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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1984

Biophysical and spectral modeling for crop identification and assessment

The development of a technique for estimating all canopy parameters occurring in a canopy reflectance model from the measured canopy reflectance data is summarized. The Suits and the SAIL model for a uniform and homogeneous crop canopy were used to determine if the leaf area index and the leaf angle distribution could be estimated. Optimal solar/view angles for measuring CR were also investigated. The use of CR in many wavelengths or spectral bands and of linear and nonlinear transforms of CRs for various solar/view angles and various spectral bands is discussed as well as the inversion of rediance data inside the canopy, angle transforms for filtering out terrain slope effects, and modification of one dimensional models.

Goel, N. S.↗

NASA NTRS2004

Pre-Hardware Optimization and Implementation Of Fast Optics Closed Control Loop Algorithms

One of the main heritage tools used in scientific and engineering data spectrum analysis is the Fourier Integral Transform and its high performance digital equivalent - the Fast Fourier Transform (FFT). The FFT is particularly useful in two-dimensional (2-D) image processing (FFT2) within optical systems control. However, timing constraints of a fast optics closed control loop would require a supercomputer to run the software implementation of the FFT2 and its inverse, as well as other image processing representative algorithm, such as numerical image folding and fringe feature extraction. A laboratory supercomputer is not always available even for ground operations and is not feasible for a night project. However, the computationally intensive algorithms still warrant alternative implementation using reconfigurable computing technologies (RC) such as Digital Signal Processors (DSP) and Field Programmable Gate Arrays (FPGA), which provide low cost compact super-computing capabilities. We present a new RC hardware implementation and utilization architecture that significantly reduces the computational complexity of a few basic image-processing algorithm, such as FFT2, image folding and phase diversity for the NASA Solar Viewing Interferometer Prototype (SVIP) using a cluster of DSPs and FPGAs. The DSP cluster utilization architecture also assures avoidance of a single point of failure, while using commercially available hardware. This, combined with the control algorithms pre-hardware optimization, or the first time allows construction of image-based 800 Hertz (Hz) optics closed control loops on-board a spacecraft, based on the SVIP ground instrument. That spacecraft is the proposed Earth Atmosphere Solar Occultation Imager (EASI) to study greenhouse gases CO2, C2H, H2O, O3, O2, N2O from Lagrange-2 point in space. This paper provides an advanced insight into a new type of science capabilities for future space exploration missions based on on-board image processing for control and for robotics missions using vision sensors. It presents a top-level description of technologies required for the design and construction of SVIP and EASI and to advance the spatial-spectral imaging and large-scale space interferometry science and engineering.

Kizhner, Semion↗

NASA NTRS1993

Plasma-puff initiation of high Coulomb transfer switches

The plasma-puff triggering mechanism based on a hypocycloidal pinch geometry was investigated to determine the optimal operating conditions for an azimuthally uniform surface flashover which initiates plasma-puff under wide ranges of fill gas pressures of Ar, He and N2. The optimal fill gas pressures for the azimuthally uniform plasma-puff were about 120 mTorr less than P(opt) less than 450 Torr for He and N2. For Argon 120 mTorr less than P(opt) less than 5 Torr for argon. The inverse pinch switch was triggered with the plasma-puff and the switching capability under various electrical parameters and working gas pressures of Ar, He and N2 was determined. It was also shown that the azimuthally uniform switching discharges were dependent on the type of fill gas and its fill pressure. A new concept of plasma-focus driven plasma-puff was also discussed in comparison with hypocycloidal pinch plasma-puff triggering. The main discharge of the inverse pinch switch with the plasma-focus driven plasma-puff trigger is found to be more azimuthally uniform than that with the hypocycloidal pinch plasma-puff trigger in a gas pressure region between 80 mTorr and 1 Torr. In order to assess the effects of plasma current density on material erosion of electrodes, emissions from both an inverse-pinch plasma switch (INPIStron) and from a spark gap switch under test were studied with an optical multichannel analyzer (OMA). The color temperature of the argon plasma was approximately 4,000 K which corresponded with the peak continuum emission near 750 nm. There are the strong line emissions of argon in the 650 - 800 nm range and a lack of line emissions of copper and other solid material used in the switch. This indicates that the plasma current density during closing is low and the hot spot or hot filament in the switch is negligible. This result also indicates considerable reduction of line emission with the INPIStron switch over that of a spark-gap switch. However, a strong carbon line emission exists due to vaporization of the plastic insulator used. In order to reduce the vaporization of the insulator, the plexiglass insulating material of INPIStron was replaced with Z-9 material. A comparative study of the INPIStron and a spark gap also reveals that the INPIStron, with a low impedance of Z equals 9 ohms, can transfer a high voltage pulse with a superior pulse-shape fidelity over that of a spark gap with Z equals 100 ohms.

