Engineering topics

Curtis, Scott

Publications and source records attributed to Curtis, Scott.

At least 19 records

NASA NTRS2007

A First Approach to Global Runoff Simulation using Satellite Rainfall Estimation

Many hydrological models have been introduced in the hydrological literature to predict runoff but few of these have become common planning or decision-making tools, either because the data requirements are substantial or because the modeling processes are too complicated for operational application. On the other hand, progress in regional or global rainfall-runoff simulation has been constrained by the difficulty of measuring spatiotemporal variability of the primary causative factor, i.e. rainfall fluxes, continuously over space and time. Building on progress in remote sensing technology, researchers have improved the accuracy, coverage, and resolution of rainfall estimates by combining imagery from infrared, passive microwave, and space-borne radar sensors. Motivated by the recent increasing availability of global remote sensing data for estimating precipitation and describing land surface characteristics, this note reports a ballpark assessment of quasi-global runoff computed by incorporating satellite rainfall data and other remote sensing products in a relatively simple rainfall-runoff simulation approach: the Natural Resources Conservation Service (NRCS) runoff Curve Number (CN) method. Using an Antecedent Precipitation Index (API) as a proxy of antecedent moisture conditions, this note estimates time-varying NRCS-CN values determined by the 5-day normalized API. Driven by multi-year (1998-2006) Tropical Rainfall Measuring Mission (TRMM) Multi-satellite Precipitation Analysis, quasi-global runoff was retrospectively simulated with the NRCS-CN method and compared to Global Runoff Data Centre data at global and catchment scales. Results demonstrated the potential for using this simple method when diagnosing runoff values from satellite rainfall for the globe and for medium to large river basins. This work was done with the simple NRCS-CN method as a first-cut approach to understanding the challenges that lie ahead in advancing the satellite-based inference of global runoff. We expect that the successes and limitations revealed in this study will lay the basis for applying more advanced methods to capture the dynamic variability of the global hydrologic process for global runoff monlto~ngin real time. The essential ingredient in this work is the use of global satellite-based rainfall estimation.

Hong, Yang↗

NASA NTRS2006

Tropical Rainfall Variability on Interannual-to-Interdecadal/Longer-Time Scales Derived from the GPCP Monthly Product

Global and large regional rainfall variations and possible long-term changes are examined using the 26-year (1979-2004) GPCP monthly dataset (Adler et al., 2003). Our emphasis is to discriminate among variations due to ENSO, volcanic events, and possible long-term climate changes in the tropics. Although the global linear change of precipitation in the data set is near zero during the time period, an increase in tropical rainfall is noted, with a weaker decrease over northern hemisphere middle latitudes. Focusing on the tropics (25degS-25degN), the data set indicates an upward trend (0.06 mm/day/decade) and a downward trend (-0.02 mm/day/decade) over tropical ocean and land, respectively. This corresponds to an about 4.9% increase (ocean) and 1.6% decrease (land) during the entire 26-year time period. Techniques are applied to isolate and quantify variations due to ENSO and two major volcanic eruptions (El Chichon, March 1982; Pinatubo, June 1991) in order to examine longer time-scale changes. The ENSO events generally do not impact the tropical total rainfall, but, of course, induce significant anomalies with opposite signs over tropical land and ocean. The impact of the two volcanic eruptions is estimated to be about a 5% reduction in tropical rainfall over both land and ocean. A modified data set (with ENSO and volcano effects removed) retains the same approximate linear change slopes, but with reduced variance, thereby increasing the confidence levels associated with the long-term rainfall changes in the tropics 2

Gu, Guojun↗

NASA NTRS2005

Global Precipitation Variations and Long-term Changes Derived from the GPCP Monthly Product

Global and large regional rainfall variations and possible long-term changes are examined using the 25-year (1979-2004) monthly dataset from the Global Precipitation Climatology Project (GPCP). The emphasis is to discriminate among the variations due to ENSO, volcanic events and possible long-term changes. Although the global change of precipitation in the data set is near zero, the data set does indicate an upward trend (0.13 mm/day/25yr) and a downward trend (-0.06 mm/day/25yr) over tropical oceans and lands (25S-25N), respectively. This corresponds to a 4% increase (ocean) and 2% decrease (land) during this time period. Techniques are applied to attempt to eliminate variations due to ENSO and major volcanic eruptions. The impact of the two major volcanic eruptions over the past 25 years is estimated to be about a 5% reduction in tropical rainfall. The modified data set (with ENSO and volcano effect removed) retains the same approximate change slopes, but with reduced variance leading to significance tests with results in the 90-95% range. Inter-comparisons between the GPCP, SSWI (1988-2004), and TRMM (1998-2004) rainfall products are made to increase or decrease confidence in the changes seen in the GPCP analysis.

