Subsonic and supersonic refer to speed, like, an object could travel at less than the speed of sound in air (subsonic) or more than the speed of sound (supersonic).
Infrasonic and ultrasonic refer to a frequency, like the frequency is less than what humans can hear (less than 16 Hertz, too low a bass for us to hear), or higher than what humans can hear (more than 20,000 Hertz, higher pitch than what humans can hear).
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