Venable, D. D.↗

NASA NTRS1993

The isolation limits of stochastic vibration

The vibration isolation problem is formulated as a 1D kinematic problem. The geometry of the stochastic wall trajectories arising from the stroke constraint is defined in terms of their significant extrema. An optimal control solution for the minimum acceleration return path determines a lower bound on platform mean square acceleration. This bound is expressed in terms of the probability density function on the significant maxima and the conditional fourth moment of the first passage time inverse. The first of these is found analytically while the second is found using a Monte Carlo simulation. The rms acceleration lower bound as a function of available space is then determined through numerical quadrature.

Knopse, C. R.↗

NASA NTRS1992

Interpretation of lightcurves of atmosphereless bodies. I - General theory and new inversion schemes

Theoretical models of light-curve inversion that can be used in photomorphography, i.e., determination of the 3D shape and/or the light-scattering behavior of the surface of a body from disk-integrated photometry. These methods can be applied to atmosphereless bodies, mainly asteroids and planetary satellites, in the solar system. The inversion comprises three steps. First, a function containing data on the shape and the albedo variegation of an asteroid is determined. In the second step, separate expressions for the inverse of the Gaussian curvature and the albedo distribution are derived from the information obtained in the first step. In the third step, the nontrivial problem of determining the radius vector of the surface from the Gaussian curvature is solved by using iterative optimization procedures.

Kaasalainen, M.↗

NASA NTRS1992

Melt-processing of lunar ceramics

The goal of this project is to produce useful ceramics materials from lunar resources using the by products of lunar oxygen production processes. Emphasis is being placed on both fabrication of a variety of melt-processed ceramics, and on understanding the mechanical properties of these materials. Previously, glass-ceramics were formed by casting large glass monoliths and heating these to grow small crystallites. The strengths of the resulting glass-ceramics were found to vary with the inverse square root of the crystal grain size. The highest strengths (greater than 300 MPa) were obtained with the smallest crystal sizes (less than 10 microns). During the past year, the kinetics of crystallization in simulated lunar regolith were examined in an effort to optimize the microstructure and, hence, mechanical properties of glass ceramics. The use of solar energy for melt-processing of regolith was examined, and strong (greater than 630 MPa) glass fibers were successfully produced by melt-spinning in a solar furnace. A study of the mechanical properties of simulated lunar glasses was completed during the past year. As on Earth, the presence of moisture was found to weaken simulated lunar glasses, although the effects of surface flaws was shown to outweigh the effect of atmospheric moisture on the strength of lunar glasses. The effect of atmospheric moisture on the toughness was also studied. As expected, toughness was found to increase only marginally in an anhydrous atmosphere. Finally, our efforts to involve undergraduates in the research lab fluorished this past year. Four undergraduates worked on various aspects of these projects; and two of them were co-authors on papers which we published.

