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At least 253 records · Page 14

Flight Simulator Demonstration and Certification Implications of Powertrain Failure Mitigation in a Partial Turboelectric Aircraft

The Single-aisle Turboelectric AiRCraft with Aft Boundary Layer propulsor (STARC ABL) is a concept aircraft with a partial turboelectric powertrain. The complexity and integrated nature of the partial turboelectric powertrain architecture presents failure modes and hazards not found in conventional aircraft propulsion designs. Previously, various electrical and mechanical faults and associated recovery modes were demonstrated in a dynamic model of the powertrain. It was shown that certain faults were catastrophic without recovery logic, due specifically to the interaction of the subsystems. However, in each case, the logic, known as a reversionary control mode, enabled continued operation with assumed sufficient thrust to maintain safe flight. The current work evaluates the powertrain faults and recovery strategies using a full aircraft model in a piloted flight simulator, and places it in the context of current regulatory practice. Faults initiated in flight were successfully mitigated, with the accommodated aircraft subsequently evaluated against certification requirements for three-engine aircraft, which were shown to be appropriate for the STARC-ABL configuration.

certification↗

A Reliable Earth Return System for Safe Recovery of Mars Samples

The objective of a Mars sample return mission is to bring selected Mars surface materials to Earth. Numerous approaches for the Earth-return segment have been analyzed including propulsive or aerocapture return to low-Earth orbit followed by Space Shuttle rendezvous and direct entry. Of these approaches, ballistic entry of a small capsule terminating in a ground landing has been shown to be the lowest risk strategy. Over the past two years, significant work has been performed towards development of a robust direct entry vehicle for Mars sample return. In June 1999, the NASA Planetary Protection Officer provided initial guidance to the former Mars Sample Return Project. The sample return phase of the mission was assigned a restricted Earth return planetary protection classification. The draft mission requirement states that the total mean probability of release of unsterilized Mars material into the Earth;s biosphere must be less than 1.0E-06 (1 in a million). This strict requirement drives the approach and design of the Earth return system. To meet this requirement, selection of the Earth return strategy and development of the Earth return system must be guided by risk, not performance, based decisions. An initial Probabilistic Risk Assessment (PRA) was performed to address the direct entry Earth return system containment assurance reliability and to identify high-risk elements of this system. The results of this PRA identified risk elements that include thermal protection system performance during entry, spin-eject orientation and aerodynamic stability during entry, structural integrity under atmospheric deceleration and impact loads, and tracking/recovery of this system. This initial probabilistic risk quantification demonstrates that, with the proper development program, a prototypical direct entry design can satisfy the containment assurance reliability requirement. Through the current Mars Sample Return Advanced Technology Development effort, an extensive design, analysis, and test program is presently proceeding with the aim of reducing the containment assurance risk of this system. This technology development effort, guided by a continuing PRA, focuses on key risk areas of a direct entry Earth return system including: the thermal protection system, impact dynamics, structural performance, aerodynamic stability, and ground recovery. This development program will culminate in a system validation flight test, 1-2 years prior to launch of the flight system. This flight test would include the launch, entry, and recovery of a full-scale Earth return system, as a scientific validation of the key risk elements to verify nominal design performance. The results of the initial PRA suggested several dominant failure sequences that can be validated in a flight test. These include: demonstrating the thermal protection system reliability and performance during entry, demonstrating the spin-eject orientation and aero-dynamic stability during entry, demonstrating the structural integrity under atmospheric deceleration and impact loads, and demonstrating tracking and recovery of the Earth return system. This single test will directly address over 50% of the total containment assurance risk elements. This presentation will begin by presenting the relative risk of various Earth return strategies. The results of the initial probabilistic risk assessment will be presented followed by a discussion of the development accomplishments and plans for demonstration of a highly reliable direct entry Earth return system.

Braun, R.↗

Loss and Recovery

The author recounts his experiences of the loss of the QuickTOMS (Total Ozone Mapping Spectrometer) spacecraft, for which he was project manager. He draws from the launch failure lessons on leadership, coping with loss and maintaining morale.

