.01.0.1.0,1.0
0.7937,0.5897.1.2313,0.1538
0.742690.5662, 1.2086,0.1870
0.673190.5557,1.1438,0.1869
0.5999,0.5690,1.1520,0.1700
1.0452,0,6367.0.6537,0.1790
0.3347F0.6107,0.7184.0.1949
0.o214,0.6289r0.6776,0.1632/
RUN H1PIKP
Pick up input/output sled data. Channels 1.2.3,4,6.
Currentlw accepts ma.:imum of 10240 samples per channel
ENTER JSCALE FACTOR
3.3
ENTER INPUT FILE 3 LETTER CODE
H1H
ENTER *FILES TO PE REDUCED
3
ENTER PR FILE *.
119404
12,407
13,409
DATA FILE NUMBER.
ONE SET PER LINE
CURRENT FILE
H1H404.CV4
64 Records(256 words/record) -> 8 Records
Sled data reduction. Channels 1,2.3.4,6.
Currentlw accepts maximum of 10240(256*40) samples
Analysis of 2048 points.
POSITION
AVG
0.7592
STD
0.6883
0.4600
AVG
-0.1152
STD
0.4453
ACCEL
RMS
0.9594
AVG
-0.0310
STD
0.9589
COMMAND
RMS
0.2142
AVG
0.1147
STD
0.1809
JOYSTICK
RMS
0.1397
AVG
0.0845
0.1112
VELOCITY
RMS
1.0248
RMS
STD
H1H407.CV4
CURRENT FILE
256 Records(256 words/record) - 32 Records
Sled data reduction. Channels 1,2,3,4,6.
Currently accepts maximum of 10240(256*40) samples
Analvsis of 8192 points.
-OSITION
RMS
1.0107
AVG
0.1444
STD
1.0003
VELOCITY
RMS
0.3862
AVG
-0.0353
STD
0.3846
ACCEL
RMS
1.0753
AVG
-0.0524
STD
1.0740
0.2026
AVG
-0.0156
STD
0.2020
RMS
0.1356
AVG
-0.0090
STD
0.1353
COMMAND
JOYSTICK
RMS
166
CURRENT FILE
H1H409.CV4
224 Records(256 woros/record)=
28 Records
Sled data reduction. Channels 1,2,3,4v6.
Current1w accepts ma-xmum of 10240(256*40) samPluS
Analsis of
7168 points.
POSITION
RMS
0.7708
AVG
-0.6053
STD
0.4773
VELOCITY
RMS
0.3891
AVG
-0.0532
STD
0.3855
ACCEL
RMS
0.9971
AVG
-0.0661
STD
0.9949
COMMAND
RMS
0.1915
AVG
0.0196
0.1905
RMS
0.1303
AVG
0.0168
STD
0.1292
JOYSTICK
H1FIKP
DATA ANALYSIS SUMMARY
DATA FILE
STOP
STD
HIHXXX.CV4
CHANNEL
POSITION
POSITION
POSITION
FILE 0
404
407
409
RMS
1.0248
1.0107
0.7708
RMSRAT
1.2911
1.3610
1.1452
STD
0.6883
1.0003
0.4773
AVG
0.7592
0.1444
-0.6053
DURATION
20.4800
81.9200
71.6800
CHANNEL
VELOCITY
VELOCITY
VELOCITY
FILE
404
407
409
*
RMS
0.4600
0.3862
0.3891
RMSRAT
0.7800
0.6822
0.7002
STD
0.4453
0.3846
0.3855
AVG
-0.1152
-0.0353
-0.0532
DURATION
20.4800
81.9200
71.6800
CHANNEL
ACCEL
ACCEL
ACCEL
FILE
404
407
409
*
RMS
0.9594
1.0753
0.9971
RMSRAT
0.7792
0.8897
0.8717
STD
0.9589
1.0740
0.9949
AVG
-0.0310
-0.0524
-0.0661
20.4800
81.9200
71.6800
CHANNEL
COMMAND
COMMAND
COMMAND
FILE
404
407
409
#
RMS
0.2142
0.2026
0.1915
RMSRAT
1.3926
1.0833
1.0245
STD
0.1809
0.2020
0.1905
AVG
0.1147
-0.0156
0.0196
DURATION
20.4800
81.9200
71.6800
CHANNEL
JOYSTICK
JOYSTICK
JOYSTICK
FILE
404
407
409
#
RMS
0.1397
0.1356
0.1303
STD
0.1112
0.1353
0.1292
--
AVG
0.0845
-0.0090
0.0168
DURATION
20.4800
81.9200
71.6800
DURATION
167
Appendix D
Test Procedure Checklist
The formal
General
Test Procedure
Checklist is
listed
on pages 169-170.