Adler, Robert F.↗

NASA NTRS2004

The Global Distribution of Precipitation and Clouds

The water cycle is the key circuit moving water through the Earth's system. This large system, powered by energy from the sun, is a continuous exchange of moisture between the oceans, the atmosphere, and the land. Precipitation (including rain, snow, sleet, freezing rain, and hail), is the primary mechanism for transporting water from the atmosphere back to the Earth's surface and is the key physical process that links aspects of climate, weather, and the global water cycle. Global precipitation and associate cloud processes are critical for understanding the water cycle balance on a global scale and interactions with the Earth's climate system. However, unlike measurement of less dynamic and more homogenous meteorological fields such as pressure or even temperature, accurate assessment of global precipitation is particularly challenging due to its highly stochastic and rapidly changing nature. It is not uncommon to observe a broad spectrum of precipitation rates and distributions over very localized time scales. Furthermore, precipitating systems generally exhibit nonhomogeneous spatial distributions of rain rates over local to global domains.

Shepherd, J. Marshall↗

NASA NTRS2004

Precipitation Analysis at Fine Time Scales Using Multiple Satellites: Real-time and Research Products and Applications

Quasi-global precipitation analyses at fine time scales (3-hr) are described. TRMM observations (radar and passive microwave) are used to calibrate polar-orbit microwave observations from SSM/I (and other satellites instruments, including AMSR and AMSU) and geosynchronous IR observations. The individual data sets are then merged using a priority order based on quality to form the Multi-satellite Precipitation Analysis (MPA). Raingauge information is used to help constrain the satellite-based estimates over land. The TRMM standard research product (Version 6 3B-42 of the TRMM products) will be available for the entire TRMM period (January 1998-present) in 2004. The real-time version of this merged product has been produced over the past two years and is available on the U.S. TRMM web site (trmm.gsfc.nasa.gov) at 0.25" latitude-longitude resolution over the latitude range from 5O"N-5O0S. Validation of daily totals indicates good results, with limitations noted in mid-latitude winter over land and regions of shallow, orographic precipitation. Various applications of these estimates are described, including: 1) detecting potential floods in near real-time; 2) analyzing Indian Ocean precipitation variations related to the initiation of El Nino; 3) determining characteristics of the African monsoon; and 4) analysis of diurnal variations.

Adler, Robert↗

NASA NTRS2004

Precipitation Analysis at Fine Time Scales using TRMM and Other Satellites: Real-time and Research Products and Applications

Quasi-global precipitation analyses at fine time scales (3-hr) are described. TRMM observations (radar and passive microwave) are used to calibrate polar-orbit microwave observations from SSM/I (and other satellites instruments, including AMSR and AMSU) and geosynchronous IR observations. The individual data sets are then merged using a priority order based on quality to form the TRMM Multi-satellite Precipitation Analysis (MPA). Raingauge information is used to help constrain the satellite-based estimates over land. The TRMM standard research product (Version 6 3B-42 of the TRMM products) will be available for the entire TRMM period (January 1998-present) by the end of 2004. The real-time version of this merged product has been produced over the past two years and is available on the U.S. TRMM web site (trmm.gsfc.nasa.gov) at 0.25" latitude-longitude resolution over the latitude range from 5O0N-50"S. Validation of daily totals indicates good results, with limitations noted in mid-latitude winter over land and regions of shallow, orographic precipitation. Various applications of these estimates are described, includmg: 1) detecting potential floods in near real-time; 2) analyzing Indian Ocean precipitation variations related to the initiation of El Nino; 3) determining characteristics of the African monsoon; and 4) analysis of diurnal variations.

