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At least 253 records · Page 14

Wind Speed Measurement from Bistatically Scattered GPS Signals

Instrumentation and retrieval algorithms are described which use the forward, or bistatically scattered range-coded signals from the Global Positioning System (GPS) radio navigation system for the measurement of sea surface roughness. This roughness is known to be related directly to the surface wind speed. Experiments were conducted from aircraft along the TOPEX ground track, and over experimental surface truth buoys. These flights used a receiver capable of recording the cross correlation power in the reflected signal. The shape of this power distribution was then compared against analytical models derived from geometric optics. Two techniques for matching these functions were studied. The first recognized the most significant information content in the reflected signal is contained in the trailing edge slope of the waveform. The second attempted to match the complete shape of the waveform by approximating it as a series expansion and obtaining the nonlinear least squares estimate. Discussion is also presented on anomalies in the receiver operation and their identification and correction.

Garrison, James L.↗

Integrating Safety and Mission Assurance into Systems Engineering Modeling Practices

During the early development of products, flight, or experimental hardware, emphasis is often given to the identification of technical requirements, utilizing such tools as use case and activity diagrams. Designers and project teams focus on understanding physical and performance demands and challenges. It is typically only later, during the evaluation of preliminary designs that a first pass, if performed, is made to determine the process, safety, and mission quality assurance requirements. Evaluation early in the life cycle, though, can yield requirements that force a fundamental change in design. This paper discusses an alternate paradigm for using the concepts of use case or activity diagrams to identify safety hazard and mission quality assurance risks and concerns using the same systems engineering modeling tools being used to identify technical requirements. It contains two examples of how this process might be used in the development of a space flight experiment, and the design of a Human Powered Pizza Delivery Vehicle, along with the potential benefits to decrease development time, and provide stronger budget estimates.

Requirements↗

Application of Machine Learning to Rotorcraft Health Monitoring

Machine learning is a powerful tool for data exploration and model building with large data sets. This project aimed to use machine learning techniques to explore the inherent structure of data from rotorcraft gear tests, relationships between features and damage states, and to build a system for predicting gear health for future rotorcraft transmission applications. Classical machine learning techniques are difficult, if not irresponsible to apply to time series data because many make the assumption of independence between samples. To overcome this, Hidden Markov Models were used to create a binary classifier for identifying scuffing transitions and Recurrent Neural Networks were used to leverage long distance relationships in predicting discrete damage states. When combined in a workflow, where the binary classifier acted as a filter for the fatigue monitor, the system was able to demonstrate accuracy in damage state prediction and scuffing identification. The time dependent nature of the data restricted data exploration to collecting and analyzing data from the model selection process. The limited amount of available data was unable to give useful information, and the division of training and testing sets tended to heavily influence the scores of the models across combinations of features and hyper-parameters. This work built a framework for tracking scuffing and fatigue on streaming data and demonstrates that machine learning has much to offer rotorcraft health monitoring by using Bayesian learning and deep learning methods to capture the time dependent nature of the data. Suggested future work is to implement the framework developed in this project using a larger variety of data sets to test the generalization capabilities of the models and allow for data exploration.

machine learning↗

Thermodynamic Activity Measurements with Knudsen Cell Mass Spectrometry

Coupling the Knudsen effusion method with mass spectrometry has proven to be one of the most useful experimental techniques for studying the equilibrium between condensed phases and complex vapors. The Knudsen effusion method involves placing a condensed sample in a Knudsen cell, a small "enclosure", that is uniformly heated and held until equilibrium is attained between the condensed and vapor phases. The vapor is continuously sampled by effusion through a small orifice in the cell. A molecular beam is formed from the effusing vapor and directed into a mass spectrometer for identification and pressure measurement of the species in the vapor phase. Knudsen cell mass spectrometry (KCMS) has been used for nearly fifty years now and continues to be a leading technique for obtaining thermodynamic data. Indeed, much of the well-established vapor specie data in the JANAF tables has been obtained from this technique. This is due to the extreme versatility of the technique. All classes of materials can be studied and all constituents of the vapor phase can be measured over a wide range of pressures (approximately 10(exp -4) to 10(exp -11) bar) and temperatures (500-2800 K). The ability to selectively measure different vapor species makes KCMS a very powerful tool for the measurement of component activities in metallic and ceramic solutions. Today several groups are applying KCMS to measure thermodynamic functions in multicomponent metallic and ceramic systems. Thermodynamic functions, especially component activities, are extremely important in the development of CALPHAD (Calculation of Phase Diagrams) type thermodynamic descriptions. These descriptions, in turn, are useful for modeling materials processing and predicting reactions such as oxide formation and fiber/matrix interactions. The leading experimental methods for measuring activities are the Galvanic cell or electro-motive force (EMF) technique and the KCMS technique. Each has specific advantages, depending on material and conditions. The EMF technique is suitable for lower temperature measurements, provided a suitable cell can be constructed. KCMS is useful for higher temperature measurements in a system with volatile components. In this paper, we briefly review the KCMS technique and identify the major experimental issues that must be addressed for precise measurements. These issues include temperature measurements, cell material and cell design and absolute pressure calibration. The resolution of these issues are discussed together with some recent examples of measured thermodynamic data.