The Sled
Checklist, which covers the Sled start-up and shutdown procedures,
is listed on pages 171-173. The Test Procedure Checklist is a step-by-step
instruction
lists
all
subject
list
that
the
steps
testing
described
in
should be
used
to
procedure,
the
used
obtain
and
checklist.
the
the
It
to conduct
final
data
is
the tests
results
of
reduction
recommended
properly.
this
work.
The
are
both
procedure,
that
this
It
checklist
be
adhered to in all further testing.
The log sheet form used during the testing of this work is
174.
In
shown on page
This form was found to be invaluable during the analysis of the data.
addition
to
providing
various response
a
trends of
log
the
of
all
the
subjects.
tests,
It
is
form be used to take vigorous notes during all
and data,
should be
difficulties,
conductor
noted on the
irregularities,
or
subject
log
or
regarding
helped
recommended
testing.
sheets.
that this
performance
the
log
practice
should include
observations
subjects
reveal
All runs,
COMMENTS
pertinent
the
it
any
of
the
test
and
the
test
proceedings.
D.1
Data Filename Convention
The
data
filenames are
defined
by the
test
following convention:
A filename
consists of
plus
The
characters
three
character
numbers.
is
the
first
three
letter
of
the
conductor
a
series
begin
subject's
according
of three
with
H1,
last
name
and
to
the
characters
the
(key
third
subject
168
initial).
the
first
indicate
numbers begin with the test session number
The three
session,
the
run
2
for
numbers.
the
The
second,
run
etc...),
numbers
sequential order during the test session.
are
followed
by
automatically
"cart
version 4"
test
run no.
subject' s
la st initial
[subj ect
te-st no.
two
An illustration follows.
H1 H 3 04 .CV4
-- rTT
file name
qualifier
(a
1
for
which
set
in
169
Test Procedure Checklist
1.
Start-Up Procedure: Follow Sled General Checklist through
for all standard procedures. Add the following changes.
1.1
1.2
1.3
PR, and JO.
(Data
filename,
shoulder pads
1.4
Seat subject in chair and adjust head restraint height,
seatbelt and goggles.
1.5
Attach joystick with voltmeter wired in and set to +2.0v.
joystick calibration is within +/- .17v.
Put masking noise level at maximum (as long as subject is
comfortable.)
1.6
2.
Check AA1 cable (joystick command).
RUN H1CAR7 and set program parameters DA,
protocol file, and JSCALE)
Explain the task to the subject.
section seven
Check that
Standard Run Pocedure: Use to conduct each run.
2.1
2.2
2.3
2.4
Enable sled, push START.
SEND protocol file number command.
Notify subject when program has STARTED.
Notify subject when sled is MOVING to home position.
2.5
When digital display on the sled control panel reads 333,
2.6
2.7
2.8
2.9
start
stopwatch and turn on masking noise.
Fill in Data Sheet with RANGE, STOP, DURATION and any other
observations.
Check that the subject is comfortable, record any comments.
If there will be more than a few moments between runs, press STOP.
If sled has triggered limit switch, press STOP, disable sled, and
switch while holding down START, and press
push sled off of limit
STOP.
2.10
3.
Check joystick calibration.
Test Procedure
3.1
Explain RIDE ONLY to the subject.
3.2
3.3
Disable joystick and data storage.
Run practice profile.
3.4
Explain PRACTICE RUN to the subject.
3.5
3.6
Check joystick calibration, enable joystick control.
Run practice profile as per standard run procedures.
3.7
Continue sequence (calibration check, profile run) until subject does
not improve performance or starts completing runs.
Explain DATA RUN to subject and inform subject of RIDE ONLY.
3.8
Disable joystick.
3.9
3.10
3.11
3.12
Run data file,
RIDE ONLY.
Check joystick calibration, enable joystick.
Notify subject of DATA RUN.
Run data profile.
Continue sequence (calibration check, data run) until 4-5 completed
runs have been stored in the computer.
170
4.
Power Shutdown Procedure:
5.
Data Reduction
5.1
5.2
5.3
5.3.1
5.4
5.4.1
5.5
5.5.1
5.5.2
5.5.3
5.5.4
5.5.5
5.5.6
Follow Sled General
Checklist.
Delete generated files as file space allows if NOT COMPLETE.
LIST saved files.
RUN H1PIKY for each complete data file.
Inputs: JSCALE, RUN TIME, FILE NAME.
RUN HICY immediately after running H1PIKY.
Inputs: JSCALE, RUN TIME.
Plot results.
Plot velocity Frequency Spectrum on graph with no-subject data
already plotted.
Plot joystick frequency spectrum.
Pick three "best" runs to make BODE plot.
Record velocity RMS RATIO, joystick RMS.
Find average, variance of Log(GAIN) and phase.
Plot Bode plot.