Adler, Robert↗

NASA NTRS2004

Precipitation Analysis at Fine Time Scales using TRMM and Other Satellites: Realtime and Research Products and Applications

Quasi-global precipitation analyses at fine time scales (3-hr) are described. TRMM observations (radar and passive microwave) are used to calibrate polar-orbit microwave observations from SSM/I (and other satellites instruments, including AMSR and AMSU) and geosynchronous IR observations. The individual data sets are then merged using a priority order based on quality to form the TRMM Multi-satellite Precipitation Analysis (MPA). Raingauge information is used to help constrain the satellite-based estimates over land. The TRMM standard research product (Version 6 3B-42 of the TRMM products) will be available for the entire TRMM period (January 1998-present) by the end of 2004. The real-time version of this merged product has been produced over the past two years and is available on the U.S. TRMM web site (trmm.gsfc.nasa.gov) at 0.25 deg latitude-longitude resolution over the latitude range from 50 deg N-50 deg S. Validation of daily totals indicates good results, with limitations noted in mid-latitude winter over land and regions of shallow, orographic precipitation. Various applications of these estimates are described, including: 1) detecting potential floods in near real-time; 2) analyzing Indian Ocean precipitation variations related to the initiation of El Nino; 3) determining characteristics of the African monsoon; and 4) analysis of diurnal variations.

Adler, Robert↗

NASA NTRS2003

Real-time, Quasi-Global, Multi-Satellite Precipitation Analysis Using TRMM and other Satellite Observations

A TRMM-based 3-hr analyses that use TRMM observations to calibrate polar-orbit microwave observations from SSM/I (and other satellites) and geosynchronous IR observations and merges the various calibrated observations into a final, 3-hr resolution map is described. This TRMM standard product will be available for the entire TRMM period (January 1998-present) in 2003 as part of Version 6 of the TRMM products. A real-time version of this merged product is being produced and is available at 0.25" latitude-longitude resolution over the latitude range from 50 N-500S. Examples will be shown, including its use in monitoring flood conditions and in relating weather-scale patterns to climate-scale patterns. Plans to incorporate the TRMM data and 3-hourly analysis into the Global Precipitation Climatology Project (GPCP) products are outlined. The outcome in the near future should be an improved global analysis and climatology on monthly scales for the 23 year period and finer time scale analyses for more recent periods, including 3-hourly analyses over the globe. These technique developments are potential prototypes for analyses with the Global Precipitation Measurement (GPM) mission.

Adler, Robert F.↗

NASA NTRS2003

Summer Synoptic-Scale Waves over Tropical West Africa Observed by TRMM

A 5-year daily rainfall dataset (3B42) from TRMM (Tropical Rainfall Measuring Mission) is used to investigate the activity and properties of westward-propagating synoptic-scale waves over tropical West Africa. Evident wave signals appearing in wavenumber-frequency space show their modulations on the surface rainfall pattern during the boreal summer. Interannual variability exists in both their intensity and spectral properties, i. e., dominant frequency and wavenumber ranges. These variabilities can be partly ascribed to year-to-year variations of their embedded large-scale environment, especially the status of mid-tropospheric African easterly jet (AEJ). Generally, a stronger (weaker) AEJ indicates more (less) instability energy yielding a stronger (weaker) wave activity season. Seasonal mean rainfall has shown an impact on these waves in some years. However, the impact is not as clear and consistent as AEJ, implying the complexity of their relationship with large-scale environment. To fully understand interannual variability of synoptic-scale waves over tropical West Africa, including the variability in their preferred frequencies and wavenumbers, it is therefore necessary to examine possible intra-seasonal variations existing in both wave activity and large-scale fields, in addition to their structure, propagation, and associated convection.

Starr, David O.↗

NASA NTRS2003

The Version 2 Global Precipitation Climatology Project (GPCP) Monthly Precipitation Analysis (1979-Present)

The Global Precipitation Climatology Project (GPCP) Version 2 Monthly Precipitation Analysis is described. This globally complete, monthly analysis of surface precipitation at 2.5 degrees x 2.5 degrees latitude-longitude resolution is available from January 1979 to the present. It is a merged analysis that incorporates precipitation estimates from low-orbit-satellite microwave data, geosynchronous-orbit-satellite infrared data, and rain gauge observations. The merging approach utilizes the higher accuracy of the low-orbit microwave observations to calibrate, or adjust, the more frequent geosynchronous infrared observations. The data set is extended back into the premicrowave era (before 1987) by using infrared-only observations calibrated to the microwave-based analysis of the later years. The combined satellite-based product is adjusted by the raingauge analysis. This monthly analysis is the foundation for the GPCP suite of products including those at finer temporal resolution, satellite estimate, and error estimates for each field. The 23-year GPCP climatology is characterized, along with time and space variations of precipitation.

