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At least 919 records · Page 51

Engine Icing Modeling and Simulation (Part 2): Performance Simulation of Engine Rollback Phenomena

Ice buildup in the compressor section of a commercial aircraft gas turbine engine can cause a number of engine failures. One of these failure modes is known as engine rollback: an uncommanded decrease in thrust accompanied by a decrease in fan speed and an increase in turbine temperature. This paper describes the development of a model which simulates the system level impact of engine icing using the Commercial Modular Aero-Propulsion System Simulation 40k (C-MAPSS40k). When an ice blockage is added to C-MAPSS40k, the control system responds in a manner similar to that of an actual engine, and, in cases with severe blockage, an engine rollback is observed. Using this capability to simulate engine rollback, a proof-of-concept detection scheme is developed and tested using only typical engine sensors. This paper concludes that the engine control system s limit protection is the proximate cause of iced engine rollback and that the controller can detect the buildup of ice particles in the compressor section. This work serves as a feasibility study for continued research into the detection and mitigation of engine rollback using the propulsion control system.

May, Ryan D.↗

How Do Various Maize Crop Models Vary in Their Responses to Climate Change Factors?

Potential consequences of climate change on crop production can be studied using mechanistic crop simulation models. While a broad variety of maize simulation models exist, it is not known whether different models diverge on grain yield responses to changes in climatic factors, or whether they agree in their general trends related to phenology, growth, and yield. With the goal of analyzing the sensitivity of simulated yields to changes in temperature and atmospheric carbon dioxide concentrations [CO2], we present the largest maize crop model intercomparison to date, including 23 different models. These models were evaluated for four locations representing a wide range of maize production conditions in the world: Lusignan (France), Ames (USA), Rio Verde (Brazil) and Morogoro (Tanzania). While individual models differed considerably in absolute yield simulation at the four sites, an ensemble of a minimum number of models was able to simulate absolute yields accurately at the four sites even with low data for calibration, thus suggesting that using an ensemble of models has merit. Temperature increase had strong negative influence on modeled yield response of roughly -0.5 Mg ha(sup 1) per degC. Doubling [CO2] from 360 to 720 lmol mol 1 increased grain yield by 7.5% on average across models and the sites. That would therefore make temperature the main factor altering maize yields at the end of this century. Furthermore, there was a large uncertainty in the yield response to [CO2] among models. Model responses to temperature and [CO2] did not differ whether models were simulated with low calibration information or, simulated with high level of calibration information.

carbon dioxide↗

Preliminary subsonic aerodynamic model for simulation studies of the HL-20 lifting body

A nonlinear, six-degree-of-freedom aerodynamic model for an early version of the HL-20 lifting body is described and compared with wind tunnel data upon which it is based. Polynomial functions describing most of the aerodynamic parameters are given and tables of these functions are presented. Techniques used to arrive at these functions are described. Basic aerodynamic coefficients were modeled as functions of angles of attack and sideslip. Vehicle lateral symmetry was assumed. Compressibility (Mach) effects were ignored. Control-surface effectiveness was assumed to vary linearly with angle of deflection and was assumed to be invariant with the angle of sideslip. Dynamic derivatives were obtained from predictive aerodynamic codes. Landing-gear and ground effects were scaled from Space Shuttle data. The model described is provided to support pilot-in-the-loop simulation studies of the HL-20. By providing the data in tabular format, the model is suitable for the data interpolation architecture of many existing engineering simulation facilities. Because of the preliminary nature of the data, however, this model is not recommended for study of the absolute performance of the HL-20.