Copland, Evan H.↗

Computational Modeling of Space Physiology for Informing Spaceflight Countermeasure Design and Predictions of Efficacy

MOTIVATION: Spaceflight countermeasures mitigate the harmful effects of the space environment on astronaut health and performance. Exercise has historically been used as a countermeasure to physical deconditioning, and additional countermeasures including lower body negative pressure, blood flow occlusion and artificial gravity are being researched as countermeasures to spaceflight-induced fluid shifts. The NASA Digital Astronaut Project uses computational models of physiological systems to inform countermeasure design and to predict countermeasure efficacy.OVERVIEW: Computational modeling supports the development of the exercise devices that will be flown on NASAs new exploration crew vehicles. Biomechanical modeling is used to inform design requirements to ensure that exercises can be properly performed within the volume allocated for exercise and to determine whether the limited mass, volume and power requirements of the devices will affect biomechanical outcomes. Models of muscle atrophy and bone remodeling can predict device efficacy for protecting musculoskeletal health during long-duration missions. A lumped-parameter whole-body model of the fluids within the body, which includes the blood within the cardiovascular system, the cerebral spinal fluid, interstitial fluid and lymphatic system fluid, estimates compartmental changes in pressure and volume due to gravitational changes. These models simulate fluid shift countermeasure effects and predict the associated changes in tissue strain in areas of physiological interest to aid in predicting countermeasure effectiveness. SIGNIFICANCE: Development and testing of spaceflight countermeasure prototypes are resource-intensive efforts. Computational modeling can supplement this process by performing simulations that reduce the amount of necessary experimental testing. Outcomes of the simulations are often important for the definition of design requirements and the identification of factors essential in ensuring countermeasure efficacy.

biomedical data↗

Brace For Impact – It’s Coming, Do You Know What to Do With It?

Long-duration human exploration spaceflight missions to the Moon and Mars present unprecedented challenges for providing in-mission medical care. Compared with the International Space Station, the greater distance from Earth will mean increased mission durations, communication delays, limited to no resupply opportunities, and significant limitations on the evacuation of ill or injured crew. Spacecraft mass, volume, and power will be curtailed while higher demands will be placed on the crew’s knowledge, skills, and abilities. In this higher risk environment, it is important to define and quantitatively estimate human system risk attributable to medical conditions. IMPACT (Informing Mission Planning via Analysis of Complex Tradespaces) is a probabilistic risk assessment (PRA) and medical trade space analysis tool being developed by NASA to advance medical system design for exploration missions. IMPACT has made a number of enhancements on the Integrated Medical Model, the PRA tool currently used by NASA. These updates include a novel medical evidence base baselined to a long duration, deep space exploration environment; an expanded medical condition list; and a trade space analysis capability (e.g. comparing risk profiles and mass/volume constraints for medical capabilities and resources). IMPACT core functionality includes quantification of a medical capability set and assisting with identification of specific medical resources/hardware for exploration missions. In addition, IMPACT provides sophisticated trade space capabilities to estimate how human system risk varies with changes to the mission architecture or medical capability set. This presentation will provide a brief overview of the IMPACT tool, discuss representative use cases, and show example results.