Schwer, Ken↗

Fault Management Techniques in Human Spaceflight Operations

This paper discusses human spaceflight fault management operations. Fault detection and response capabilities available in current US human spaceflight programs Space Shuttle and International Space Station are described while emphasizing system design impacts on operational techniques and constraints. Preflight and inflight processes along with products used to anticipate, mitigate and respond to failures are introduced. Examples of operational products used to support failure responses are presented. Possible improvements in the state of the art, as well as prioritization and success criteria for their implementation are proposed. This paper describes how the architecture of a command and control system impacts operations in areas such as the required fault response times, automated vs. manual fault responses, use of workarounds, etc. The architecture includes the use of redundancy at the system and software function level, software capabilities, use of intelligent or autonomous systems, number and severity of software defects, etc. This in turn drives which Caution and Warning (C&W) events should be annunciated, C&W event classification, operator display designs, crew training, flight control team training, and procedure development. Other factors impacting operations are the complexity of a system, skills needed to understand and operate a system, and the use of commonality vs. optimized solutions for software and responses. Fault detection, annunciation, safing responses, and recovery capabilities are explored using real examples to uncover underlying philosophies and constraints. These factors directly impact operations in that the crew and flight control team need to understand what happened, why it happened, what the system is doing, and what, if any, corrective actions they need to perform. If a fault results in multiple C&W events, or if several faults occur simultaneously, the root cause(s) of the fault(s), as well as their vehicle-wide impacts, must be determined in order to maintain situational awareness. This allows both automated and manual recovery operations to focus on the real cause of the fault(s). An appropriate balance must be struck between correcting the root cause failure and addressing the impacts of that fault on other vehicle components. Lastly, this paper presents a strategy for using lessons learned to improve the software, displays, and procedures in addition to determining what is a candidate for automation. Enabling technologies and techniques are identified to promote system evolution from one that requires manual fault responses to one that uses automation and autonomy where they are most effective. These considerations include the value in correcting software defects in a timely manner, automation of repetitive tasks, making time critical responses autonomous, etc. The paper recommends the appropriate use of intelligent systems to determine the root causes of faults and correctly identify separate unrelated faults.

O'Hagan, Brian↗

Metrics for Intercomparison of Remapping Algorithms (MIRA) protocol applied to Earth system models

Abstract. Strongly coupled nonlinear phenomena such as those described by Earth system models (ESMs) are composed of multiple component models with independent mesh topologies and scalable numerical solvers. A common operation in ESMs is to remap or interpolate component solution fields defined on their computational mesh to another mesh with a different combinatorial structure and decomposition, e.g., from the atmosphere to the ocean, during the temporal integration of the coupled system. Several remapping schemes are currently in use or available for ESMs. However, a unified approach to compare the properties of these different schemes has not been attempted previously. We present a rigorous methodology for the evaluation and intercomparison of remapping methods through an independently implemented suite of metrics that measure the ability of a method to adhere to constraints such as grid independence, monotonicity, global conservation, and local extrema or feature preservation. A comprehensive set of numerical evaluations is conducted based on a progression of scalar fields from idealized and smooth to more general climate data with strong discontinuities and strict bounds. We examine four remapping algorithms with distinct design approaches, namely ESMF Regrid (Hill et al., 2004), TempestRemap (Ullrich and Taylor, 2015), generalized moving least squares (GMLS) (Trask and Kuberry, 2020) with post-processing filters, and WLS-ENOR (Li et al., 2020). By repeated iterative application of the high-order remapping methods to the test fields, we verify the accuracy of each scheme in terms of their observed convergence order for smooth data and determine the bounded error propagation using challenging, realistic field data on both uniform and regionally refined mesh cases. In addition to retaining high-order accuracy under idealized conditions, the methods also demonstrate robust remapping performance when dealing with non-smooth data. There is a failure to maintain monotonicity in the traditional L2-minimization approaches used in ESMF and TempestRemap, in contrast to stable recovery through nonlinear filters used in both meshless GMLS and hybrid mesh-based WLS-ENOR schemes. Local feature preservation analysis indicates that high-order methods perform better than low-order dissipative schemes for all test cases. The behavior of these remappers remains consistent when applied on regionally refined meshes, indicating mesh-invariant implementations. The MIRA intercomparison protocol proposed in this paper and the detailed comparison of the four algorithms demonstrate that the new schemes, namely GMLS and WLS-ENOR, are competitive compared to standard conservative minimization methods requiring computation of mesh intersections. The work presented in this paper provides a foundation that can be extended to include complex field definitions, realistic mesh topologies, and spectral element discretizations, thereby allowing for a more complete analysis of production-ready remapping packages.