Fabes, B. D.↗

NASA NTRS1993

Plasma-puff initiation of high Coulomb transfer switches

The plasma-puff triggering mechanism based on a hypocycloidal pinch geometry was investigated to determine the optimal operating conditions for an azimuthally uniform surface flashover which initiates plasma-puff under wide ranges of fill gas pressures of Ar, He and N2. The optimal fill gas pressures for the azimuthally uniform plasma-puff were about 120 mTorr less than P(sub opt) less than 450 Torr for He and N2. For Argon 20 mTorr is less than P(sub opt) is less than 5 Torr. The inverse pinch switch was triggered with the plasma-puff and the switching capability under various electrical parameters and working gas pressures of Ar, He and N2 was determined. It was also shown that the azimuthally uniform switching discharges were dependent on the type of fill gas and its fill pressure. A new concept of plasma-focus driven plasma-puff was also discussed in comparison with hypocycloidal pinch plasma-puff triggering. The main discharge of the inverse pinch switch with the plasma-focus driven plasma-puff trigger is found to be more azimuthally uniform than that with the hypocycloidal pinch plasma-puff trigger in a gas pressure region between 80 mTorr and 1 Torr. In order to assess the effects of plasma current density on material erosion of electrodes, emissions from both an inverse-pinch plasma switch (INPIStron) and from a spark gap switch under test were studied with an optical multichannel analyzer (OMA). The color temperature of the argon plasma was approximately 4,000 K which corresponded with the peak continuum emission near 750 nm. There are the strong line emissions of argon in the 650 - 800 nm range and a lack of line emissions of copper and other solid material used in the switch. This indicates that the plasma current density during closing is low and the hot spot or hot filament in the switch is negligible. This result also indicates considerable reduction of line emission with the INPIStron switch over that of a spark-gap switch. However, a strong carbon line emission exists due to vaporization of the plastic insulator used. In order to reduce the vaporization of the insulator, the plexiglass insulating material of INPIStron was replaced with Z-9 material. A comparative study of the INPIStron and a spark gap also reveals that the INPIStron, with a low impedance of Z = 9 ohms, can transfer a high voltage pulse with a superior pulse-shape fidelity over that of a spark gap with Z = 100 ohms.

Han, Kwang S.↗

NASA NTRS1971

Applications of generalized inverses to estimation in dynamic systems.

Generalized matrix inverses are used to obtain an estimation procedure for estimation of the state vector of a dynamic system. This sequential procedure is studied analytically with respect to the choice of an arbitrary vector. The covariance matrix of the estimator is determined and compared to the optimal Kalman type procedure. A numerical example illustrates the procedure and compares it to the optimal one.

Prochaska, B. J.↗

NASA NTRS1999

A New Normalized Difference Cloud Retrieval Technique Applied to Landsat Radiances Over the Oklahoma ARM Site

We suggest a new approach to cloud retrieval, using a normalized difference of nadir reflectivities (NDNR) constructed from a non-absorbing and absorbing (with respect to liquid water) wavelength. Using Monte Carlo simulations we show that this quantity has the potential of removing first order scattering effects caused by cloud side illumination and shadowing at oblique Sun angles. Application of the technique to TM (Thematic Mapper) radiance observations from Landsat-5 over the Southern Great Plains site of the ARM (Atmospheric Radiation Measurement) program gives very similar regional statistics and histograms, but significant differences at the pixel level. NDNR can be also combined with the inverse NIPA (Nonlocal Independent Pixel Approximation) of Marshak (1998) which is applied for the first time on overcast Landsat scene subscenes. We demonstrate the sensitivity of the NIPA-retrieved cloud fields on the parameters of the method and discuss practical issues related to the optimal choice of these parameters.

Orepoulos, Lazaros↗

NASA NTRS1999

Viscous Design of TCA Configuration

The goal in this effort is to redesign the baseline TCA configuration for improved performance at both supersonic and transonic cruise. Viscous analyses are conducted with OVERFLOW, a Navier-Stokes code for overset grids, using PEGSUS to compute the interpolations between overset grids. Viscous designs are conducted with OVERDISC, a script which couples OVERFLOW with the Constrained Direct Iterative Surface Curvature (CDISC) inverse design method. The successful execution of any computational fluid dynamics (CFD) based aerodynamic design method for complex configurations requires an efficient method for regenerating the computational grids to account for modifications to the configuration shape. The first section of this presentation deals with the automated regridding procedure used to generate overset grids for the fuselage/wing/diverter/nacelle configurations analysed in this effort. The second section outlines the procedures utilized to conduct OVERDISC inverse designs. The third section briefly covers the work conducted by Dick Campbell, in which a dual-point design at Mach 2.4 and 0.9 was attempted using OVERDISC; the initial configuration from which this design effort was started is an early version of the optimized shape for the TCA configuration developed by the Boeing Commercial Airplane Group (BCAG), which eventually evolved into the NCV design. The final section presents results from application of the Natural Flow Wing design philosophy to the TCA configuration.