Jackson, E. Bruce↗

Head-Down Tilt with Balanced Traction as a Model for Simulating Spinal Acclimation to Microgravity

Astronauts experience total body height increases of 4 to 7 cm in microgravity. Thus, stretching of the spinal cord, nerve roots, and muscular and ligamentous tissues may be responsible for the hyperreflexia, back pain, and muscular atrophy associated with exposure to microgravity. Axial compression of the spine makes 6 deg. head-down tilt (HDT) an unsuitable model for spinal acclimation to microgravity. However, this axial compression may be counteracted by balanced traction consisting of 10% body weight (sin 6 deg. = 0.1) applied to the legs. Six healthy male subjects underwent 3 days each of 60 HDT with balanced traction and horizontal bed rest (HBR), with a 2 week recovery period between treatments. Total body and spine length, lumbar disc height, back pain, erector spinae intramuscular pressure, and ankle joint torque were measured before, during and after each treatment. Total body and spine (processes of L5 - C7) lengths increased significantly more during HDT with balanced traction (22 +/- 8 mm and 25 +/- 8 mm, respectively) than during HBR (16 +/- 4 mm and 14 +/- 9 mm, respectively). Back and leg pain were significantly greater during HDT with balanced traction than during HBR. The distance between the lower end plate of L4 and the upper endplate of S1, as measured by sonography, increased significantly in both treatments to the same degree (2.9 +/- 1.9 mm, HDT with balanced traction; 3.3 +/- 1.5 mm, HBR). Intramuscular pressure of the erector spinae muscles and maximal ankle joint torque were unaltered with both models. While neither model increased height to the magnitude observed in microgravity, HDT with balanced traction may be a better model for simulating the body lengthening and back pain experienced in microgravity.

Ballard, R. E.↗

NASA Standard for Models and Simulations (M and S): Development Process and Rationale

After the Columbia Accident Investigation Board (CAIB) report. the NASA Administrator at that time chartered an executive team (known as the Diaz Team) to identify the CAIB report elements with Agency-wide applicability, and to develop corrective measures to address each element. This report documents the chronological development and release of an Agency-wide Standard for Models and Simulations (M&S) (NASA Standard 7009) in response to Action #4 from the report, "A Renewed Commitment to Excellence: An Assessment of the NASA Agency-wide Applicability of the Columbia Accident Investigation Board Report, January 30, 2004".

Zang, Thomas A.↗

Reply to Comment by Cole-dai Et Al. on "Climatic Impact of the Long-lasting Laki Eruption: Inapplicability of Mass-independent Sulfur Isotope Composition Measurements"

Here we respond to the comments by Cole-Dai et al. [2014] on our article Schmidt et al. [2012]. Specifically, in response to section 2 of their reply, we argued in Schmidt et al. [2012] that based on previously published estimates of the volatile release height during the 1783-1784 C.E. Laki eruption, the lack of a sulfur massindependent fractionation (MIF) anomaly is expected. In other words, no previous study on Laki ever argued that this eruption emitted SO2 into altitudes >13-15 km. In section 2.3, Cole-Dai et al. [2014] argue that the nonzero Δ33S value of their Laki sample 1 may be explained by a short-lived explosive phase at Laki during which volatiles reached the stratosphere. In Schmidt et al. [2012] in section 2, we argued in agreement with Cole-Dai et al. [2014] (section 3.1) that for a MIF anomaly to be preserved, the Laki volatiles would have had to be emitted in >20 km altitude. Our main point is that eruption column heights >20 km are unlikely based on the historical accounts and plume-rise modeling for the Laki eruption [Stothers et al., 1986; Woods, 1993; Thordarson and Self, 2003]. In Schmidt et al. [2012], we argued that to deduce a short-lived climatic impact of the Laki eruption based on the lack of a MIF anomaly and the length of the sulfate deposition in Greenland ice cores may be misleading because the climatic impact will outlast the radiative forcing of the Laki aerosol cloud. Cole-Dai et al. [2014] acknowledge the latter in their reply in section 4.2. We agreewith Cole-Dai et al. [2014] in that themagnitude and length of the climatic impact during the winter of 1783-1784 depends on the altitude of the volatile release during the eruption (sections 2.3 and 4.2). However, even if we assumed that during Laki all sulfur dioxide (SO2) would have been released in the troposphere, then the aerosol cloud would still be present in the upper troposphere during March 1784, as is evident from independent model simulations of this "tropospheric-only" scenario [Stevenson et al., 2003]. We acknowledge that there is uncertainty on the volatile release height for Laki; however, it is worth considering that those climate model simulations that used an injection altitude between 9 km and 13 km for the Laki SO2 [Highwood and Stevenson, 2003; Oman et al., 2006a, 2006b; Schmidt et al., 2012] best match the observed temperature changes during summer of 1783 [Angell and Korshover, 1985; Brázdil et al., 2010; Briffa et al., 1998; D'Arrigo and Jacoby, 1999; Jacoby et al., 1999; Kington, 1988; Manley, 1974; Parker et al., 1992; Thordarson and Self, 2003]. Based on these model simulations, a climatic impact during the winter of 1783-1784, albeit weaker than during the climactic phases of Laki, is expected (and our argument here does not exclude the role of natural variability in contributing to the cold winter of 1783-1784 as discussed in Schmidt et al. [2012]). Therefore, we continue to argue that for high-latitude eruptions such as Laki, the applicability of sulfur isotopic measurements to interpret the climatic relevance has yet to be demonstrated. Itmay transpire that the interpretation of MIF signals for the climate-relevance of an eruption is valid and unambiguous only for short-lived explosive eruptions in the tropics. In terms of the processes producing a MIF anomaly (section 3.3 in Cole-Dai et al. [2014]), the works by Hattori et al. [2013] and Ono et al. [2013] suggest that there are remaining issues not discussed by Cole-Dai et al. [2014], for instance, self-shielding of SO2 due to high column densities typical for eruptions of Pinatubo-scale and greater, and the preservation of the MIF signature in general.