58 GEOSCIENCES↗

Fault detection, isolation and reconfiguration in FTMP Methods and experimental results

The Fault-Tolerant Multiprocessor (FTMP) is a highly reliable computer designed to meet a goal of 10 to the -10th failures per hour and built with the objective of flying an active-control transport aircraft. Fault detection, identification, and recovery software is described, and experimental results obtained by injecting faults in the pin level in the FTMP are presented. Over 21,000 faults were injected in the CPU, memory, bus interface circuits, and error detection, masking, and error reporting circuits of one LRU of the multiprocessor. Detection, isolation, and reconfiguration times were recorded for each fault, and the results were found to agree well with earlier assumptions made in reliability modeling.

Lala, J. H.↗

Long Duration Exposure Facility (LDEF) low-temperature heat pipe experiment package power system results

An overview of a self-contained Direct Energy Transfer Power System which was developed to provide power to the Long Duration Exposure Facility (LDEF) Low-Temperature Heat Pipe Experiment Package is presented. The power system operated successfully for the entire mission. Data recorded by the onboard recorder shows that the system operated within design specifications. Other than unanticipated overcharging of the battery, the power system operated as expected for nearly 32,000 low earth orbit cycles, and was still operational when tested after the LDEF recovery. Some physical damage was sustained by the solar array panels due to micrometeoroid hits, but there were not electrical failures.

Tiller, Smith E.↗

Development of Leaching Processes for the Recovery of Rare Earth Elements from Acid Mine Drainage Precipitates

Acid mine drainage (AMD) has been a challenge for mine operators to address and has had significant environmental impacts when there is a failure to address it. Fortunately, there is a regulation in the US that requires the treatment of AMD before water can be discharged into the environment. AMD is generated when sulfide minerals are exposed to water and air from mining. The acidic water then leaches metals from the surrounding rock, creating the potential for environmental contamination of this acidic water containing dissolved metals. AMD can contain high concentrations of metals like iron, aluminum, and manganese and also have been shown to contain trace concentrations of critical minerals, including rare earth elements (REEs). This environmental waste stream is now being researched as a potential source for REEs. There is a patented process for processing and extracting REEs from AMD which produces rare earth oxide preconcentrate (REOP) from AMD treatment precipitates and a final stage mixed rare earth oxide (MREO) product. This body of research examines a selective leaching process for each of these products and determines the activation energy associated with the leaching processes. Acid leaching with HCl was examined to selectively leach REEs from REOP while contaminant metals remained in the solid residue. The maximum leaching recovery of the REEs from the REOP was approximately 90% and an activation energy of 6.4 kJ/mol at pH 3.0. Ammonium chloride leaching was examined to selectively remove contaminant metals from a MREO product. The ammonium chloride process successfully leached major contaminant metals in excess of 85% recovery and had a maximum activation energy of 40.0 kJ/mol.

01 COAL, LIGNITE, AND PEAT↗

Influence of local river hydraulics on Kootenai River white sturgeon ( Acipenser transmontanus ) habitat selection during four spawning years, 2017–2020

Understanding fine-scale habitat selection of endangered Kootenai River white sturgeon ( Acipenser transmontanus) is an important component for monitoring and recovery efforts. Fine-scale habitat selection and quantifying temporal changes in suitable habitat contributes to the work of addressing recruitment failure within the Kootenai River population. Habitat suitability indices were developed using over 96 000 acoustic telemetry sturgeon detections and two-dimensional hydrodynamic model simulations near Bonners Ferry, Idaho, USA. The selected habitat was assessed to develop habitat suitability indices for sturgeon; females undergoing spawn migrations and non-spawners. The most frequented locations were 8–9 m deep and water velocities of 0.3–0.7 m·s −1 . These observations suggest sturgeon with different spawning capabilities selected similar habitat. Weighted usable area was calculated to understand temporal variability in habitat quality, which showed a positive relationship with increases in flow. Results help understand the habitat limiting factors in regulated hydrologic regimes; provide biologists insight for monitoring efforts in discrete habitat conditions; guidance for water managers and the regulation of upstream water resources; and guidance to restoration practitioners for in-stream structure designs.