.1
171
Sled General Checklist
PRE-EXPERIMENT
1.00 Power On
1.1 SLED ELECTRONICS CABINET: sled disabled.
1.2 240 VOLT MAIN POWER BOX: main power on.
1.3 CART:Remove covers from rails.
1.4 SLED POWER SWITCH:Press START.
2.00 Mechanical Safety Checks
2.1 CART:Before moving the sled make sure that everything on the
sled is secured.
2.2 CART:Check to see that the subject's panic button is in
working order.
2.3 SLED POWER SWITCH:Press START.
2.4 CART:Check to see that the limit switches at both ends of the
track are working: manually slide the sled over left limit
switch, press START (on sled power switch), slide sled o-ver
right limit switch, and press START (on sled power switch)
again.
2.5 CART:Inspect the umbilical cable attached to the back of the
sled to make sure that everything is in working order.
3.00 Wiring
3.1 SLED CONTROL PANEL:Check cables to make sure they are in
the proper configurations.
3.1.1 CABLE-Dl (cart position)
3.1.2 CABLE-D2 (cart velocity)
3.1.3 CABLE-D3 (cart acceleration)
3.1.4 CABLE-Dll (velocity comnand signal)
3.1.5 CABLE-Cli ("SEND" signal)
3.1.6 CABLE-C12 ("ABORT" signal)
4.00 Power Check
4.1 SLED POWER SWITCH:Make sure that the Sled Power Switch
"STOP" has been pressed before going to computer room.
5.00 Computer Program
5.1 Make sure that the computer is free by checking that the last
user has logged out in the log book.
5.2 Log in the log book.
5.3 PDP 11/34 CONTROL PANEL:Boot the computer: press and
hold down "CONTROL" and then press "BOOT".
5.4 KEYBOARD: type DPO (return).
5.5 KEYBOARD: enter date and time when prompted by computer.
5.6 KEYBOARD: run cart-control program by typing RUN AICART
(return).
5.7 PATCH PANEL CABINET:make sure that the sled patch panel is in
the patch panel holder.
5.8 PATCH PANEL CABINET: "Sled General" cables 1,2,7 and 8 are
in their respective 1,2,7,8 receptors on the back of the
patch panel cabinet.
5.9 CABINET 2: check that the green digital input/output cables
in back of the cabinet are hooked to the digital input/output receptors.
5.10 KEYBOARD: set cart program parameters.
5.11 KEYBOARD: load protocol file in cart control program.
5.12 KEYBOARD: issue "REMOTE" command to computer.
5.13 Post signs indicating a "REMOTE OPERATED EXPERIMENT IN
PROGRESS".
6.00 Cart Preparation
6.1 SLED CONTROL PANEL: verify blinking minus sign on digital LED
display. If not there, return to computer room, check
program status and wiring configurations.
6.2 Make sure all personnel are clear of the sled area.
6.3 SLED ELECTRONICS CABINET: enable sled controller.
6.4 SLED CONTROL PANEL: press START.
6.5 SLED CONTROL PANEL: if you are using a NEW protocol file, run
each entry with the sled EMPTY. If you are using an OLD file,
run ONE example of each type of profile (e.g. sine, step,
etc.) with the sled EMPTY.
6.6 SLED POWER SWITCH:push STOP (i.e. put the brake on.)
7.00 Subject Preparation
7.1 Log experiment in SLED log book.
7.2 Explain to the subject the experiment and any risks involved.
7.3 Have subject read and sign "Informed Consent Form".
7.4 SLED ELECTRONICS CABINET: sled disabled.
7.5 SLED POWER SWITCH: press sled power STOP.
7.6 Have subject enter the sled, making sure that he/she does not
step on the rails or the chair frame.
7.7 CART: demonstrate panic button and give to the subject.
7.8 SUBJECT/CART: adjust head restraint height, foot rests and
shoulder pads.
biteboards,
7.9 CART: complete specialized instrumentation (e.g.
electrodes, camera focus, etc.).
7.10 SUBJECT/CART: tighten seat belt.
7.11 SUBJECT/CART: tighten chest straps (optional).
7.12 SUBJECT/CART: tighten and adjust forehead and chin straps.
7.13 SUBJECT/CART/SLED CONTROL PANEL: determine masking noise
level.
7.14 SUBJECT: check to make sure that the subject is comfortable.
7.15 CART: lower hood.
7.16 CART: attach cowl.
7.17 SLED ELECTRONICS CABINET: turn ventilation fan on.
EXPERIMENT
8.00 Consult respective protocol for individual experiment.
POST-EXPERIMENT
9.00 Subject egress
9.1 SLED CONTROL PANEL: sled power off.
9.2 SLED ELECTRONICS CABINET: sled disabled.
9.3 CART: cowl off.
9.4 CART: raise hood.
9.5 CART/SUBJECT: disconnect specialized instrumentation.
173
9.6 SUBJECT: remove restraints.
9.7 SUBJECT: subject egress, again with no stepping on rails or
chair frame.
