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At least 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
DOE OSTI2019

Partitioned Coupling for Structural Acoustics

Here, we expand the second-order fluid–structure coupling scheme of Farhat et al. (1998, “Load and Motion Transfer Algorithms for 19 Fluid/Structure Interaction Problems With Non-Matching Discrete Interfaces: Momentum and Energy Conservation, Optimal Discretization and Application to Aeroelasticity,” Comput. Methods Appl. Mech. Eng., 157(1–2), pp. 95–114; 2006, “Provably Second-Order Time-Accurate Loosely-Coupled Solution Algorithms for Transient Nonlinear Computational Aeroelasticity,” Comput. Methods Appl. Mech. Eng., 195(17), pp. 1973–2001) to structural acoustics. The staggered structural acoustics solution method is demonstrated to be second-order accurate in time, and numerical results are compared to a monolithically coupled system. The partitioned coupling method is implemented in the Sierra Mechanics software suite, allowing for the loose coupling of time domain acoustics in SIERRA/SD to structural dynamics ( SIERRA/SD ) or solid mechanics ( SIERRA/SD ). The coupling is demonstrated to work for nonconforming meshes. Results are verified for a one-dimensional piston, and the staggered and monolithic results are compared to an exact solution. Huang, H. (1969, “Transient Interaction of Plane Acoustic Waves With a Spherical Elastic Shell,” J. Acoust. Soc. Am., 45(3), pp. 661–670) sphere scattering problem with a spherically spreading acoustic load demonstrates parallel capability on a complex problem. Our numerical results compare well for a bronze plate submerged in water and sinusoidally excited (Fahnline and Shepherd, 2017, “Transient Finite Element/Equivalent Sources Using Direct Coupling and Treating the Acoustic Coupling Matrix as Sparse,” J. Acoust. Soc. Am., 142(2), pp. 1011–1024).

42 ENGINEERING↗
DOE OSTI2016

TU-FG-BRB-08: Challenges, Limitations and Future Outlook Towards Clinical Translation of Proton Acoustic Range Verification

Purpose: To report our investigations of proton acoustic imaging, including computer simulations and preliminary experimental studies at clinical facilities. The ultimate achievable accuracy, sensitivity and clinical translation challenges are discussed. Methods: The acoustic pulse due to pressure rise was estimated using finite element model. Since the ionoacoustic pulse is highly dependent on the proton pulse width and energy, multiple pulse widths were studied. Based on the received signal spectrum at piezoelectric ultrasound transducer with consideration of random thermal noise, maximum spatial resolution of the proton-acoustic imaging modality was calculated. The simulation studies defined the design specifications of the system to detect proton acoustic signal from Hitachi and Mevion clinical machines. A 500 KHz hydrophone with 100 dB amplification was set up in a water tank placed in front of the proton nozzle A 40 MHz data acquisition was synchronized by a trigger signal provided by the machine. Results: Given 30–800 mGy dose per pulse at the Bragg peak, the minimum number of protons detectable by the proton acoustic technique was on the order of 10×10^6 per pulse. The broader pulse widths produce signal with lower acoustic frequencies, with 10 µs pulses producing signals with frequency less than 100 kHz. As the proton beam pulse width increases, a higher dose rate is required to measure the acoustic signal. Conclusion: We have established the minimal detection limit for protonacoustic range validation for a variety of pulse parameters. Our study indicated practical proton-acoustic range verification can be feasible with a pulse shorter than 10 µs, 5×10^6 protons/pulse, 50 nA beam current and a highly sensitive ultrasonic transducer. The translational challenges into current clinical machines include proper magnetic shielding of the measurement equipment, providing a clean trigger signal from the proton machine, providing a shorter proton beam pulse and higher dose per pulse.