Dudunake, Taylor J. (ORCID:0000000176502419)↗

Rapid quenching effects in glassy polymers

Using a specially constructed microbalance for hydrostatic weighing, density changes in PVC thin film due to rapid quenching through the glass transition temperature were observed. The more severe the quench, the greater the free volume content. Isobaric volume recovery of PVC was also studied by volume dilatometry. Both show aging of relaxing molecular rearrangements taking place as a linear function of logarithmic aging time at room temperature. Distribution of retardation times and Primak's distributed activation energy spectra were applied to the volume recovery data. The concomitant changes in mechanical properties of PVC after quenching were monitored by tensile creep stress-stran to failure rates. All reflect the presence of excess free volume content due to rapid quenching.

Mcgarry, F. J.↗

Three Years of on Orbit ISS Oxygen Generation System Operation 2007-2010

The International Space Station (ISS) United States Orbital Segment (USOS) Oxygen Generation System (OGS) has accumulated 240 days of continuous operation at varied oxygen production rates within the US Laboratory Module (LAB) since it was first activated in July 2007. OGS relocated from the ISS LAB to Node 3 during 20A Flight (February 2010). The OGS rack delivery was accelerated for on-orbit checkout in the LAB, and it was launched to ISS in July of 2006. During the on-orbit checkout interval within the LAB from July 2007 to October 2008, OGS operational times were limited by the quantity of feedwater in a Payload Water Reservoir (PWR) bag. Longer runtimes are now achievable due to the continuous feedwater availability after ULF2 delivery and activation of the USOS Water Recovery System (WRS) racks. OGS is considered a critical function to maintaining six crew capability. There have been a number of failures which interrupted or threatened to interrupt oxygen production. Filters in the recirculation loop have clogged and have been replaced, Hydrogen sensors have fallen out of specifications, a pump delta pressure sensor failed, a pump failed to start, and the voltage on the cell stack increased out of tolerance. This paper will discuss the operating experience and characteristics of the OGS, as well as operational issues and their resolution.

Diderich, Greg S.↗

Optimization of Second Fault Detection Thresholds to Maximize Mission POS

In order to support manned spaceflight safety requirements, the Space Launch System (SLS) has defined program-level requirements for key systems to ensure successful operation under single fault conditions. To accommodate this with regards to Navigation, the SLS utilizes an internally redundant Inertial Navigation System (INS) with built-in capability to detect, isolate, and recover from first failure conditions and still maintain adherence to performance requirements. The unit utilizes multiple hardware- and software-level techniques to enable detection, isolation, and recovery from these events in terms of its built-in Fault Detection, Isolation, and Recovery (FDIR) algorithms. Successful operation is defined in terms of sufficient navigation accuracy at insertion while operating under worst case single sensor outages (gyroscope and accelerometer faults at launch). In addition to first fault detection and recovery, the SLS program has also levied requirements relating to the capability of the INS to detect a second fault, tracking any unacceptable uncertainty in knowledge of the vehicle's state. This detection functionality is required in order to feed abort analysis and ensure crew safety. Increases in navigation state error and sensor faults can drive the vehicle outside of its operational as-designed environments and outside of its performance envelope causing loss of mission, or worse, loss of crew. The criteria for operation under second faults allows for a larger set of achievable missions in terms of potential fault conditions, due to the INS operating at the edge of its capability. As this performance is defined and controlled at the vehicle level, it allows for the use of system level margins to increase probability of mission success on the operational edges of the design space. Due to the implications of the vehicle response to abort conditions (such as a potentially failed INS), it is important to consider a wide range of failure scenarios in terms of both magnitude and time. As such, the Navigation team is taking advantage of the INS's capability to schedule and change fault detection thresholds in flight. These values are optimized along a nominal trajectory in order to maximize probability of mission success, and reducing the probability of false positives (defined as when the INS would report a second fault condition resulting in loss of mission, but the vehicle would still meet insertion requirements within system-level margins). This paper will describe an optimization approach using Genetic Algorithms to tune the threshold parameters to maximize vehicle resilience to second fault events as a function of potential fault magnitude and time of fault over an ascent mission profile. The analysis approach, and performance assessment of the results will be presented to demonstrate the applicability of this process to second fault detection to maximize mission probability of success.