general circulation model↗

Characterizing Turbulence at a Forest Edge: Comparing Sub-Filter Scale Turbulence Models in Simulations of Flow over a Canopy

In wildfires, atmospheric turbulence plays a major role in the transfer of turbulent kinetic energy. Understanding how turbulence feeds back into a dynamical system is important, down to the varying small scales of fuel structures (i.e. pine needles, grass). Large eddy simulations (LES) are a common way of numerically representing turbulence. The Smagorinsky model (1963) serves as one of the most studied sub-grid scale representations in LES. In this investigation, the Smagorinsky model was implemented in HIGRAD/FIRETEC, LANL’s coupled fire-atmosphere model. This study was motivated by the need to quantitatively investigate the vorticity budget equation in HIGRAD/FIRETEC. The Smagorinsky turbulent kinetic energy (TKE) was compared to FIRETEC’s 1.5-order TKE eddy-viscosity subgrid-scale model, known as the Linn turbulence model. This was done in simulations of flow over flat terrain with a homogeneous, cuboidal canopy in the center of the domain. Examinations of the modeled vertical TKE profile and turbulent statistics at the leading edge, and throughout the canopy, show that the Smagorinsky model provides comparable results to that of the original closure model posed in FIRETEC.

58 GEOSCIENCES↗

Standards in Modeling and Simulation: The Next Ten Years MODSIM World Paper 2010

The world has moved on since the introduction of the Distributed Interactive Simulation (DIS) standard in the early 1980s. The cold-war maybe over but there is still a requirement to train for and analyze the next generation of threats that face the free world. With the emergence of new and more powerful computer technology and techniques means that modeling and simulation (M&S) has become an important and growing, part in satisfying this requirement. As an industry grows, the benefits from standardization within that industry grow with it. For example, it is difficult to imagine what the USA would be like without the 110 volts standard for domestic electricity supply. This paper contains an overview of the outcomes from a recent workshop to investigate the possible future of M&S standards within the federal government.