10.00 Shutting Down
10.1 CART: lower and secure hood and all items on the cart.
10.2 SLED ELECTRONICS CABINET: disable sled (with sled power
START).
10.3 CART: move sled manually to home position.
10.4 CART: place covers on rail.
10.5 SLED CONTROL PANEL: send control to computer terminal
("2000" command).
10.6 240 V MAIN POWER BOX: main power OFF.
174
ACLOSAP TEST DATA SHEET
DATE:
SUBJECT:
CONDUCTOR:
PROTOCOL FILE:
JSCALE:
DATA FILE:
DATA
FILE
PR
FILE #
MISC.:
STOP
TIME
-
RANGE
-I
-
I
COMMENTS
-M
175
APPENDIX E
THE EXPERIMENTAL RESULTS
The plotted results
The Bode plots are
spectrum plots.
Bessel's corrected
followed by the frequency
first
shown
are presented in the next pages.
one sigma deviations have been calculated and plotted for all points of the
Bode
plots.
If
no
deviation
shown,
is
deviation
the
of the meaning of these plots
An explanation
symbol.
is
within
the
point
follows.
E.1 Plot Format Discussion
The Bode plot
relates
It
represents the transfer
the
acceleration
input,
function
in
m/s 2 ,
of the Human Operator
to
the
joystick
(HO).
commanded
velocity, in m/s. The GAIN is calculated from the amplitude of the joystick
velocity divided by the amplitude of the acceleration. These amplitudes are
obtained
GAIN is
DB/20.
not
directly
plotted
from the FFT output at
in units
of log(GAIN),
DB was not used in the plots
meaningful
for
the
type
the
frequencies.
The
which may also be stated as units
of
as it
of
work
is
or GAIN,
in Hz.
by which
The log(GAIN)
felt
that
in
involved
frequencies have been plotted on a linear
are labled
disturbance
the
this
factor of 20 is
thesis.
scale of log(freq.,
rad/sec) but
section of the Bode plot shows the
the input acceleration
The
factor,
has been increased by the HO to
obtain the output joystick velocity command.
The phase data of the Bode plot
joystick
deg.
is
joystick
velocity
command minus
then added
signal,
to this
since it
is
calculated
the phase
angle
value to correct
opposes
from the phase angle of the
of
for
the acceleration.
the
acceleration.
the negative
180
sign of the
The resulting phase
is
176
I
177
then
that
for
the
HO,
and not
that
for
the HO transfer
function block
the closed-loop block diagram. The phase angles are taken directly
FFT output. The phase section of the Bode plot
in
from the
shows the lead or lag the HO
has applied to the acceleration disturbance in order to obtain the joystick
The
command.
velocity
of
capabilities
HO
the
and
log(GAIN)
to
the
to
respond
data
phase
show
together
disturbance
acceleration
the
in
attempting to perform the velocity nulling task.
The
frequency
obtained
directly
spectrum
the
cart,
subject.
the
The
frequencies.
remnant
obtained
and after
is
found
the first
subject
profile
subject
solid
found
line
by
data
are
introduced
occur
mainly
averaging
needed
the
amplitudes
of
all
the
frequency
frequencies.
disturbance
as it
to reduce
the
cause
noise
the
of
in
number
remnant.
The
amplitude
data
The end remnant
(It
The
of
noted that
is
true
the test
remnant.
acceleration
data
points to
system,
before
the
disturbance
sines signal.
system itself, however,
non-zero
the
disturbance
the
generated by a sum of
is
input to the
the
and
subject
and amplitudes
profile.
is obtained from the Sled
from
sguares show the
frequencies.
disturbance
amplitudes
without a
at
frequencies
which
shows the limitations
profile
three
would have no remnant,
probably
remnant
the
the
the
amplitudes
the disturbance
by averaging
Since the no subject data
errors
averaging
represents
joystick
the
connects
and last
and
This shows the disturbance
connects
line
velocity
the disturbance
case.
from the FFT between
points are
no
no
the
In the velocity plot,
from running
dashed
The
data
show
from the FFT.
amplitudes obtained
in
plots
and
These
and
the
Thusly,
the
signal
1024.
errors
should be considered
as a rough reference value for the zero amplitude level.)
The circles
show the velocity amplitudes obtained
from the FFT from runs
178
with
subject
the
disturbance
As in the
the
Comparing
performed
subject
no subject
amplitudes
frequency
amplitudes.
remnant
the
control.
and
line
connects
the
shows how effectively
lines
task.
nulling
dashed line connects
solid
the
two dashed
velocity
the
case the
the amplitudes
Ideally
obtained with subject control
should be much lower than the amplitudes of
the no
very effective
subject
Comparing the
to
the
case,
two
meaning
velocity.
should be about
control
the
the
shows how exclusively
solid lines
disturbance
velocity nulling by the HO.