Anzalone, Evan↗

The Effect of Modified Control Limits on the Performance of a Generic Commercial Aircraft Engine

This paper studies the effect of modifying the control limits of an aircraft engine to obtain additional performance. In an emergency situation, the ability to operate an engine above its normal operating limits and thereby gain additional performance may aid in the recovery of a distressed aircraft. However, the modification of an engine s limits is complex due to the risk of an engine failure. This paper focuses on the tradeoff between enhanced performance and risk of either incurring a mechanical engine failure or compromising engine operability. The ultimate goal is to increase the engine performance, without a large increase in risk of an engine failure, in order to increase the probability of recovering the distressed aircraft. The control limit modifications proposed are to extend the rotor speeds, temperatures, and pressures to allow more thrust to be produced by the engine, or to increase the rotor accelerations and allow the engine to follow a fast transient. These modifications do result in increased performance; however this study indicates that these modifications also lead to an increased risk of engine failure.

Csank, Jeffrey T.↗

Dynamic Properties of FeCrMnNi, a High Entropy Alloy

High entropy alloys (HEAs) represent a new class of materials that potentially possess an ideal combination of high strength and ductility and may be candidate materials that can withstand high amounts of damage before failure, especially under extreme conditions. To this end, a series of shock/spall loading experiments were conducted on an Fe/Cr/Mn/Ni HEA to assess not only its equation of state (EOS) but also its resistance to damage and failure. A single-stage light gas gun was used to conduct a series of flyer plate symmetric impact experiments coupled with recovery of the samples for post-mortem microstructural analysis to obtain fundamental understanding regarding the damage morphology. Our results show that the measured EOS for this alloy was in reasonable agreement with an estimated Hugoniot value. Additionally, the spall strength of these alloys was found to vary between 1.4 and 1.9 GPa within the same plate but was comparable to other iron-based conventional alloys. DOE/NV/03624--1059

36 MATERIALS SCIENCE↗

Mechanisms of Waterflood Inefficiency: Analysis of Geological, Petrophysical and Reservoir History, a Field Case Study of FWU (East Section)

The petroleum reservoir represents a complex heterogeneous system that requires thorough characterization prior to the implementation of any incremental recovery technique. One of the most commonly utilized and successful secondary recovery techniques is waterflooding. However, a lack of sufficient investigation into the inherent behavior and characteristics of the reservoir formation in situ can result in failure or suboptimal performance of waterflood operations. Therefore, a comprehensive understanding of the geological history, static and dynamic reservoir characteristics, and petrophysical data is essential for analyzing the mechanisms and causes of waterflood inefficiency and failure. In this study, waterflood inefficiency was observed in the Morrow B reservoir located in the Farnsworth Unit, situated in the northwestern shelf of the Anadarko Basin, Texas. To assess the potential mechanisms behind the inefficiency of waterflooding in the east half, geological, petrophysical, and reservoir engineering data, along with historical information, were integrated, reviewed, and analyzed. The integration and analysis of these datasets revealed that several factors contributed to the waterflood inefficiency. Firstly, the presence of abundant dispersed authigenic clays within the reservoir, worsened by low reservoir quality and high heterogeneity, led to unfavorable conditions for waterflood operations. The use of freshwater for flooding exacerbated the adverse effects of sensitive and migratory clays, further hampering the effectiveness of the waterflood. In addition to these factors, several reservoir engineering issues played a significant role in the inefficiency of waterflooding. These issues included inadequate perforation strategies due to the absence of detailed hydraulic flow units (HFUs) and rock typing, random placement of injectors, and uncontrolled injected fresh water. These external controlling parameters further contributed to the overall inefficiencies observed during waterflood operations in the east half of the reservoir. A detailed understanding of the mechanistic factors of inefficient waterflood operation will provide adequate insights into the development of the improved recovery technique for the field.