Krist, Steven E.↗

NASA NTRS2021

Performance of JAXA’s SGLI standard ocean color products for oceanic to coastal waters: chlorophyll a concentration and light absorption coefficients of colored dissolved organic matter

We present the performance of JAXA’s SGLI standard algorithms for estimating chlorophyll a (chl a) concentration and the light absorption coefcients of colored dissolved organic matter (CDOM) using recently compiled high-quality data obtained from oceanic to coastal waters. Prior to the evaluation of the algorithms, we frst compare two forward models (Gordon et al. in J Geophys Res 93(D9):10909-10924, 1988: G88 and Park and Ruddick in Appl Opt 44(7):1236–1249, 2005: PR05) using a wide range of inherent optical properties (IOPs) to (1) examine if the water refectance is appropriately reproduced and (2) correct measured refectance in terms of its bidirectionality. Based on a good reproducibility of water refectance using the PR05, the optimized IOPs are further used for explaining errors in estimates of chl a concentration and CDOM absorption when using the SGLI, the GSM (Maritorena et al. in Appl Opt 41:2705–2714, 2002), and the QAA (Lee et al. in Appl Opt 41:5755, 2002) inversion algorithms. Results show that the mean error for estimating chl a concentration using the SGLI algorithm is 110% for our dataset. Although this error is lower than that of the GSM and the QAA algorithms, a signifcant underestimate at chl a higher than 2.0 mg m−3 is observed, which is further shown by independent match-up analyses. Another SGLI CDOM product includes the mean error of 50% and shows deviation at high CDOM range (>1.0 per m). A similar trend is observed for the GSM but not for the QAA when a global relationship of CDOM to colored detrital matter is applied. The sources of errors are discussed for potentially improving the retrievals

Second-generation GLobal Imager (SGLI)↗

NASA NTRS1993

A general rough-surface inversion algorithm: Theory and application to SAR data

Rough-surface inversion has significant applications in interpretation of SAR data obtained over bare soil surfaces and agricultural lands. Due to the sparsity of data and the large pixel size in SAR applications, it is not feasible to carry out inversions based on numerical scattering models. The alternative is to use parameter estimation techniques based on approximate analytical or empirical models. Hence, there are two issues to be addressed, namely, what model to choose and what estimation algorithm to apply. Here, a small perturbation model (SPM) is used to express the backscattering coefficients of the rough surface in terms of three surface parameters. The algorithm used to estimate these parameters is based on a nonlinear least-squares criterion. The least-squares optimization methods are widely used in estimation theory, but the distinguishing factor for SAR applications is incorporating the stochastic nature of both the unknown parameters and the data into formulation, which will be discussed in detail. The algorithm is tested with synthetic data, and several Newton-type least-squares minimization methods are discussed to compare their convergence characteristics. Finally, the algorithm is applied to multifrequency polarimetric SAR data obtained over some bare soil and agricultural fields. Results will be shown and compared to ground-truth measurements obtained from these areas. The strength of this general approach to inversion of SAR data is that it can be easily modified for use with any scattering model without changing any of the inversion steps. Note also that, for the same reason it is not limited to inversion of rough surfaces, and can be applied to any parameterized scattering process.

Moghaddam, M.↗

NASA NTRS2016

Infrared Observations of the Orion Capsule During EFT-1 Hypersonic Reentry

High-resolution infrared observations of the Orion capsule during its atmospheric reentry on December 5, 2015 were made from a US Navy NP-3D. This aircraft, equipped with a long-range optical sensor system, tracked the capsule from Mach 10 to 7 from a distance of approximately 60 nmi. Global surface temperatures of the capsule's thermal heatshield were derived from near infrared intensity measurements. The global surface temperature measurements complemented onboard instrumentation and were invaluable to the interpretation of the in-depth thermocouple measurements which rely on inverse heat transfer methods and material response codes to infer the desired surface temperature from the sub-surface measurements. The full paper will address the motivations behind the NASA Engineering Safety Center sponsored observation and highlight premission planning processes with an emphasis on aircraft placement, optimal instrument configuration and sensor calibrations. Critical aspects of mission operations coordinated from the NASA Johnson Spaceflight Center and integration with the JSC Flight Test Management Office will be discussed. A summary of the imagery that was obtained and processed to global surface temperature will be presented. At the capsule's point of closest approach relative to the imaging system, the spatial resolution was estimated to be approximately 15-inches per pixel and was sufficient to identify localized temperature increases associated with compression pad support hardware on the heatshield. The full paper will discuss the synergy of the quantitative imagery derived temperature maps with in-situ thermocouple measurements. Comparison of limited onboard surface thermocouple data to the image derived surface temperature will be presented. The two complimentary measurements serve as an example of the effective leveraging of resources to advance the understanding of high Mach number environments associated with an ablated heatshield and provide unique data for the validation of design tools and numerical flight simulation techniques. Collaborative opportunities and technology investments in support of planned observations of NASA's next Orion flight test in 2018 will be explored in the full manuscript.

