 +_____________________________________________________________________
 ] AUTHOR:            ]                             ] DR:              ]
 ] A. OGLETREE        ]    PASS PROGRAM NOTE        ]    44990         ]
 ]____________________]                             ]__________________]
 ] ORG/PHONE:         ] OPS NOTE ( )  USER NOTE (X) ] DATE:            ]
 ] ENG/282-8440       ]      RELEASE NOTE( )        ] AUG. 1987        ]
 ]____________________]_____________________________]__________________]
 ] OI/FLIGHT EFFECTIVITY:        ]  USER AFFECTED:                     ]
 ]    OI02 AND SUBS              ]  CREW (X)  GROUND (X)  DUMP ONLY ( )]
 ]_______________________________]_____________________________________]
 ]        MAJOR SOFTWARE AREA:       ] OPS MODES AFFECTED:             ]
 ]SSW ( )  GNC ( )  VU ( )  SM/PL (X)] S2, S4                          ]
 ]_____________________________________________________________________]
 ] SOFTWARE SUB-AREA:  RMS                                             ]
 ]_____________________________________________________________________]
 ] PRINCIPAL FUNCTIONS: R4.10                                          ]
 ]_____________________________________________________________________]
 ] TITLE:                                                              ]
 ] RMS SHOULDER YAW MOTION NEAR SHOULDER SINGULARITY                   ]
 ]_____________________________________________________________________]
 ] DESCRIPTION:                                                        ]
 ]                                                                     ]
 ]  WHEN THE ARM IS NEAR THE SHOULDER YAW SINGULARITY, RESULTS OF      ]
 ]  COMMANDS IN MANUAL OR AUTO MODE MAY BE UNPREDICTABLE. IF AN        ]
 ]  ATTEMPT IS MADE TO DRIVE THE ARM THROUGH THE SHOULDER YAW          ]
 ]  SINGULARITY, THEN THE ARM MAY EITHER GO THROUGH OR GO AROUND       ]
 ]  DEPENDING ON THE INITIAL CONDITIONS. THE "GO AROUND" WILL BE       ]
 ]  MANIFESTED IN RELATIVELY LARGE SHOULDER YAW AND WRIST RATES WITH   ]
 ]  LITTLE APPARENT POINT OF RESOLUTION MOTION. THE "GO THROUGH"       ]
 ]  CONDITION IS STRAIGHT LINE MOTION WITH NO APPARENT PAUSE IN        ]
 ]  POINT OF RESOLUTION MOTION.                                        ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]_____________________________________________________________________]
 ] USER RESPONSE:                                                      ]
 ]                                                                     ]
 ] IF "GO THROUGH" IS DESIRED AND GO AROUND STARTS, RESET THE INITIAL  ]
 ] CONDITIONS AND TRY AGAIN.                                           ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]                                                                     ]
 ]_____________________________________________________________________]
 ]CONCURRENCE:                           ]APPROVAL:                    ]
 ]IBM: WYATT COOPER         DATE 8/05/88 ]                             ]
 ]    --------------------      ---------]                             ]
 ]SSD: SAM ANKNEY           DATE 8/10/88 ]                             ]
 ]    --------------------      ---------] JACK G BOYKIN       9/20/88 ]
 ]PF MGR: R L HAKEN FOR     DATE 9/14/88 ]------------------- -------- ]
 ]       -----------------      ---------] CHAIRMAN, SASCB      DATE   ]
 ]________C THOMAS_______________________]_____________________________]
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