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NASA NTRS2013

NASA Tech Briefs, Februrary 2013

Topics covered include: Measurements of Ultra-Stable Oscillator (USO) Allan Deviations in Space; Gaseous Nitrogen Orifice Mass Flow Calculator; Validation of Proposed Metrics for Two-Body Abrasion Scratch Test Analysis Standards; Rover Low Gain Antenna Qualification for Deep Space Thermal Environments; Automated, Ultra-Sterile Solid Sample Handling and Analysis on a Chip; Measuring and Estimating Normalized Contrast in Infrared Flash Thermography; Spectrally and Radiometrically Stable, Wideband, Onboard Calibration Source; High-Reliability Waveguide Vacuum/Pressure Window; Methods of Fabricating Scintillators With Radioisotopes for Beta Battery Applications; Magnetic Shield for Adiabatic Demagnetization Refrigerators (ADR); CMOS-Compatible SOI MESFETS for Radiation-Hardened DC-to-DC Converters; Silicon Heat Pipe Array; Adaptive Phase Delay Generator; High-Temperature, Lightweight, Self-Healing Ceramic Composites for Aircraft Engine Applications; Treatment to Control Adhesion of Silicone-Based Elastomers; High-Temperature Adhesives for Thermally Stable Aero-Assist Technologies; Rockballer Sample Acquisition Tool; Rock Gripper for Sampling, Mobility, Anchoring, and Manipulation; Advanced Magnetic Materials Methods and Numerical Models for Fluidization in Microgravity and Hypogravity; Data Transfer for Multiple Sensor Networks Over a Broad Temperature Range; Using Combustion Synthesis to Reinforce Berms and Other Regolith Structures; Visible-Infrared Hyperspectral Image Projector; Three-Axis Attitude Estimation With a High-Bandwidth Angular Rate Sensor Change_Detection.m; AGATE: Adversarial Game Analysis for Tactical Evaluation; Ionospheric Simulation System for Satellite Observations and Global Assimilative; Modeling Experiments (ISOGAME); An Extensible, User- Modifiable Framework for Planning Activities; Mission Operations Center (MOC) - Precipitation Processing System (PPS) Interface Software System (MPISS); Automated 3D Damaged Cavity Model Builder for Lower Surface Acreage Tile on Orbiter; Mixed Linear/Square-Root Encoded Single-Slope Ramp Provides Low-Noise ADC with High Linearity for Focal Plane Arrays; RUSHMAPS: Real-Time Uploadable Spherical Harmonic Moment Analysis for Particle Spectrometers; Powered Descent Guidance with General Thrust-Pointing Constraints; X-Ray Detection and Processing Models for Spacecraft Navigation and Timing; and Extreme Ionizing-Radiation-Resistant Bacterium

Source record↗

DOE OSTI2019

Surrogate-Based Robust Design for a Non-Smooth Radiation Source Detection Problem

In this paper, we develop and numerically illustrate a robust sensor network design to optimally detect a radiation source in an urban environment. This problem exhibits several challenges: penalty functionals are non-smooth due to the presence of buildings, radiation transport models are often computationally expensive, sensor locations are not limited to a discrete number of points, and source intensity and location responses, based on a fixed number of sensors, are not unique. We consider a radiation source located in a prototypical 250 m × 180 m urban setting. To address the non-smooth properties of the model and computationally expensive simulation codes, we employ a verified surrogate model based on radial basis functions. Using this surrogate, we formulate and solve a robust design problem that is optimal in an average sense for detecting source location and intensity with minimized uncertainty.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

NASA NTRSDate not supplied

Lunar Navigation Performance Using the Deep Space Network and Alternate Solutions to Support Precision Landing

As human exploration once again targets the surface of the Moon, questions continue to emerge regarding the necessity of Earth-based tracking systems, such as the Deep Space Network, for spacecraft navigation in support of lunar descent and landing. This paper will derive an extensive Deep Space Network sensor model for use in linear covariance analysis and demonstrate the resulting trajectory dispersions and navigation performance in comparison with alternate solutions, such as terrain relative navigation. An in-depth trade study with considerations for various trajectory profiles, time allocated to ground tracking, number of active ground stations, and interaction with other sensors will be conducted to shed significant insight into sensor suite requirements to ensure safe and precise landing on the Moon.