Collins, Andrew J.↗

Passive and Active Microwave Remote Sensing of Precipitation and Latent Heating Distributions in the Tropics from TRMM

Passive and active microwave remote sensing data are analyzed to identify signatures of precipitation and vertical motion in tropical convection. A database of cloud/radiative model simulations is used to quantify surface rain rates and latent heating profiles that are consistent with these signatures. At satellite footprint-scale (approximately 10 km), rain rate and latent heating estimates are subject to significant random errors, but by averaging the estimates in space and time, random errors are substantially reduced, Bias errors have been minimized by improving the microphysics in the supporting cloud/radiative model simulations, and by imposing a consistent definition of remotely-sensed and model-simulated convective/stratiform rain coverage. Remotely-sensed precipitation and latent heating distributions in the tropics are derived from Tropical Rainfall Measuring Mission (TRMM) and Special Sensor Microwave/ Imager (SSM/ I) sensor data. The prototype Version 6 TRMM passive microwave algorithm typically yields average heating profiles with maxima between 6 and 7 km altitude for organized mesoscale convective systems. Retrieved heating profiles for individual convective systems are compared to coincident estimates based upon a combination of dual-Doppler radar and rawinsonde data. Also, large-scale latent heating distributions are compared to estimates derived from a simpler technique that utilizes observations of surface rain rate and stratiform rain proportion to infer vertical heating structure. Results of these tests will be presented at the conference.

Olson, William S.↗

PARAGRAPH: A graphics tool for performance and reliability analysis

PARAGRAPH is an animated graphics display package. It consists of two parts: an interface to CSIM (a process based simulation language) and a graphic display system. When a simulation model is executed on CSIM the interface collects pertinent performance analysis data and writes them to a file. This file is then fed to the graphic display system which depicts the execution of the simulation model visually. This report focuses on the graphical display system. Specifically it describes the user interface and features of the display system. It also explains how Interviews (which is based on X-windows) is used as the basis for the design of PARAGRAPH. The last section contains an example in which a basic load balancing simulation model is used to demonstrate the features and the capability of PARAGRAPH.

Lee, Kevin Douglas↗

Volcanic Contribution to Decadal Changes in Tropospheric Temperature

Despite continued growth in atmospheric levels of greenhouse gases, global mean surface and tropospheric temperatures have shown slower warming since 1998 than previously. Possible explanations for the slow-down include internal climate variability, external cooling influences and observational errors. Several recent modelling studies have examined the contribution of early twenty-first-century volcanic eruptions to the muted surface warming. Here we present a detailed analysis of the impact of recent volcanic forcing on tropospheric temperature, based on observations as well as climate model simulations. We identify statistically significant correlations between observations of stratospheric aerosol optical depth and satellite-based estimates of both tropospheric temperature and short-wave fluxes at the top of the atmosphere. We show that climate model simulations without the effects of early twenty-first-century volcanic eruptions overestimate the tropospheric warming observed since 1998. In two simulations with more realistic volcanic influences following the 1991 Pinatubo eruption, differences between simulated and observed tropospheric temperature trends over the period 1998 to 2012 are up to 15% smaller, with large uncertainties in the magnitude of the effect. To reduce these uncertainties, better observations of eruption-specific properties of volcanic aerosols are needed, as well as improved representation of these eruption-specific properties in climate model simulations.

Atmospheric temperature↗

Biomedical systems analysis program

Biomedical monitoring programs which were developed to provide a system analysis context for a unified hypothesis for adaptation to space flight are presented and discussed. A real-time system of data analysis and decision making to assure the greatest possible crew safety and mission success is described. Information about man's abilities, limitations, and characteristic reactions to weightless space flight was analyzed and simulation models were developed. The predictive capabilities of simulation models for fluid-electrolyte regulation, erythropoiesis regulation, and calcium regulation are discussed.