Horvath, Thomas J.↗

NASA NTRS1992

Error analysis of optical correlators

With the growing interest in using binary phase only filters (BPOF) in optical correlators that are implemented on magnetooptic spatial light modulators, an understanding of the effect of errors in system alignment and optical components is critical in obtaining optimal system performance. We present simulations of optical correlator performance degradation in the presence of eight errors. We break these eight errors into three groups: 1) alignment errors, 2) errors due to a combination of component imperfections and alignment errors, and 3) errors which result solely from non-ideal components. Under the first group, we simulate errors in the distance from the object to the first principle plane of the transform lens, the distance from the second principle plane of the transform lens to the filter plane, and rotational misalignment of the input mask with the filter mask. Next we consider errors which result from a combination of alignment and component imperfections. These include errors in the transform lens, the phase compensation lens, and the inverse Fourier transform lens. Lastly we have the component errors resulting from the choice of spatial light modulator. These include contrast error and phase errors caused by the non-uniform flatness of the masks. The effects of each individual error are discussed, and the result of combining all eight errors under assumptions of reasonable tolerances and system parameters is also presented. Conclusions are drawn as to which tolerances are most critical for optimal system performance.

Ma, Paul W.↗

NASA NTRS2004

Strategy Developed for Selecting Optimal Sensors for Monitoring Engine Health

Sensor indications during rocket engine operation are the primary means of assessing engine performance and health. Effective selection and location of sensors in the operating engine environment enables accurate real-time condition monitoring and rapid engine controller response to mitigate critical fault conditions. These capabilities are crucial to ensure crew safety and mission success. Effective sensor selection also facilitates postflight condition assessment, which contributes to efficient engine maintenance and reduced operating costs. Under the Next Generation Launch Technology program, the NASA Glenn Research Center, in partnership with Rocketdyne Propulsion and Power, has developed a model-based procedure for systematically selecting an optimal sensor suite for assessing rocket engine system health. This optimization process is termed the systematic sensor selection strategy. Engine health management (EHM) systems generally employ multiple diagnostic procedures including data validation, anomaly detection, fault-isolation, and information fusion. The effectiveness of each diagnostic component is affected by the quality, availability, and compatibility of sensor data. Therefore systematic sensor selection is an enabling technology for EHM. Information in three categories is required by the systematic sensor selection strategy. The first category consists of targeted engine fault information; including the description and estimated risk-reduction factor for each identified fault. Risk-reduction factors are used to define and rank the potential merit of timely fault diagnoses. The second category is composed of candidate sensor information; including type, location, and estimated variance in normal operation. The final category includes the definition of fault scenarios characteristic of each targeted engine fault. These scenarios are defined in terms of engine model hardware parameters. Values of these parameters define engine simulations that generate expected sensor values for targeted fault scenarios. Taken together, this information provides an efficient condensation of the engineering experience and engine flow physics needed for sensor selection. The systematic sensor selection strategy is composed of three primary algorithms. The core of the selection process is a genetic algorithm that iteratively improves a defined quality measure of selected sensor suites. A merit algorithm is employed to compute the quality measure for each test sensor suite presented by the selection process. The quality measure is based on the fidelity of fault detection and the level of fault source discrimination provided by the test sensor suite. An inverse engine model, whose function is to derive hardware performance parameters from sensor data, is an integral part of the merit algorithm. The final component is a statistical evaluation algorithm that characterizes the impact of interference effects, such as control-induced sensor variation and sensor noise, on the probability of fault detection and isolation for optimal and near-optimal sensor suites.