60 APPLIED LIFE SCIENCES↗
NASA NTRS2017

Overview of the Acoustic Testing of the European Service Module Structural Test Article (E-STA)

The European Space Agency (ESA) and their prime contractor Airbus Defense Space (ADS) are developing the European Service Module (ESM) for integration and utilization with other modules of NASAs Orion Multi-Purpose Crew Vehicle. As part of this development, ESA, ADS, NASA and the Lockheed Martin Company performed a series of reverberant acoustic tests in April-May 2016 on the ESM Structural Test Article (E-STA), the mechanical mock-up of the ESM designated for mechanical tests. Testing the E-STA under acoustic qualification loads verifies whether it can successfully withstand the medium and high frequency mechanical environment occurring during the vehicles lift-off and atmospheric phases of flight. The testing occurred at the Reverberant Acoustic Test Facility (RATF) at the NASA Glenn Research Centers Plum Brook Station site in Sandusky, OH, USA. This highly successful acoustic test campaign excited the E-STA to acoustic test levels as high as 149.4 dB Overall Sound Pressure Level. This acoustic testing met all the ESA and ADSs test objectives, including establishing/verifying the random vibration qualification test levels for numerous hardware components of the ESM, and qualifying the ESMs Solar Array Wing electrical power system. This paper will address the test objectives, the test articles configuration, the test instrumentation and excitation levels, the RATF site and capabilities, the series of acoustic tests performed, and the technical issues faced and overcome to result in a successful acoustic test campaign for the ESM. A discussion of several test results is also included.

Qualification↗
NASA NTRS2017

Overview of the Acoustic Testing of the European Service Module Structural Test Article (E-STA)

The European Space Agency (ESA) and their prime contractor Airbus Defense Space (ADS) are developing the European Service Module (ESM) for integration and utilization with other modules of NASAs Orion Multi-Purpose Crew Vehicle. As part of this development, ESA, ADS, NASA and the Lockheed Martin Company performed a series of reverberant acoustic tests in April-May 2016 on the ESM Structural Test Article (E-STA), the mechanical mock-up of the ESM designated for mechanical tests. Testing the E-STA under acoustic qualification loads verifies whether it can successfully withstand the medium and high frequency mechanical environment occurring during the vehicles lift-off and atmospheric phases of flight. The testing occurred at the Reverberant Acoustic Test Facility (RATF) at the NASA Glenn Research Centers Plum Brook Station site in Sandusky, OH, USA. This highly successful acoustic test campaign excited the E-STA to acoustic test levels as high as 149.4 dB Overall Sound Pressure Level. This acoustic testing met all the ESA and ADSs test objectives, including establishingverifying the random vibration qualification test levels for numerous hardware components of the ESM, and qualifying the ESMs Solar Array Wing electrical power system. This paper will address the test objectives, the test articles configuration, the test instrumentation and excitation levels, the RATF site and capabilities, the series of acoustic tests performed, and the technical issues faced and overcome to result in a successful acoustic test campaign for the ESM. A discussion of several test results is also included.

Testing↗
NASA NTRS2017

Overview of the Acoustic Testing of the European Service Module Structural Test Article (E-STA)

The European Space Agency (ESA) and their prime contractor Airbus Defense Space (ADS) are developing the European Service Module (ESM) for integration and utilization with other modules of NASAs Orion Multi-Purpose Crew Vehicle. As part of this development, ESA, ADS, NASA and the Lockheed Martin Company performed a series of reverberant acoustic tests in April-May 2016 on the ESM Structural Test Article (E-STA), the mechanical mock-up of the ESM designated for mechanical tests. Testing the E-STA under acoustic qualification loads verifies whether it can successfully withstand the medium and high frequency mechanical environment occurring during the vehicles lift-off and atmospheric phases of flight. The testing occurred at the Reverberant Acoustic Test Facility (RATF) at the NASA Glenn Research Centers Plum Brook Station site in Sandusky, OH, USA. This highly successful acoustic test campaign excited the E-STA to acoustic test levels as high as 149.4 dB Overall Sound Pressure Level. This acoustic testing met all the ESA and ADSs test objectives, including establishingverifying the random vibration qualification test levels for numerous hardware components of the ESM, and qualifying the ESMs Solar Array Wing electrical power system. This paper will address the test objectives, the test articles configuration, the test instrumentation and excitation levels, the RATF site and capabilities, the series of acoustic tests performed, and the technical issues faced and overcome to result in a successful acoustic test campaign for the ESM. A discussion of several test results is also included.