Benjamin Easter↗

Chiral Determination of Amino Acids Using X-Ray Diffraction of Thin Films

The astrobiological search for life, both extinct and extant, on other solar system bodies will take place via several planned lander missions to Mars Europa and Titan. The detection and identification of organic molecules that have been associated with life is a major technical challenge. Terrestrial life utilizes organic molecules, such as amino acids, as its basic building block. Amino acids can be synthesized by natural processes as is demonstrated by their detection in meteoritic material. In this process, the organic molecules are produced roughly in a even mixture of D and L forms. Biological process, however, can utilize almost uniquely one form or the other. In terrestrial biology, only the L-amino acids is common in biological processes. If signature of life existed elsewhere in the D form it then be concluded that life had evolutionary beginning on that body. Detection of an enantiomeric excess of L over D would also be a powerful sign that life had existed on that body at one time.

D Dragoi↗

SNE Industrial Fieldbus Interface

Programmable logic controllers (PLCs) have very limited diagnostic and no prognostic capabilities, while current smart sensor designs do not have the capability to communicate over Fieldbus networks. The aim is to interface smart sensors with PLCs so that health and status information, such as failure mode identification and measurement tolerance, can be communicated via an industrial Fieldbus such as ControlNet. The SNE Industrial Fieldbus Interface (SIFI) is an embedded device that acts as a communication module in a networked smart sensor. The purpose is to enable a smart sensor to communicate health and status information to other devices, such as PLCs, via an industrial Fieldbus networking protocol. The SNE (Smart Network Element) is attached to a commercial off-the-shelf Any bus-S interface module through the SIFI. Numerous Anybus-S modules are available, each one designed to interface with a specific Fieldbus. Development of the SIFI focused on communications using the ControlNet protocol, but any of the Anybus-S modules can be used. The SIFI communicates with the Any-bus module via a data buffer and mailbox system on the Anybus module, and supplies power to the module. The Anybus module transmits and receives data on the Fieldbus using the proper protocol. The SIFI is intended to be connected to other existing SNE modules in order to monitor the health and status of a transducer. The SIFI can also monitor aspects of its own health using an onboard watchdog timer and voltage monitors. The SIFI also has the hardware to drive a touchscreen LCD (liquid crystal display) unit for manual configuration and status monitoring.

Lucena, Angel↗

An Investigation into the Potential Application of Wavelets to Modal Testing and Analysis

The analysis of transient data of the type found in vibrating mechanical systems has been greatly improved through the use of modern techniques such as Fourier analysis. This is especially true when considered in conjunction with the development of the so-called Fast Fourier Transform algorithm by Cooley and the tremendous strides in computational power of the last several decades. The usefulness of the discrete Fourier Transform is its ability to transform sampled data from the "time-domain" to the "frequency domain," thereby allowing the analyst to decompose a signal into its frequency content. More recent developments have led to the wavelet transform. The strength of wavelet analysis is its ability to maintain both time and frequency information, thus making it an attractive candidate for the analysis of non-stationary signals. This report is an overview of wavelet theory and the potential use of the wavelet transform as an alternative to Fourier analysis in modal identification.

A. Fort Gwinn, Jr.↗

FLASH LIDAR Based Relative Navigation

Relative navigation remains the most challenging part of spacecraft rendezvous and docking. In recent years, flash LIDARs, have been increasingly selected as the go-to sensors for proximity operations and docking. Flash LIDARS are generally lighter and require less power that scanning Lidars. Flash LIDARs do not have moving parts, and they are capable of tracking multiple targets as well as generating a 3D map of a given target. However, there are some significant drawbacks of Flash Lidars that must be resolved if their use is to be of long-term significance. Overcoming the challenges of Flash LIDARs for navigation-namely, low technology readiness level, lack of historical performance data, target identification, existence of false positives, and performance of vision processing algorithms as intermediaries between the raw sensor data and the Kalman filter-requires a world-class testing facility, such as the Lockheed Martin Space Operations Simulation Center (SOSC). Ground-based testing is a critical step for maturing the next-generation flash LIDAR-based spacecraft relative navigation. This paper will focus on the tests of an integrated relative navigation system conducted at the SOSC in January 2014. The intent of the tests was to characterize and then improve the performance of relative navigation, while addressing many of the flash LIDAR challenges mentioned above. A section on navigation performance and future recommendation completes the discussion.