Ideally
same
the
of
the no
frequency
joystick
spectrum
shows
the
subject
case,
subject
.
meaning that the HO was responding only to the disturbance.
The
responded
obtained with
remnant
remnant
as the
subject
of
amplitudes
the
joystick
velocity command obtained directly from the FFT. Since there is no joystick
output for the no subject case only the
As
for
the
velocity
plot
the dashed
subject control case can be shown.
lines
the amplitudes
connect
at
the
disturbance frequencies and the solid line connects the remnant amplitudes.
The
frequency
disturbance
velocity
or
output,
velocity nulling
task.
responded
to
the
remnant.
Ideally,
the
amplitudes
level
of
show
control
The remnant amplitudes
disturbance,
as
similarly
the joystick amplitudes at
the
the
HO
show
used
disturbance
needed for accurate
frequency
data.
the
to
indicated
perform
by
the
the disturbance
amplitude/remnant
joystick
how exclusively
should be high, and the remnant amplitudes should be low.
joystick
of
level
the
the HO
velocity
frequencies
This gives a wide
separation,
which
is
(Chapter 6)
M
179
2.0
C
C~4
1.0
0.5 +
z
Cd
0.0
%1.
0
T
TI~
I FT
IT Y IT
IT
I
i
i
o
-0.5
I
0
0
-1.0
-2.0
-tfrequency (Hz)
0.05
0.0
I
-300
-
-360
-L
Figure E6.1.01
I
I
0.20
I
0.30
-
0.40
0.50
aI
a
I
{ + {
cc
+
0.15
0
-100 +
-200
0.10
Bode Plot. Subject MS, Final Profile
Average of Runs 07,08,09
180
2.0
0
-
1.0
IN
0
0.5
z
13
CA
C
1
0.0
0
I
1
I
I
b
I
-
.1
II
y
0
-0.5 +
-1.0
-l.5
-2.0
frequency (Hz)
0.05
0.0
GO
Ii
I
-100
-
-200
±
-300
-
-360
-
0.10
i
0.15
I
0.20
0.30
0.40
0.50
I
-
-
-
+
a'
C
A
0.
Figure E6.1.02
Bode Plot. Subject MM, Final Profile
Average of Runs 03,09,12
181
2.0 -r
1.5
1.0
0
0
Ce4
SI
0.0
1T
I
4
i
Y
-0.5
0
-1.0
-1.5
-
-2.0 -tfrequency (Hz)
0.05
0.10
0.0
cc -100
cJ
4-
4'
U'
a.
-200
-
{
{
0
0.15
0.20
I
0.30
I
0.40
0.50
I
0
-300 -
-360
1
Figure E6.1.03
Bode Plot. Subject JH, Final Profile
Average of Runs 06,08,09
182
2.0
-r
1.5
I
. 0 -f
0
z
0.5
00
I6
0.0
6 II
h.
J)
1I'
Ic~
I
0
-0.5 -
0
-1.0
-1.5
-2.01
frequency (Hz)
0.05
10
0.0
-I
-100
-1-
0.10
0.15
0.20
I
{
0.30
I
0.40
I
0.50
I
Q
C6
-200
-
-300
-
-360
.L
Figure E6.1.04
Bode Plot.
Subject DH, Final Profile
Average of Runs 15,21,22
183
2.0
1.5 -1
0
1.0
CN
0
0.5t
I19
z
U
aQ
0
0.0
I
I
-P
I1
-0.5
-1.0-I-
-
I
I
-
I
{+
0
-2.0-
frequency (Hz)
0.05
0.10
00
0.15
I
0.0
-V
-100 +
4,
m
to
I
0.20
0.30
{
-200 +
-360
0.50
{
C.
-300
0.40
I
-
-
Figure E6.1.05
Bode Plot.
Subject LR, Final Profile
Average of Runs 02,03,06
I
184
o
2.0
MS
Subject HK
Subject JH
o Subject DH
1.5
0
Subject
A
O
1.0 -
C3
0.5 -
.A
&0 0
z
C.,
CI
0
.0
0.0
I
1
0a
I
0
-0.5
00
-1.0
--
-2.0
frequency (Hz)
0.10
0.05
0.15
0.0
'a -100
*0
0.40
0.30
0.50
I
-
13
I
-~
0
0
U
U)
Cu
A
C 3
C.
-200
0.20
0
0
0
A
0 03
8
+
300 -4-
-360
Figure E6.1.G6
Summary Bode Plot, 'All Subjects, Final Profile
i
185
2.0
1.5
0
a
DHPR02.PRO Profile
o
DHPR02.PRO Profile
O
HlPRO4.PRO Profile #17
o
Final Profile
#12,
#12,
JSCALE-1.5
JSCALE-2.56
1.0
CN
0
0.5 -tU
.