Adler, Robert F.↗

NASA NTRS2003

Westerly Wind Events in the Eastern Indian Ocean as a Precursor to El Nino: A Case Study for the 2002-03 El Nino

This paper extends the work of our previous study, which showed the potential of using precipitation in the eastern Indian Ocean to predict when an El Nino would begin. The paper begins by showing the successful prediction of the 2002-03 El Nino. However, precipitation is really used as a substitute for wind (storms are usually accompanied by heavy wind), because a popular hypothesis is that winds (especially % winds out of the West) stir up the ocean surface in the western Pacific sending currents of warm waters to the east Pacific where El Ninos form. This paper shows that it is typical for storms that produce strong winds in the western Pacific to have traveled from the Indian Ocean. We begin in the Indian Ocean looking at strong bursts of wind over several days. The number of windy days seems to increase in the months prior to El Nino. We examined these relationships in detail for November 2001 to April 2002, before the recent El Nino, using NASA's TRMM and QuikSCAT data. We found in one case that a warming of the eastern Indian Ocean occurred about 25 days before heavy rainfall formed. As the stormed moved eastward it was followed (6 days later) by strong winds out of the West. The entire storm system (and warming of the sea) moved eastward through a small strip of water between Indonesia and Australia, before reaching the western Pacific. Thus, this paper increases our understanding of the physical processes leading to the formation of El Nino.

Curtis, Scott↗

NASA NTRS2003

African Easterly Waves and Their Association with Precipitation

Summer tropical synoptic-scale waves over West Africa are quantified by the 850 mb meridional wind component from the NCEP/NCAR reanalysis project. Their relationships with surface precipitation patterns are further explored by applying the data from the Tropical Rainfall Measuring Mission (TRMM) satellite in combination with other satellite observations during 1998-2002. Evident wavelet spectral power peaks are seen within a period of 2.5 - 6 days in both meridional wind and precipitation. The most intense wave signals in meridional wind are concentrated along 15 deg N- 25 deg N. Wave signals in precipitation and corresponding wavelet cross-spectral signals between these two variables, however, are primarily located at 5 deg N- 15 deg N, the latitudes of major summer rain events. There is a tendency for the perturbations in meridional wind component to lag (lead) precipitation signals south (north) of 15 deg N. In some cases, either an in-phase or out-of-phase relationship can even be found between these two variables, suggesting a latitude-dependent horizontal structure for these waves and probably implying two distinct wave-convective coupling mechanisms. Moreover, the lagging relationship (and/or the out-of-phase tendency) is only observed south of 15 deg N during July-September, indicating a strong seasonal preference. This phase relationship is generally consistent with the horizontal wave structures from a composite analysis.

Gu, Guo-Jun↗

NASA NTRS2002

The Evolution of El Nino-Precipitation Relationships from Satellites and Gauges

This study uses a twenty-three year (1979-2001) satellite-gauge merged community data set to further describe the relationship between El Nino Southern Oscillation (ENSO) and precipitation. The globally complete precipitation fields reveal coherent bands of anomalies that extend from the tropics to the polar regions. Also, ENSO-precipitation relationships were analyzed during the six strongest El Ninos from 1979 to 2001. Seasons of evolution, Pre-onset, Onset, Peak, Decay, and Post-decay, were identified based on the strength of the El Nino. Then two simple and independent models, first order harmonic and linear, were fit to the monthly time series of normalized precipitation anomalies for each grid block. The sinusoidal model represents a three-phase evolution of precipitation, either dry-wet-dry or wet-dry-wet. This model is also highly correlated with the evolution of sea surface temperatures in the equatorial Pacific. The linear model represents a two-phase evolution of precipitation, either dry-wet or wet-dry. These models combine to account for over 50% of the precipitation variability for over half the globe during El Nino. Most regions, especially away from the Equator, favor the linear model. Areas that show the largest trend from dry to wet are southeastern Australia, eastern Indian Ocean, southern Japan, and off the coast of Peru. The northern tropical Pacific and Southeast Asia show the opposite trend.