Brazzel, Jack↗

Technology developments for a compound cycle engine

The Compound Cycle Engine (CCE) is a highly turbocharged, power compounded power plant which combines the light weight pressure rise capability of a gas turbine with the high efficiency of a diesel. When optimized for a rotorcraft, the CCE will reduce fuel burned for a typical 2 hour (plus 30 min reserve) mission by 30 to 40 percent when compared to a conventional advanced technology gas turbine. The CCE can provide a 50 percent increase in range-payload product on this mission. Results of recent activities in a program to establish the technology base for a CCE are presented. The objective of this program is to research and develop those critical technologies which are necessary for the demonstration of a multicylinder diesel core in the early 1990s. A major accomplishment was the initial screening and identification of a lubricant which has potential for meeting the material wear rate limits of the application. An in-situ wear measurement system also was developed to provide accurate, readily obtainable, real time measurements of ring and liner wear. Wear data, from early single cylinder engine tests, are presented to show correlation of the in-situ measurements and the system's utility in determining parametric wear trends. A plan to demonstrate a compound cycle engine by the mid 1990s is included.

Bobula, George A.↗

Internal Acoustics of a Pintle Valve with Supercritical Helium Flow

Large amplitude flow unsteadiness is a common phenomenon within the high flow rate ducts and valves associated with propulsion systems. Boundary layer noise, shear layers and vortex shedding are a few of the many sources of flow oscillations. The presence of lightly damped acoustic modes can organize and amplify these sources of flow perturbation, causing undesirable loading of internal parts. The present study investigates the self-induced acoustic environment within a pintle valve subject to high Reynolds Number flow of helium gas. Experiments were conducted to measure the internal pressure oscillations of the Ares I Launch Abort System (LAS) Attitude Control Motor (ACM) valve. The AGM consists of a solid propellant gas generator with eight pintle valves attached to the aft end. The pintle valve is designed to deliver variable upstream conditions to an attache( converging diverging nozzle. In order to investigate the full range of operating conditions 28 separate tests were conducted with varying pintle position and upstream pressure. Helium gas was utilized in order to closely mimic the speed of sound of the gas generator exhaust, minimizing required scaling during data analysis. The recordec pressure measurements were interrogated to multiple ends. The development of root mean square (RMS) value! versus Reynolds Number and Pintle position are important to creating bounding unsteady load curves for valve internal parts. Spectral analysis was also performed, helping to identify power spectral densities (PSD) of acoustic natural frequencies and boundary layer noise. An interesting and unexpected result was the identification of an acoustic mode within the valve which does not respond until the valve was over 60% open. Further, the response amplitude around this mode can be as large or larger than those associated with lower frequency modes.

Fishbach, Sean R.↗

Wideband Interferometric Sensing and Imaging Polarimetry

Wideband Interferometric Sensing and Imaging Polarimetry (WISIP) has become an important, indispensible tool in wide area military surveillance and global environmental monitoring of the terrestrial and planetary covers. It enables dynamic, real time optimal feature extraction of significant characteristics of desirable targets and/or target sections with simultaneous suppression of undesirable background clutter and propagation path speckle at hitherto unknown clarity and never before achieved quality. WISIP may be adopted to the detection, recognition, and identification (DRI) of any stationary, moving or vibrating targets or distributed scatterer segments versus arbitrary stationary, dynamical changing and/or moving geo-physical/ecological environments, provided the instantaneous 2x2 phasor and 4x4 power density matrices for forward propagation/backward scattering, respectively, can be measured with sufficient accuracy. For example, the DRI of stealthy, dynamically moving inhomogeneous volumetric scatter environments such as precipitation scatter, the ocean/sea/lake surface boundary layers, the littoral coastal surf zones, pack ice and snow or vegetative canopies, dry sands and soils, etc. can now be successfully realized. A comprehensive overview is presented on how these modern high resolution/precision, complete polarimetric co-registered signature sensing and imaging techniques, complemented by full integration of novel navigational electronic tools, such as DGPS, will advance electromagnetic vector wave sensing and imaging towards the limits of physical realization. Various examples utilizing the most recent image data take sets of airborne, space shuttle, and satellite imaging systems demonstrate the utility of WISIP.