Qualification↗
NASA NTRS2017

Examination of the Structural Response of the Orion European Service Module to Reverberant and Direct Field Acoustic Testing

The NASA Orion Multi-Purpose Crew Vehicle (MPCV), comprised of the Service Module, the Crew Module, and the Launch Abort System, is the next generation human spacecraft designed and built for deep space exploration. Orion will launch on NASAs new heavy-lift rocket, the Space Launch System. The European Space Agency (ESA) is responsible for providing the propulsion sub-assembly of the Service Module to NASA, called the European Service Module (ESM). The ESM is being designed and built by Airbus Safran Launchers for ESA. Traditionally, NASA has utilized reverberant acoustic testing for qualification of spaceflight hardware. The ESM Structural Test Article (E-STA) was tested at the NASA Plum Brook Stations (PBS) Reverberant Acoustic Test Facility in April-May 2016. However, Orion is evaluating an alternative acoustic test method, using direct field acoustic excitation, for the MPCVs Service Module and Crew Module. Lockheed Martin is responsible for the Orion proof-of-concept direct field acoustic test program. The E-STA was exposed to direct field acoustic testing at NASA PBS in February 2017. This paper compares the dynamic response of the E-STA structure and its components to both the reverberant and direct field acoustic test excitations. Advantages and disadvantages of direct field acoustic test excitation method are discussed.

Acoustics↗
NASA NTRS2017

Examination of the Structural Response of the Orion European Service Module to Reverberant and Direct Field Acoustic Testing

The NASA Orion Multi-Purpose Crew Vehicle (MPCV), comprised of the Service Module, the Crew Module, and the Launch Abort System, is the next generation human spacecraft designed and built for deep space exploration. Orion will launch on NASAs new heavy-lift rocket, the Space Launch System. The European Space Agency (ESA) is responsible for providing the propulsion sub-assembly of the Service Module to NASA, called the European Service Module (ESM). The ESM is being designed and built by Airbus Safran Launchers for ESA. Traditionally, NASA has utilized reverberant acoustic testing for qualification of spaceflight hardware. The ESM Structural Test Article (E-STA) was tested at the NASA Plum Brook Stations (PBS) Reverberant Acoustic Test Facility in April-May 2016. However, Orion is evaluating an alternative acoustic test method, using direct field acoustic excitation, for the MPCVs Service Module and Crew Module. Lockheed Martin is responsible for the Orion proof-of-concept direct field acoustic test program. The E-STA was exposed to direct field acoustic testing at NASA PBS in February 2017. This paper compares the dynamic response of the E-STA structure and its components to both the reverberant and direct field acoustic test excitations. Advantages and disadvantages of direct field acoustic test excitation method are discussed.

Acoustics↗
DOE OSTI2015

Separation of acoustic waves in isentropic flow perturbations

The present contribution investigates the mechanisms of sound generation and propagation in the case of highly-unsteady flows. Based on the linearisation of the isentropic Navier–Stokes equation around a new pathline-averaged base flow, it is demonstrated for the first time that flow perturbations of a non-uniform flow can be split into acoustic and vorticity modes, with the acoustic modes being independent of the vorticity modes. Therefore, we can propose this acoustic perturbation as a general definition of sound. As a consequence of the splitting result, we conclude that the present acoustic perturbation is propagated by the convective wave equation and fulfils Lighthill’s acoustic analogy. Moreover, we can define the deviations of the Navier–Stokes equation from the convective wave equation as “true” sound sources. In contrast to other authors, no assumptions on a slowly varying or irrotational flow are necessary. Using a symmetry argument for the conservation laws, an energy conservation result and a generalisation of the sound intensity are provided. - Highlights: • First splitting of non-uniform flows in acoustic and non-acoustic components. • These result leads to a generalisation of sound which is compatible with Lighthill’s acoustic analogy. • A closed equation for the generation and propagation of sound is given.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2014

Piezoelectric surface acoustical phonon amplification in graphene on a GaAs substrate