Source record↗

NASA NTRS1984

Optimized Response Functions for 2-dimensional Observations of Solar Oscillations

Response functions are calculated for solar oscillation observations made in Doppler velocity which is averaged over a grid of 30" x 30" pixels. In a simulation of an analysis scheme proposed for the HAO/SPO Fourier Tachometer the responses for the individual pixels are combined using Chebychev weighting functions. It is shown how a technique developed for geophysical inversion may be used to find linear combinations concentrated within a fairly narrow range of l and m values of these transformed responses. The extension to bidirectional observations is discussed.

Christensen-Dalsgaard, J.↗

NASA NTRS1993

Research on plasma-puff initiation of high Coulomb transfer switches

The plasma-puff triggering mechanism based on hypocycloidal pinch geometry was investigated to determine the optimal operating conditions for an azimuthally uniform surface flashover which initiates plasma-puff under wide ranges of fill gas pressures of Ar, He and N2. Research is presented and resulting conference papers are attached. These papers include 'Characteristics of Plasma-Puff Trigger for an Inverse-Pinch Plasma Switch'; 'Ultra-High-Power Plasma Switch INPUTS for Pulse Power Systems'; 'Characteristics of Switching Plasma in an Inverse-Pinch Switch'; 'Comparative Study of INPIStron and Spark Gap'; and 'INPIStron Switched Pulsed Power for Dense Plasma Pinches.'

Venable, Demetrius D.↗

NASA NTRS2023

Modeling and Simulation of the Angel Upper Limb Offload Device: Branching Into New Methods

BACKGROUND: The Active Response Gravity Offload System (ARGOS) provides an analog environment for extravehicular activity (EVA) testing and training. Discomfort has been observed during longer suited test sessions. While the subject’s core is offloaded during surface EVA evaluations, his/her arms experience full Earth gravity and can become overly fatigued, especially during suited tests which involve reaching and prolonged arm extensions. A device (ARGOS Negation of Gravitational Effects on the Limbs: ANGEL) to offload the weight of the arms and suit sleeves is being developed by JSC’s Flight Systems Branch of the Software, Robotics, and Simulation Division. Previously we have shared preliminary modeling of that device and kinematics based on motion capture data. Here we present an alternative approach to determine device kinematics by calculating ANGEL component angles with an OpenSim plugin. We compare calculated angles to inverse kinematics (IK) derived ones with the goal of validating the model. This new method can be further informative for device design and analytically testing different configurations to achieve desired reduced gravity conditions (e.g., lunar gravity (Lg) or Martian gravity (Mg)). We have compared calculated angles with IK-derived angles in tests with a shirt-sleeve subject positioned in a test stand with a Mark-III Hard Upper Torso (HUT) and Portable Life Support System (PLSS) mockup and arm weights to emulate the weight of the suit sleeve as well as a suited subject in ARGOS with a Mark-III suit. A variety of upper body tasks were completed in the former and full-body tasks in the latter. METHODS AND RESULTS: To model the offload device, we augment the OpenSim human model topology with the offload mechanism components and joints, using CAD models to represent the mechanism graphically. The joint angles of the device are calculated in the OpenSim plugin by modeling how the components configure themselves under the offloading spring tension given a particular IK-derived arm position. There are four ANGEL components with a total of 5 degrees of freedom (DOFs), each component has a single DOF except for the cuff which is modeled as 2 DOFs. The sickle/yaw bracket and cuff rotation angles are determined statically based on the assumptions that the sickle will track the attachment point of the cuff and that the cuff will rotate such that the attachment point is at its highest point. The cuff tilt, linker and V-bracket angles are then determined by optimizing their positions to approach a mechanical equilibrium. The calculated linker angle is compared to three different methods of determining the linker line-of-force kinematically (from V-bracket to center-cuff, cuff highest point or marker-derived position). Given the joint angles of the device, the spring force and resulting force on the arm is computed by the plugin and applied as an external load in inverse dynamics (ID) to enable study of overall shoulder joint torques as well as offload achieved. We verify the calculated joint angles by using the inverse kinematic data. The average difference in angles is the smallest for the V-bracket and linker, around 1 to 5 degrees for most trials. The resulting offload and shoulder torque are comparable between calculated and IK-derived angles. In summary, we have developed a method to calculate the joint angles of an exoskeleton-like upper limb offloading device currently in development. We have also developed a custom plugin which will be a valuable tool to optimize device configurations for a desired gravitational environment, probe the offload achieved for motions recorded outside of our test suite, and inform future design improvements.

L B Nilsson↗