Morgan, Anthony (ORCID:0000000211519153)↗

High compressive energy absorption and shape recovery behavior of additively manufactured textile-inspired cylindrical braided metamaterials

Mechanical metamaterials (MMs) are engineered structures with unique mechanical properties that arise from their unique spatial arrangement or lattice-like structure. The most commonly designed MMs such as honeycomb and re-entrant auxetics are prone to failure at the sharp corners and weak joints due to the increased stress concentration under deformation. To mitigate this challenge, braided MM structures involving intertwining threads of nylon—forming curved unit cells—have been studied. These textile-inspired cylindrical braided metamaterials (CBMMs) with contrasting unit cells, namely diamond and regular CBMMs, were fabricated by 3D printing. The layer-by-layer deposited structure built by fused filament fabrication delivered an assembly of overlapped threads that are fused at the contact point. To understand deformation behavior of these MMs, finite element models were developed for various load scenarios including quasi-static compression, cyclic and creep loads at room temperature. Stress distribution, deformation mechanisms, and failure modes were analyzed and validated by experiments to analyze the geometries and associated performance. The diamond CBMMs showed stress softening at 30 % compressive strain, withstanding a load of ∼440 N, whereas the regular CBMMs at 50 % strain experienced ∼250 N. The diamond CBMMs delivered higher creep resistance under sustained load and better energy absorption under cyclic loading than the regular CBMMs. The latter, however, exhibited 94 % shape recovery in contrast to 88 % recovery in former prototype during their first cyclic load. In conclusion, this study helps design mechanical lightweight devices that endure significant sustained load and exhibit enhanced energy absorption and shape recovery characteristics in cyclic loading.

Creep↗

SOHO Mission Interruption Joint NASA/ESA Investigation Board

Contact with the SOlar Heliospheric Observatory (SOHO) spacecraft was lost in the early morning hours of June 25, 1998, Eastern Daylight Time (EDT), during a planned period of calibrations, maneuvers, and spacecraft reconfigurations. Prior to this the SOHO operations team had concluded two years of extremely successful science operations. A joint European Space Agency (ESA)/National Aeronautics and Space Administration (NASA) engineering team has been planning and executing recovery efforts since loss of contact with some success to date. ESA and NASA management established the SOHO Mission Interruption Joint Investigation Board to determine the actual or probable cause(s) of the SOHO spacecraft mishap. The Board has concluded that there were no anomalies on-board the SOHO spacecraft but that a number of ground errors led to the major loss of attitude experienced by the spacecraft. The Board finds that the loss of the SOHO spacecraft was a direct result of operational errors, a failure to adequately monitor spacecraft status, and an erroneous decision which disabled part of the on-board autonomous failure detection. Further, following the occurrence of the emergency situation, the Board finds that insufficient time was taken by the operations team to fully assess the spacecraft status prior to initiating recovery operations. The Board discovered that a number of factors contributed to the circumstances that allowed the direct causes to occur. The Board strongly recommends that the two Agencies proceed immediately with a comprehensive review of SOHO operations addressing issues in the ground procedures, procedure implementation, management structure and process, and ground systems. This review process should be completed and process improvements initiated prior to the resumption of SOHO normal operations.

Source record↗

Setups for eliminating static charge of the ATLAS18 strip sensors

Abstract Construction of the new all-silicon Inner Tracker (ITk), developed by the ATLAS collaboration to beable to track charged particles produced at the High-Luminosity LHC, started in 2020 and is expected tocontinue till 2028. The ITk detector will include 18,000 highly segmented and radiation hard n+-in-psilicon strip sensors (ATLAS18), which are being manufactured by Hamamatsu Photonics. Mechanical and electrical characteristics of produced sensors are measured upon their delivery at several institutes participating in a complex Quality Control (QC) program. The QC tests performed on each individual sensor check the overall integrity and quality of the sensor.During the QC testing of ATLAS18 strip sensors, an increased number of sensors thatfailed the electrical tests was observed. In particular, IV measurements indicated an early breakdown,while large areas containing several tens or hundreds of neighbouring strips with low interstrip isolationwere identified by the Full strip tests, and leakage current instabilities were measured in a long-term leakage current stability setup. Moreover, a high surface electrostatic charge reaching a level of several hundreds of volts per inch was measured on a large number of sensors and on the plastic sheets, whichmechanically protect these sensors in their paper envelopes. Accumulated data indicates a clearcorrelation between observed electrical failures and the sensor charge-up.To mitigate the above-described issues, the QC testing sites significantly modified the sensor handlingprocedures and introduced sensor recovery techniques based on irradiation of the sensor surface with UVlight or application of intensive flows of ionized gas. In this presentation, we will describe the setupsimplemented by the QC testing sites to treat silicon strip sensors affected by static charge andevaluate the effectiveness of these setups in terms of improvement of the sensor performance.

Instruments & Instrumentation↗