We study the interaction of Dirac Fermions in monolayer graphene on a GaAs substrate in an applied electric field by the combined action of the extrinsic potential of piezoelectric surface acoustical phonons of GaAs (piezoelectric acoustical (PA)) and of the intrinsic deformation potential of acoustical phonons in graphene (deformation acoustical (DA)). We find that provided the dc field exceeds a threshold value, emission of piezoelectric (PA) and deformation (DA) acoustical phonons can be obtained in a wide frequency range up to terahertz at low and high temperatures. We found that the phonon amplification rate R{sup PA,DA} scales with T{sub BG}{sup S−1} (S=PA,DA), T{sub BG}{sup S} being the Block−Gru{sup ¨}neisen temperature. In the high-T Block−Gru{sup ¨}neisen regime, extrinsic PA phonon scattering is suppressed by intrinsic DA phonon scattering, where the ratio R{sup PA}/R{sup DA} scales with ≈1/√(n), n being the carrier concentration. We found that only for carrier concentration n≤10{sup 10}cm{sup −2}, R{sup PA}/R{sup DA}>1. In the low-T Block−Gru{sup ¨}neisen regime, and for n=10{sup 10}cm{sup −2}, the ratio R{sup PA}/R{sup DA} scales with T{sub BG}{sup DA}/T{sub BG}{sup PA}≈7.5 and R{sup PA}/R{sup DA}>1. In this regime, PA phonon dominates the electron scattering and R{sup PA}/R{sup DA}<1 otherwise. This study is relevant to the exploration of the acoustic properties of graphene and to the application of graphene as an acoustical phonon amplifier and a frequency-tunable acoustical phonon device.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
DOE OSTI2015

Theoretical detection threshold of the proton-acoustic range verification technique

Purpose: Range verification in proton therapy using the proton-acoustic signal induced in the Bragg peak was investigated for typical clinical scenarios. The signal generation and detection processes were simulated in order to determine the signal-to-noise limits. Methods: An analytical model was used to calculate the dose distribution and local pressure rise (per proton) for beams of different energy (100 and 160 MeV) and spot widths (1, 5, and 10 mm) in a water phantom. In this method, the acoustic waves propagating from the Bragg peak were generated by the general 3D pressure wave equation implemented using a finite element method. Various beam pulse widths (0.1–10 μs) were simulated by convolving the acoustic waves with Gaussian kernels. A realistic PZT ultrasound transducer (5 cm diameter) was simulated with a Butterworth bandpass filter with consideration of random noise based on a model of thermal noise in the transducer. The signal-to-noise ratio on a per-proton basis was calculated, determining the minimum number of protons required to generate a detectable pulse. The maximum spatial resolution of the proton-acoustic imaging modality was also estimated from the signal spectrum. Results: The calculated noise in the transducer was 12–28 mPa, depending on the transducer central frequency (70–380 kHz). The minimum number of protons detectable by the technique was on the order of 3–30 × 10{sup 6} per pulse, with 30–800 mGy dose per pulse at the Bragg peak. Wider pulses produced signal with lower acoustic frequencies, with 10 μs pulses producing signals with frequency less than 100 kHz. Conclusions: The proton-acoustic process was simulated using a realistic model and the minimal detection limit was established for proton-acoustic range validation. These limits correspond to a best case scenario with a single large detector with no losses and detector thermal noise as the sensitivity limiting factor. Our study indicated practical proton-acoustic range verification may be feasible with approximately 5 × 10{sup 6} protons/pulse and beam current.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1971

Evaluation of acoustic testing techniques for spacecraft systems

External acoustic environments, structural responses, noise reductions, and the internal acoustic environments have been predicted for a typical shroud/spacecraft system during lift-off and various critical stages of flight. Spacecraft responses caused by energy transmission from the shroud via mechanical and acoustic paths have been compared and the importance of the mechanical path has been evaluated. Theoretical predictions have been compared extensively with available laboratory and in-flight measurements. Equivalent laboratory acoustic fields for simulation of shroud response during the various phases of flight have been derived and compared in detail. Techniques for varying the time-space correlations of laboratory acoustic fields have been examined, together with methods for varying the time and spatial distribution of acoustic amplitudes. Possible acoustic testing configurations for shroud/spacecraft systems have been suggested and trade-off considerations have been reviewed. The problem of simulating the acoustic environments versus simulating the structural responses has been considered and techniques for testing without the shroud installed have been discussed.