0.0
0
0
--
.
-T
0
-0.5
A
-1.0
-1.5
-2.0
frequency (Hz)
0.10
0.05
0.0
-1
100 -1-
0.20
0.30
0.40
46
0
0
0
A
0,
02
(0
009
0.
-200
0. 50
I
I
0
00
0
0.15
-t-
-300
-360
Figure E6.1.07
Summary Bode Plot,
Subject DH
186
Ca
60
-
U
~a.
50 -
C'
40 -+
'a
a
Ca
U
0
.....
0- 1
20
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
60
Ca
U
50
t.
U.
Ca
0.
S
a,
40
30
U
Ca
A
20
0
10 0
I
0.03
0.05
I
0.10
0.15
I
0.20
0.30
frequency (Hz)
Figure E6.1.08
Frequency Spectrum, Subject MS
Run 02, Final Profile
I
0.40
I
I
0.50 0.60
I
187
60 T
ci
E
sot
ci
40 -[
02- -1%, F.-t- , Z3-cl" -
0.
a 301
ci
N
U
0
10 0
0.03
0.05
0.10
0.15
frequency
0.20
0.30
0.50 0.60
0.40
(Hz)
-
60
(30
. 40
30
/c
z:o
,
'0
10 -
0
i
ii
0.03
0.05
i
i
i
0.10
0.15
0.20
i
i
0.30
0.40
i
0.50 0.60
frequency (Hz)
Figure E6.1.09
Frequency Spectrum, Subject MS
Run 07, Final Profile
I
I
60
a
50
40
a 30
a
20
...
O
-- 0-01. NO
-
- I-
- -
O\
-(\
O-
100
0.03
0.05
0.10
0.15
frequency
0.20
0.30
0.40
0.50 0.60
(Hz)
60
50 -
.~40
/
- 30
-
0
/
0
10
-0
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
Figure E6.1.10
Frequency Spectrum, Subject MS
Run 08, Final Profile
I
~-
189
60 I-
50
-
40
L..~
" 30
-
** -C
~
0-0
0
00-'
"110
.01
10
........
0
0.03
0.10
0.05
0.15
0.20
0.30
0.40
0.50 0.60
0.40
0.50 0.60
frequency (Hz)
60
- 50
La
40
- 30
-
0C
ci
Ole
I
0- -0 .
0.10
0.15
10
0
0.03
0.05
0.20
0.30
frequency (Hz)
Figure E6.1.11
Frequency Spectrum, Subject MS
Run 09, Final Profile
190
(U
60
U
'a-
50
'I.
4'
U
40
N-
30
(U
K
-
U
0
/-
'1
C- -
--
0
-
10
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
0.40
0.50 0.60
frequency (Hz)
60
-
50-
40
0N-
-
--
-
100
10
0.03
0.05
0.10
0.15
0.20
0.30
frequency (Hz)
Figure E6.1.12
LIgIL
Frequency Spectrum, Subject MM
Run 03, Final Profile
-
191
60
S
I-
so
~I.
.407
I
(U
U
0
30
-N
20
10
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
60
U
Lu.
La.
50
/
40
0----0
4.'
0.
U
(U
30
U
20
-
10
-
OI
(U
0
-9
0
0.03
0.05
Figure E6.1.13
0.15
0.10
frequency (Hz)
0.20
0.30
Frequency Spectrum, Subject MM
Run 09, Final Profile
0.40
0.50 0.60
I
mme II
111ml
1ma
--mi
192
60
Cu
S
E~.
La.
50
Lb
Ii
£
40
30
C-
Cu
C.'
-000,
0
0-o"
Ci
0
L-
0.03
0.05
0.10
Cu
0.20
0.15
frequency
0.20
0.40
0.50 0.60
(Hz)
60
/
U
50 40
Cu
-
N
/
0
~
0
30 -
p
U
20
Cu
'C
0
10 -
0
---
________________________________________________
0.03
0.05
L
i
0.10
~
0.15
I
-
0.20
-
I
0.30
frequency (Hz)
Figure E6.1.14
Frequency Spectrum, Subject MM
Run 12, Final Profile
I
0.40
C
I
I
0.50 0.60
I
60
T
50
+
a
40 -t-
1%
f
I
30 -
C.'
20 -
0
"*%
[3--ca- .. Z-CII
0-0 de
060"'.
,C(
10 -
r.. C(
........
......
...........
.....
0)3
...
...........
.....
0
0.03
0.05
i
0.10
0.
5
0.20
0.30
0.40
0.50 0.60
frequency (H:)
/
/
60
/
U
50
'a.
40
a 30
4I
\
C.'