Verdi, James Salvatore↗

Computational Inference of Vibratory System with Incomplete Modal Information Using Parallel, Interactive and Adaptive Markov Chains

Inverse analysis of vibratory system is an important subject in fault identification, model updating, and robust design and control. It is challenging subject because 1) the problem is oftentimes underdetermined while the measurements are limited and/or incomplete; 2) many combinations of parameters may yield results that are similar with respect to actual response measurements; and 3) uncertainties inevitably exist. The aim of this research is to leverage upon computational intelligence through statistical inference to facilitate an enhanced, probabilistic framework using incomplete modal response measurement. This new framework is built upon efficient inverse identification through optimization, whereas Bayesian inference is employed to account for the effect of uncertainties. To overcome the computational cost barrier, we adopt Markov chain Monte Carlo (MCMC) to characterize the target function/distribution. Instead of using single Markov chain in conventional Bayesian approach, we develop a new sampling theory with multiple parallel, interactive and adaptive Markov chains and incorporate it into Bayesian inference. This can harness the collective power of these Markov chains to realize the concurrent search of multiple local optima. The number of required Markov chains and their respective initial model parameters are automatically determined via Monte Carlo simulation-based sample pre-screening followed by K-means clustering analysis. These enhancements can effectively address the aforementioned challenges in finite element inverse analysis. The validity of this framework is systematically demonstrated through case studies.

K Zhou↗

Optical studies in the holographic ground station

The Holographic Group System (HGS) Facility in rooms 22 & 123, Building 4708 has been developed to provide for ground based research in determining pre-flight parameters and analyzing the results from space experiments. The University of Alabama, Huntsville (UAH) has researched the analysis aspects of the HGS and reports their findings here. Some of the results presented here also occur in the Facility Operating Procedure (FOP), which contains instructions for power up, operation, and powerdown of the Fluid Experiment System (FES) Holographic Ground System (HGS) Test Facility for the purpose of optically recording fluid and/or crystal behavior in a test article during ground based testing through the construction of holograms and recording of videotape. The alignment of the optical bench components, holographic reconstruction and and microscopy alignment sections were also included in the document for continuity even though they are not used until after optical recording of the test article) setup of support subsystems and the Automated Holography System (AHS) computer. The HGS provides optical recording and monitoring during GCEL runs or development testing of potential FES flight hardware or software. This recording/monitoring can be via 70mm holographic film, standard videotape, or digitized images on computer disk. All optical bench functions necessary to construct holograms will be under the control of the AHS personal computer (PC). These include type of exposure, time intervals between exposures, exposure length, film frame identification, film advancement, film platen evacuation and repressurization, light source diffuser introduction, and control of realtime video monitoring. The completed sequence of hologram types (single exposure, diffuse double exposure, etc.) and their time of occurrence can be displayed, printed, or stored on floppy disk posttest for the user.

Workman, Gary L.↗

Structural Modeling Using "Scanning and Mapping" Technique

Supported by NASA Glenn Center, we are in the process developing a structural damage diagnostic and monitoring system for rocket engines, which consists of five modules: Structural Modeling, Measurement Data Pre-Processor, Structural System Identification, Damage Detection Criterion, and Computer Visualization. The function of the system is to detect damage as it is incurred by the engine structures. The scientific principle to identify damage is to utilize the changes in the vibrational properties between the pre-damaged and post-damaged structures. The vibrational properties of the pre-damaged structure can be obtained based on an analytic computer model of the structure. Thus, as the first stage of the whole research plan, we currently focus on the first module - Structural Modeling. Three computer software packages are selected, and will be integrated for this purpose. They are PhotoModeler-Pro, AutoCAD-R14, and MSC/NASTRAN. AutoCAD is the most popular PC-CAD system currently available in the market. For our purpose, it plays like an interface to generate structural models of any particular engine parts or assembly, which is then passed to MSC/NASTRAN for extracting structural dynamic properties. Although AutoCAD is a powerful structural modeling tool, the complexity of engine components requires a further improvement in structural modeling techniques. We are working on a so-called "scanning and mapping" technique, which is a relatively new technique. The basic idea is to producing a full and accurate 3D structural model by tracing on multiple overlapping photographs taken from different angles. There is no need to input point positions, angles, distances or axes. Photographs can be taken by any types of cameras with different lenses. With the integration of such a modeling technique, the capability of structural modeling will be enhanced. The prototypes of any complex structural components will be produced by PhotoModeler first based on existing similar components, then passed to AutoCAD for modification and correction of any discrepancies seen in the Photomodeler version of the 3Dmodel. These three software packages are fully compatible. The DXF file can be used to transfer drawings among those packages. To begin this entire process, we are using a small replica of an actual engine blade as a test object. This paper introduces the accomplishment of our recent work.