Curtis, Scott↗

NASA NTRS2002

Satellite Observations of Extremes in Precipitation

The 22 year, monthly, globally complete precipitation analysis of the World Climate Research Program's (WCRP/GEWEX) Global Precipitation Climatology Project (GPCP), the four year (1997-present) daily GPCP analysis and 3-hr semi-global analyses using Tropical Rainfall Measuring Mission (TRMM) data are used to study global and regional variations and trends during the 22 years and the shorter-time scale events that constitute those variations. The GPCP monthly data set shows no significant trend in global precipitation over the twenty years, unlike the positive trend in global surface temperatures over the past century. In terms of regional trends 1979 to 2000 the tropics have a distribution of regional rainfall trends that has an ENSO-like pattern with features of both the El Nino and La Nina. This feature is related to a possible trend in the frequency of ENSO events (either El Nino or La Nina) over the past 20 years. Monthly anomalies of precipitation are related to ENSO variations with clear signals extending into middle and high latitudes of both hemispheres. The El Nino and La Nina mean anomalies are near mirror images of each other and when combined produce an ENSO signal with significant spatial continuity over large distances. A number of the features are shown to extend into high latitudes Positive anomalies extend in the Southern Hemisphere (S.H.) from the Pacific southeastward across Chile and Argentina into the south Atlantic Ocean. In the Northern Hemisphere (N.H.) the counterpart feature extends across the southern U.S. and Atlantic Ocean into Europe. In the Southern Hemisphere an anomaly feature is shown to spiral into the Antarctica land mass. The extremes of ENSO-related anomalies are also examined and indicate that globally, during both El Nino and La Nina, more extremes of precipitation (both wet and dry) occur than during the "neutral" regime, with the El Nino regime showing larger magnitudes. The distribution is different for the globe as a whole and when the area is restricted to just land.

Adler, Robert F.↗

NASA NTRS2002

Global Precipitation Analyses at Time Scales of Monthly to 3-Hourly

Global precipitation analysis covering the last few decades and the impact of the new TRMM precipitation observations are discussed. The 20+ year, monthly, globally complete precipitation analysis of the World Climate Research Program's (WCRP/GEWEX) Global Precipitation Climatology Project (GPCP) is used to explore global and regional variations and trends and is compared to the much shorter TRMM (Tropical Rainfall Measuring Mission) tropical data set. The GPCP data set shows no significant trend in precipitation over the twenty years, unlike the positive trend in global surface temperatures over the past century. Regional trends are also analyzed. A trend pattern that is a combination of both El Nino and La Nina precipitation features is evident in the Goodyear data set. This pattern is related to an increase with time in the number of combined months of El Nino and La Nina during the Goodyear period. Monthly anomalies of precipitation are related to ENRON variations with clear signals extending into middle and high latitudes of both hemispheres. The GPCP daily, 1 degree latitude-longitude analysis, which is available from January 1997 to the present is described and the evolution of precipitation patterns on this time scale related to El Nino and La Nina is described. Finally, a TRMM-based Based analysis is described that uses TRMM to calibrate polar-orbit microwave observations from SSM/I and geosynchronous OR observations and merges the various calibrated observations into a final, Baehr resolution map. This TRMM standard product will be available for the entire TRMM period (January Represent). A real-time version of this merged product is being produced and is available at 0.25 degree latitude-longitude resolution over the latitude range from 50 deg. N -50 deg. S. Examples will be shown, including its use in monitoring flood conditions.