Cockburn, J. A.↗
NASA NTRS1983

Experimental determination of the particle motions associated with the low order acoustic modes in enclosures

A procedure for experimentally determining, in terms of the particle motions, the shapes of the low order acoustic modes in enclosures is described. The procedure is based on finding differentiable functions which approximate the shape functions of the low order acoustic modes when these modes are defined in terms of the acoustic pressure. The differentiable approximating functions are formed from polynomials which are fitted by a least squares procedure to experimentally determined values which define the shapes of the low order acoustic modes in terms of the acoustic pressure. These experimentally determined values are found by a conventional technique in which the transfer functions, which relate the acoustic pressures at an array of points in the enclosure to the volume velocity of a fixed point source, are measured. The gradient of the function which approximates the shape of a particular mode in terms of the acoustic pressure is evaluated to give the mode shape in terms of the particle motion. The procedure was tested by using it to experimentally determine the shapes of the low order acoustic modes in a small rectangular enclosure.

Byrne, K. P.↗
NASA NTRS1992

Numerical computation of steady-state acoustic disturbances in flow

Two time domain methods for computing two dimensional steady-state acoustic disturbances propagating through internal subsonic viscous flow fields in the presence of variable area are investigated. The first method solves the Navier-Stokes equations for the combined steady and acoustic field together and subtracts the steady flow to obtain the acoustic field. The second method solves a system of perturbation equations to obtain the acoustic disturbances, making use of a separate steady flow computation as input to the system. In each case the periodic steady-state acoustic fluctuations are obtained numerically on a supercomputer using a second order unsplit explicit MacCormack predictor-corrector method. Results show that the first method is not very effective for computing acoustic disturbances of even moderate amplitude. It appears that more accurate steady flow algorithms are required for this method to succeed. On the other hand, linear and nonlinear acoustic disturbances extracted from the perturbation approach are shown to exhibit expected behavior for the problems considered. It is also found that inflow boundary conditions for an equivalent uniform duct can be successfully applied to a nonuniform duct to obtain steady-state acoustic disturbances.

Watson, W. R.↗
NASA NTRS1992

Differential phase acoustic microscope for micro-NDE

A differential phase scanning acoustic microscope (DP-SAM) was developed, fabricated, and tested in this project. This includes the acoustic lens and transducers, driving and receiving electronics, scanning stage, scanning software, and display software. This DP-SAM can produce mechanically raster-scanned acoustic microscopic images of differential phase, differential amplitude, or amplitude of the time gated returned echoes of the samples. The differential phase and differential amplitude images provide better image contrast over the conventional amplitude images. A specially designed miniature dual beam lens was used to form two foci to obtain the differential phase and amplitude information of the echoes. High image resolution (1 micron) was achieved by applying high frequency (around 1 GHz) acoustic signals to the samples and placing two foci close to each other (1 micron). Tone burst was used in this system to obtain a good estimation of the phase differences between echoes from the two adjacent foci. The system can also be used to extract the V(z) acoustic signature. Since two acoustic beams and four receiving modes are available, there are 12 possible combinations to produce an image or a V(z) scan. This provides a unique feature of this system that none of the existing acoustic microscopic systems can provide for the micro-nondestructive evaluation applications. The entire system, including the lens, electronics, and scanning control software, has made a competitive industrial product for nondestructive material inspection and evaluation and has attracted interest from existing acoustic microscope manufacturers.

Waters, David D.↗
NASA NTRS1994

Properties of acoustic sources in the Sun

The power spectrum of solar acoustic oscillations shows peaks extending out to frequencies much greater than the acoustic cutoff frequency of approximately 5.3 mHz, where waves are no longer trapped. Kumar & Lu (1991) proposed that these peaks arise from the interference of traveling waves which are generated by turbulent convection. According to this model, the frequencies of the peaks in the power spectrum depend on the static structure of the Sun as well as the radial location of the sources. Kumar & Lu used this idea to determine the depth of the acoustic sources. However, they ignored dissipative effects and found that the theoretically computed power spectrum was falling off much more rapidly than the observed spectrum. In this paper, we include the interaction of radiation with acoustic waves in the computation of the power spectrum. We find that the theoretically calculated power spectra, when radiative damping is included are in excellent agreement with the observed power spectra over the entire observed frequency range of 5.3 to 7.5 mHz above the acoustic cutoff frequency. Moreover, by matching the peak frequencies in the observed and theoretical spectra we find the mean depth of acoustic sources to be 140 +/- 60 km below the photosphere. We show that the spectrum of solar turbulence near the top of the solar convection zone is consistent with the Kolmogorov spectrum, and that the observed high frequency power spectrum provides strong evidence that the acoustic sources in the Sun are quadrupolar. The data, in fact, rules out dipole sources as significant contributors to acoustic wave generation in the Sun. The radial extent of the sources is poorly determined and is estimated to be less than about 550 km.