'0 Cn
V
/0
0
0
10
0
0.03
0.05
0.10
0.15
0.20
0.30
frequency (Hz)
Figure E6.1.15
Frequency Spectrum, Subject MM
Run 15, Final Profile
0.40
0.50 0.60
194
60
91
E
50
T-
40
0-~
-
30
f-f.
20
10
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
0.40
0.50 0.60
frequency (Hz)
60
U
E 50
40
-
30
30
1
\I'-
O'\
10
i
0
0.03
0.05
0.10
0.15
0.20
0.30
frequency (Hz)
Figure E6.1.16
Frequency Spectrum, Subject MM
Run 18, Final Profile
195
I
60
50
40
I*.,.
30
~>f
'I.
U
0
20+
10
0
p
0--cl- , -a
0I
i
0.03
i
0.05
i
0.10
i
i
0.15
0.20
i0
0.30
0
00
0.40
0.50 0.60
frequency (Hz)
60
U
U
'4
so
'I.
U
40
0.
30
U
U
0....0
/0
\I /I
U
U
~~4
0
10
0
i
0.03
i
0.05
I
0.10
I
0.15
i
0.20
i
0.30
frequency (Hz)
Figure E6.1.17
Frequency Spectrum, Subject JH
Run 03, Final Profile
I
0.40
I
I
0.50 0.60
Ow-
196
a
60
S
50
La.
4,
40
0I
-
.~.
N. 0--C2.-
30
z
OV
4,
20+
0
9
w
4,
10
-
wi
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
0.40
0.50 0.60
frequency (Hz)
a
60
U
t.
50 -
0/
a 40 -
.00
0.
aa 30 -r
cJ
20
4,
0
10
j
0
0.03
0.05
0.10
0.15
0.20
0.30
frequency (Hz)
Figure E6.1.18
ws
Frequency Spectrum, Subject JH
Run 06, Final Profile
I
197
60 -r
WI
U
-1-
50
'd.
40--4
30 -+
U
-C3-
/
WI
0- 08 R
0
10
+
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
A0n
W
/
50
/
40
--O'OL'
N
-c-K
0
0
30
0
10
-
0
p
p
0.03
0.05
0.10
0.15
0.20
frequency (Hz)
Figure E6.1.19
p
I
0.30
Frequency Spectrum, Subject JH
Run 08, Final Profile
0.40
a
0.50 0.60
198
60
50
'I.
41
40
0.
30
U
C...
,a
43
U
0
I---
0 +
0/-O
10
I
0
0.03
-
0.10
0.05
0.15
0.30
0.20
0.40
0.50 0.60
0.40
0.50 0.60
frequency (Hz)
U,
60
0.1
U
11-1 0 N% 'So/
/
R
50
'I.
41
/
./
'I
0.
I
43
\
40
30
U
43
0
-4,
10
+
0
0.03
0.05
0.10
0.15
0. 0
0.30
frequency (Hz)
Figure E6.1.20
Frequency Spectrum, Subject JH
Run 09, Final Profile
M----
199
I
60 U
t
50
'J.
40-
C - - -M...
U
1%. i
30 -
a-0-,
"'.
Z-a'
- *O
*110
O'
0
I~~4
CY,
01
1000
10 -
0
P
0.03
0.05
0.10
IF
0.15
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
60
U
50
~a.
U
C.
U
U
40
A
30
0010O
0
AO
U
0
10
0
0.03
0.05
0.10
0.15
0.20
0.30
frequency (Hz)
Figure E6.1.21
Frequency Spectrum, Subject DH
Run 12, Final Profile
0.40
0.50 0.60
200
I
60
U
U
50
'I.
U
40
U
30
t--
4'
U
20-
a
U
10-
NOW@*
0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
A6
.
-50
40
S30
000
I4'
N,
-
01
0
0.03
0.05
0.10
0.15
0.20
0.30
frequency (Hz)
Figure E6.1.22
Frequency Spectrum, Subject DH
Run 15, Final Profile
0.40
0.50 0.60
201
a,
60
U
50
'LI
a,
40
C-
--
~~
%-,a
-C: - , z-o.".
I
C.
a 30
U
20
0
-o-%.-o-.
a,
10
0
0-
Oi
0
0.03
0.05
0.10
0.15
frequency
0.20
0.30
0.40
0.50 0.60
(Hz)
60
a,
-I.
U
t.50
'I.
a,
40
)
0rol
0.
a 30
\/
U
20
a,
'.1
0
-9
10--
0
--0.03
0.0
0.05
.
0.10
0.15
0.
0.20
i
0.30
i
0.40
frequency (Hz)
Figure E6.1.23
Frequency Spectrum, Subject DH
Run 21, Final Profile
i
--.L-
.0
0.50 0.60
202
6L I
I
50
40
1%.