Source record↗

A Mission to Observe Ice in Clouds from Space

To date there have been multiple satellite missions to observe and retrieve cloud top properties and the liquid in, and precipitation from, clouds. There are currently a few missions that attempt to measure cloud ice properties as a byproduct of other observations. However, we do not yet quantitatively understand the processes that control the water budget of the upper troposphere where ice is the predominant phase, and how these processes are linked to precipitation processes and the radiative energy budget. The ice in clouds either melts into rain or is detrained, and persists, as cirrus clouds affecting the hydrological and energy cycle, respectively. Fully modeling the Earth's climate and improving weather and climate forecasts requires accurate satellite measurements of various cloud properties at the temporal and spatial scales of cloud processes. The uncertainty in knowledge of these ice characteristics is reflected in the large discrepancies in model simulations of the upper tropospheric water budget. Model simulations are sensitive to the partition of ice between precipitation and outflow processes, i.e., to the parameterization of ice clouds and ice processes. This presentation will describe the Submillimeter-wave InfraRed Ice Cloud Experiment (SIRICE) concept, a satellite mission designed to acquire global Earth radiance measurements in the infrared and submillimeter-wave region (183-874 GHz). If successful, this mission will bridge the measurement gap between microwave sounders and shorter-wavelength infrared and visible sensors. The brightness temperatures at submillimeter-wave frequencies are especially sensitive to cirrus ice particle sizes (because they are comparable to the wavelength). This allows for more accurate ice water path estimates when multiple channels are used to probe into the cloud layers. Further, submillimeter wavelengths offer simplicity in the retrieval algorithms because they do not probe into the liquid and near surface portions of clouds, thus requiring only one term of the radiative transfer equation (ice scattering) to relate brightness temperatures to ice. Scientific justification and the SIRICE approach to measuring ice water path and particle size that span a range encompassing both the hydrologically active and radiatively active components of cloud systems will be presented.

Ackerman, S.↗

Observing Ice in Clouds from Space

There are many satellite observations of cloud top properties and the liquid and rain content of clouds, however, we do not yet quantitatively understand the processes that control the water budget of the upper troposphere where ice is the predominant phase, and how these processes are linked to precipitation processes and the radiative energy budget. The ice in clouds in the upper troposphere either melts into rain or is detrained, and persists, as cirrus clouds affecting the hydrological and energy cycle, respectively. Fully modeling the Earth's climate and improving weather and climate forecasts requires accurate satellite measurements of various cloud properties at the temporal and spatial scales of cloud processes. These properties include cloud horizontal and vertical structure, cloud water content and some measure of particle sizes and shapes. The uncertainty in knowledge of these ice characteristics is reflected in the large discrepancies in model simulations of the upper tropospheric water budget. Model simulations are sensitive to the partition of ice between precipitation and outflow processes, i.e., to the parameterization of ice clouds and ice processes. One barrier to achieving accurate global ice cloud properties is the lack of adequate observations at millimeter and submillimeter wavelengths (183-874 GHz). Recent advances in instrumentation have allowed for the development and implementation of an airborne submillimeter-wave radiometer. The brightness temperatures at these frequencies are especially sensitive to cirrus ice particle sizes (because they are comparable to the wavelength). This allows for more accurate ice water path estimates when multiple channels are used to probe into the cloud layers. Further, submillimeter wavelengths offer simplicity in the retrieval algorithms because they do not probe into the liquid and near surface portions of clouds, thus requiring only one term of the radiative transfer equation (ice scattering) to relate brightness temperatures to ice. The next step is a satellite mission designed to acquire global Earth radiance measurements in the submillimeter-wave region, thus bridging the measurement gap between microwave sounders and shorter-wavelength infrared and visible sensors. This presentation provides scientific justification and an approach to measuring ice water path and particle size from a satellite platform that spans a range encompassing both the hydrologically active and radiatively active components of cloud systems.

Ackerman, S.↗

Employing a Modified Diffuser Momentum Model to Simulate Ventilation of the Orion CEV

The Ansys CFX CFD modeling tool was used to support the design efforts of the ventilation system for the Orion CEV. CFD modeling was used to establish the flow field within the cabin for several supply configurations. A mesh and turbulence model sensitivity study was performed before the design studies. Results were post-processed for comparison with performance requirements. Most configurations employed straight vaned diffusers to direct and throw the flow. To manage the size of the models, the diffuser vanes were not resolved. Instead, a momentum model was employed to account for the effect of the diffusers. The momentum model was tested against a separate, vane-resolved side study. Results are presented for a single diffuser configuration for a low supply flow case.

Straus, John↗

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↗

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↗