Adler, Robert F.↗

NASA NTRS2002

Satellite Observation of Extremes in Precipitation

The 22 year, monthly, globally complete precipitation analysis of the World Climate Research Program's (WCRP/GEWEX) Global Precipitation Climatology Project (GPCP), the four year (1997-present) daily GPCP analysis and 3-hr semi-global analyses using Tropical Rainfall Measuring Mission (TRMM) data are used to study global and regional variations and trends during the 22 years and the shorter-time scale events that constitute those variations. The GPCP monthly data set shows no significant trend in global precipitation over the twenty years, unlike the positive trend in global surface temperatures over the past century. In terms of regional trends 1979 to 2000 the tropics have a distribution of regional rainfall trends that has an ENSO-like pattern with features of both the El Nino and La Nina. This feature is related to a possible trend in the frequency of ENSO events (either El Nino or La Nina) over the past 20 years. Monthly anomalies of precipitation are related to ENSO variations with clear signals extending into middle and high latitudes of both hemispheres. The El Nino and La Nina mean anomalies are near mirror images of each other and when combined produce an ENSO signal with significant spatial continuity over large distances. A number of the features are shown to extend into high latitudes. Positive anomalies extend in the Southern Hemisphere (S.H.) from the Pacific southeastward across Chile and Argentina into the south Atlantic Ocean. In the Northern Hemisphere (N.H.) the counterpart feature extends across the southern U.S. and Atlantic Ocean into Europe. In the Southern Hemisphere an anomaly feature is shown to spiral into the Antarctica land mass. The extremes of ENSO-related anomalies are also examined and indicate that globally, during both El Nino and La Nina, more extremes of precipitation ( both wet and dry) occur than during the "neutral" regime, with the El Nino regime showing larger magnitudes. The distribution is different for the globe as a whole and when the area is restricted to just land. The data sets are also explored to monitor extremes in precipitation related to localized and regional flooding and the occurrence of droughts.

Adler, Robert F.↗

NASA NTRS2002

Interannual Variability of the Bimodal Distribution of Summertime Rainfall Over Central America and Tropical Storm Activity in the Far-Eastern Pacific

The summer climate of southern Mexico and Central America is characterized by a mid summer drought (MSD), where rainfall is reduced by 40% in July as compared to June and September. A mid-summer reduction in the climatological number of eastern Pacific tropical cyclones has also been noted. Little is understood about the climatology and interannual variability of these minima. The present study uses a novel approach to quantify the bimodal distribution of summertime rainfall for the globe and finds that this feature of the annual cycle is most extreme over Pan America and adjacent oceans. One dominant interannual signal in this region occurs the summer before a strong winter El Nino/Southern Oscillation ENSO. Before El Nino events the region is dry, the MSD is strong and centered over the ocean, and the mid-summer minimum in tropical cyclone frequency is most pronounced. This is significantly different from Neutral cases (non-El Nino and non-La Nina) when the MSD is weak and positioned over the land bridge. The MSD is highly variable for La Nina years, and there is not an obvious mid-summer minimum in the number of tropical cyclones.

Curtis, Scott↗

NASA NTRS2002

Global Precipitation Analysis Using Satellite Observations

Global precipitation analysis covering the last few decades and the impact of the new TRMM (Tropical Rainfall Measuring Mission) observations are reviewed in the context of weather and climate applications. All the data sets discussed are the result of mergers of information from multiple satellites and gauges, where available. The focus of the talk is on TRMM-based 3 hr. analyses that use TRMM to calibrate polar-orbit microwave observations from SSM/I (and other satellites) and geosynchronous IR observations and merges the various calibrated observations into a final, 3 hr. resolution map. This TRMM standard product will be available for the entire TRMM period (January 1998-present) at the end of 2002. A real-time version of this merged product is being produced and is available at 0.25 deg latitude-longitude resolution over the latitude range from 50 deg N-50 deg S. Examples will be shown, including its use in monitoring flood conditions and in relating weather-scale patterns to climate-scale patterns. The 3-hourly analysis is placed in the context of two research products of the World Climate Research Program's (WCRP/GEWEX) Global Precipitation Climatology Project (GPCP). The first is the 23 year, monthly, globally complete precipitation analysis that is used to explore global and regional variations and trends and is compared to the much shorter TRMM tropical data set. The GPCP data set shows no significant global trend in precipitation over the twenty years, unlike the positive trend in global surface temperatures over the past century. Regional trends are also analyzed. A trend pattern that is a combination of both El Nino and La Nina precipitation features is evident in the Goodyear data set. This pattern is related to an increase with time in the number of combined months of El Nino and La Nina during the 23 year period. Monthly anomalies of precipitation are related to ENSO variations with clear signals extending into middle and high latitudes of both hemispheres. Also shown is the GPCP daily, 1 deg latitude-longitude analysis, which is available from January 1997 to the present. Plans to incorporate the TRMM data and 3-hourly analysis into the GPCP products are outlined. The outcome should be an improved global analysis and climatology on monthly scales for the 23 year period and finer time scale analyses for more recent periods, including real-time 3-hourly (or finer) analyses over much of the globe.

Adler, Robert F.↗