(
.00 ZI-Ell
* 30
A
20
-CI?-9
.-' --()
'*01
\ N
I-k
O Cy'
10
--0.03
0.05
0.15
0.i0
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
60
S
U
50
La.
S
40
\
30
/ \
-4
U
C
/
so- -o
S
U
20
0
S
0
0
10 0
0.03
0.05
0.10
0.15
0.20
0.30
frequency (Hz)
Figure E6.1.24
Frequency Spectrum, Subject DH
Run 22, Final Profile
0.40
0.50 0.60
203
60
50
40
30
p0---
-
20
II
10
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
60
'A
U
so
t.
~a.
'I
0.
U
40
30
5~
\\/0
U)
10
0
,0
/
0
o
-
I
0.03
I
0.05
I
0.10
I
0.15
I
0.20
I
0.30
I
0.40
I
I
0.50 0.60
frequency (Hz)
Figure E6.1.25
Frequency Spectrum, Subject DH
Run 23, Final Profile
I
204
60
-
I
9-
50
'I.
41
40
I
'U
30
c.J
20
a
0--- *
/
a)
10
0
i
0.03
i
i
i
ps
0.05
0.10
0.13
0.20
i
0.30
-
0.40
i
-. I0.50 0.60
frequency (Hz)
60
'9
U
/
50
'a.
4'
\,
40
'a
£
'U
30
20
'9
0
10 1
0
I
0.03
i
0.05
i
0.10
0.15
frequency
Figure E6.1.26
0.20
I
0.30
(Hz)
Frequency Spectrum, Subject LR
Run 02, Final Profile
i
I
i
0.40 0.50 0.60
-444T
205
60
-
50
-
~fl
6
'I.
L..
Ii
6
C.,
0
30 -
20 - 7
10
K
-0
<]
-
0
0.03
0.05
0.15
0.10
0.20
0.40
0.30
0.50 0.60
frequency (Hz)
60
U,
U
C-
50
p
/
40
C.
I
I6
0
-4
30
'U
C.,
20
U'
0
10
0
0.03
0.05
0.10
0.15
0.20
03
0
0 .30
0.40
frequency (Hz)
Figure E6.1.27
Frequency Spectrum, Subject LR
Run 03, Final Profile
0.50 0.60
206
60
-
I
'I.
50
~a.
I
C
40
-
30
-
20 -
10 0
0.03
0.05
0.10
0.15
0.20
0.30
0.40
0.50 0.60
frequency (Hz)
U,
60
U
50
~1.
z
C.
I
C
40
30
\C),\
r.j
U,
0
10
+
0
I
p
I
I
0.03
0.05
0.10
0.15
I
0.20
I
I
0.30
0.40
frequency (Hz)
Figure E6.1.28
OLn
Frequency Spectrum. Subject LR
Run 06, Final Profile
I
0.50 0.60
207
(0. 7981
19.95jw
Z.0 7
(jw + 25.0)(jw
+ 2(0.553)(0.547)jw
+ 0.547
)
I.0 1
0.5±
C.
I
0.0
I
w
7---Q-
1~
-
I
I -P
,
,
-L.O
-2.0
frequency
0.05
a r
1U
-.
4'
0.10
0.1.5
(Hz)
0.z0
0.30
0.40
-r
-100-
a
a
a
a.
-200 -
-300
-360
Figure E6.3.01
Model and Curve Fit.
Subject MS
0.50
208
2.0
(jw +
0
(0.7961
19.891w
25.0)(jw2 + 2(0.141)(0.517)jw + 0.517 2
1.0
=
0
0.5 "
z
U
0
0.0
-2.0
I
+
0.0
10
I
05 \T
frequency (Hz)
0.10
0.15
0.20
0.30
0.40
-100 +
C6
-200 --
-300
-360
Figure E6.3.02 Model and Curve Fit. Subject MM
0.50
209
2.0
2.021w
(jw +
1.42)(jw
+ 2(0.1
44
)(0.540)jw-+
0.540)
S 1.0
'
.
0.5-
0.0
-0.5
-1.0
-
-2.0
0.50.
frequency
10
0.is
(Rz)
0.20
0.30
0.40
0.0
-100
-200
-300
-360
Figure E6.3.03 Model and Curve Fit. Subject JH
0.50
|
210
2.0
1.301w
(jw +
0.0)(jw
2
2
+ 2(0.524)(1.022)jw + 1.022)
I..,
0.5
-0.0
-0.5--1.0--l.5
-
-2.0
frequency (Hz)
0.05
0.10
0.15
0.20
0.30
0.40
0.0-
,a
-zoo-- 200
-300
-360
-
Figure E6.3.04 Model and Curve Fit.
Subject DH
0.50
211
References
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L.R.,
Experiments
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Charles
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Oman,
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