Amos, Courtney L.↗

Oxygen Production from Lunar Regolith using Ionic Liquids

The objective of this work and future follow-on work is to develop a safe, efficient, and recyclable method for oxygen and/or metals extraction from lunar regolith, in support of establishing a manned lunar outpost. The approach is to solubilize the oxides that comprise lunar regolith in media consisting of ionic liquids (ILs) and/or their mixtures at temperatures at or below 300 C. Once in solution, electrolysis can either be performed in-situ to generate oxygen at the anode and hydrogen and/or metals (silicon, iron, aluminum, titanium, etc.) at the cathode. Alternatively, the water that is generated during the solubilization process can be distilled out and condensed into a separate IL and then electrolysized to produce hydrogen and oxygen. In the case of lunar regolith, this method could theoretically produce 44g oxygen per 100g of regolith. The oxygen can be used for human life support and/or as an oxidizer for rocket fuels, and the metals can be used as raw materials for construction and/or device fabrication. Moreover, the hydrogen produced can be used to re-generate the acidic medium, which can then be used to process additional regolith, thereby making the materials recyclable and limiting upmass requirements. An important advantage of IL acid systems is that they are much "greener" and safer than conventional materials used for regolith processing such as sulfuric or hydrochloric acids. They have very low vapor pressures, which means that they contain virtually no toxic and/or flammable volatile content, they are relatively non-corrosive, and they can exhibit good stability in harsh environments (extreme temperatures, hard vacuum, etc.). Furthermore, regolith processing can be achieved at lower temperatures than other processes such as molten oxide electrolysis or hydrogen reduction, thereby reducing initial power requirements. Six ILs have been synthesized and tested for their capability to dissolve lunar simulant, and for electrochemical and thermal stability. The results showed that ILs can be very efficient electrolytes; in particular IL/phosphoric-acid mixtures appear extremely promising for solubilizing lunar simulant. Results from preliminary experiments for distillation of water produced from the oxygen within the metal oxides of the simulant and the hydrogen from the acid indicates that over 75% of the oxygen from the simulant can be harvested as water at a temperature of 150 C. A method for collection of oxygen from electrolysis of the water derived from solubilizing simulant was developed by using a liquid nitrogen trap to liquefy and collect the oxygen. Although precise quantification of the liquid oxygen trapped is difficult to obtain, the amount of hydrogen and oxygen collected from electrolysis of water in this system was greater than 98%. This set-up also included a portable mass spectrometer for the identification of gases released from electrolysis cells. Regeneration of ILs through re-protonation was also demonstrated. Four sequential re-generations of an IL following solubilization of simulant showed no significant differences in amounts of simulant dissolved. Follow-on work for this project should include more studies of IL/phosphoric acid systems. Also, much more work is necessary for defining methods for electrolysis and purification of metals from regolith solubilized in ILs, and for developing a system to use the produced hydrogen to regenerate the spent IL. Finally, design and development of flight breadboard and prototype hardware is required.

Paley, Mark Steven↗

Identification of Noise Sources During Rocket Engine Test Firings and a Rocket Launch Using a Microphone Phased-Array

A 70 microphone, 10-foot by 10-foot, microphone phased array was built for use in the harsh environment of rocket launches. The array was setup at NASA Wallops launch pad 0A during a static test firing of Orbital Sciences' Antares engines, and again during the first launch of the Antares vehicle. It was placed 400 feet away from the pad, and was hoisted on a scissor lift 40 feet above ground. The data sets provided unprecedented insight into rocket noise sources. The duct exit was found to be the primary source during the static test firing; the large amount of water injected beneath the nozzle exit and inside the plume duct quenched all other sources. The maps of the noise sources during launch were found to be time-dependent. As the engines came to full power and became louder, the primary source switched from the duct inlet to the duct exit. Further elevation of the vehicle caused spilling of the hot plume, resulting in a distributed noise map covering most of the pad. As the entire plume emerged from the duct, and the ondeck water system came to full power, the plume itself became the loudest noise source. These maps of the noise sources provide vital insight for optimization of sound suppression systems for future Antares launches.

acoustics↗