Kumar, Pawan↗
NASA NTRS2000

Investigation of Acoustic Fields for the Cassini Spacecraft: Reverberant Versus Launch Environments

The characterization and understanding of the acoustic field within a launch vehicle's payload fairing (PLF) is critical to the qualification of a spacecraft and ultimately to the success of its mission. Acoustic measurements taken recently for the Cassini mission have allowed unique opportunities to advance the aerospace industry's knowledge in this field. Prior to its launch, the expected liftoff acoustic environment of the spacecraft was investigated in a full-scale acoustic test of a Titan IV PLF and Cassini simulator in a reverberant test chamber. A major goal of this acoustic ground test was to quantify and verify the noise reduction performance of special barrier blankets that were designed especially to reduce the Cassirii acoustic environment. This paper will describe both the ground test and flight measurements, and compare the Cassini acoustic environment measured during launch with that measured earlier in the ground test. Special emphasis will be given to the noise reduction performance of the barrier blankets and to the acoustic coherence measured within the PLF.

Hughes, William O.↗
NASA NTRS2006

Flight Acoustic Testing and For the Rotorcraft Noise Data Acquisition Model (RNM)

Two acoustic flight tests have been conducted on a remote test range at Eglin Air Force Base in the panhandle of Florida. The first was the "Acoustics Week" flight test conducted in September 2003. The second was the NASA Heavy Lift Rotorcraft Acoustics Flight Test conducted in October-November 2005. Benchmark acoustic databases were obtained for a number of rotorcraft and limited fixed wing vehicles for a variety of flight conditions. The databases are important for validation of acoustic prediction programs such as the Rotorcraft Noise Model (RNM), as well as for the development of low noise flight procedures and for environmental impact assessments. An overview of RNM capabilities and a detailed description of the RNM/ART (Acoustic Repropagation Technique) process are presented. The RNM/ART process is demonstrated using measured acoustic data for the MD600N. The RNM predictions for a level flyover speed sweep show the highest SEL noise levels on the flight track centerline occurred at the slowest vehicle speeds. At these slower speeds, broadband noise content is elevated compared to noise levels obtained at the higher speeds. A descent angle sweep shows that, in general, ground noise levels increased with increasing descent rates. Vehicle orientation in addition to vehicle position was found to significantly affect the RNM/ART creation of source noise semi-spheres for vehicles with highly directional noise characteristics and only mildly affect those with weak acoustic directionality. Based on these findings, modifications are proposed for RNM/ART to more accurately define vehicle and rotor orientation.

Burley, Casey L.↗
NASA NTRS2006

Flight Acoustic Testing and Data Acquisition For the Rotor Noise Model (RNM)

Two acoustic flight tests have been conducted on a remote test range at Eglin Air Force Base in the panhandle of Florida. The first was the Acoustics Week flight test conducted in September 2003. The second was the NASA Heavy Lift Rotorcraft Acoustics Flight Test conducted in October-November 2005. Benchmark acoustic databases were obtained for a number of rotorcraft and limited fixed wing vehicles for a variety of flight conditions. The databases are important for validation of acoustic prediction programs such as the Rotorcraft Noise Model (RNM), as well as for the development of low noise flight procedures and for environmental impact assessments. An overview of RNM capabilities and a detailed description of the RNM/ART (Acoustic Repropagation Technique) process are presented. The RNM/ART process is demonstrated using measured acoustic data for the MD600N. The RNM predictions for a level flyover speed sweep show the highest SEL noise levels on the flight track centerline occurred at the slowest vehicle speeds. At these slower speeds, broadband noise content is elevated compared to noise levels obtained at the higher speeds. A descent angle sweep shows that, in general, ground noise levels increased with increasing descent rates. Vehicle orientation in addition to vehicle position was found to significantly affect the RNM/ART creation of source noise semi-spheres for vehicles with highly directional noise characteristics and only mildly affect those with weak acoustic directionality. Based on these findings, modifications are proposed for RNM/ART to more accurately define vehicle and rotor orientation.

Conner, David A.↗