Navigation↗

DOE OSTI2018

Real-time Erosion-Corrosion Detection in Waste Transfer Pipelines using Guided Wave Ultrasonic Sensors - 18368

A Fitness-for-Service (FFS) program for the Waste Transfer System has been implemented by the United States Department of Energy Hanford Site Tank Farm to examine structural parameters of the waste transfer systems in order to develop erosion/corrosion rates for relevant system components. The FFS information is acquired from opportunistic evaluations of pipelines that have been removed from service. The objective is to deliver more realistic estimates to the remaining useful life of the components and incorporate those estimates into future design/testing plans across the DOE complex. To aid to this objective, previous efforts at Hanford included the installation of sensors on some of the POR 104 components, to provide real time pipe wall thickness measurements. Due to certain limitations, alternative approaches for remote permanently mounted pipe wall ultrasonic thickness measurement systems have been investigated by FIU. Present research work is a supportive effort by FIU-ARC for DOE and WRPS, which investigates the option for remote-permanently mount guided wave ultrasonic transducer (UT) systems for HLW pipe wall thickness measurements. Specific applications include straight sections, elbows and other fittings used in jumper pits, evaporators, and valve boxes. The proposed method will provide information that will assist engineers with understanding the failure potential of HLW transfer components due to corrosion and erosion. This information can assist in determining if and when lines need to be removed, saving time and resources on the unneeded excavation of transfer lines. This information will also assist engineers with designing new transfer systems by establishing more detailed/accurate guidelines governing the life expectancy of the transfer system and its components. In the previous work, FIU has investigated the use of various ultrasonic systems that are either commercially available or used previously at Hanford and selected the most promising systems for further evaluation. The down-selected system is the guided wave UT sensor system from Permasense which is a UK based manufacturer. It is an integrated wireless sensor network system which used a patented technology for the acoustic wave propagation and has proven applications in the oil and gas industries. Scope of the present research includes the initial verification and validation of the Permasense Guided Wave sensor system as a potential erosion/corrosion detection system for carbon steel pipelines under static conditions. In future, the real-time erosion/corrosion detection will be investigated by measuring the thinning of the pipe sections by circulating simulants and continuous monitoring. This is achieved by passing abrasive and caustic solutions through an in-house designed pipe loop system. Results obtained provide realistic wear rates on 2 inch and 3 inch carbon steel pipes with straight sections and elbows using the Permasense UT sensor system. Thus, the present research delivers solutions for sensor evaluations, conducts bench scale testing followed by data acquisition and analysis for corrosion and erosion assessment. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS2012

Adaptive Sampling of Time Series During Remote Exploration

This work deals with the challenge of online adaptive data collection in a time series. A remote sensor or explorer agent adapts its rate of data collection in order to track anomalous events while obeying constraints on time and power. This problem is challenging because the agent has limited visibility (all its datapoints lie in the past) and limited control (it can only decide when to collect its next datapoint). This problem is treated from an information-theoretic perspective, fitting a probabilistic model to collected data and optimizing the future sampling strategy to maximize information gain. The performance characteristics of stationary and nonstationary Gaussian process models are compared. Self-throttling sensors could benefit environmental sensor networks and monitoring as well as robotic exploration. Explorer agents can improve performance by adjusting their data collection rate, preserving scarce power or bandwidth resources during uninteresting times while fully covering anomalous events of interest. For example, a remote earthquake sensor could conserve power by limiting its measurements during normal conditions and increasing its cadence during rare earthquake events. A similar capability could improve sensor platforms traversing a fixed trajectory, such as an exploration rover transect or a deep space flyby. These agents can adapt observation times to improve sample coverage during moments of rapid change. An adaptive sampling approach couples sensor autonomy, instrument interpretation, and sampling. The challenge is addressed as an active learning problem, which already has extensive theoretical treatment in the statistics and machine learning literature. A statistical Gaussian process (GP) model is employed to guide sample decisions that maximize information gain. Nonsta tion - ary (e.g., time-varying) covariance relationships permit the system to represent and track local anomalies, in contrast with current GP approaches. Most common GP models are stationary, e.g., the covariance relationships are time-invariant. In such cases, information gain is independent of previously collected data, and the optimal solution can always be computed in advance. Information-optimal sampling of a stationary GP time series thus reduces to even spacing, and such models are not appropriate for tracking localized anomalies. Additionally, GP model inference can be computationally expensive.

Thompson, David R.↗

NASA NTRS1997

Smart-Pixel Array Processors Based on Optimal Cellular Neural Networks for Space Sensor Applications

A smart-pixel cellular neural network (CNN) with hardware annealing capability, digitally programmable synaptic weights, and multisensor parallel interface has been under development for advanced space sensor applications. The smart-pixel CNN architecture is a programmable multi-dimensional array of optoelectronic neurons which are locally connected with their local neurons and associated active-pixel sensors. Integration of the neuroprocessor in each processor node of a scalable multiprocessor system offers orders-of-magnitude computing performance enhancements for on-board real-time intelligent multisensor processing and control tasks of advanced small satellites. The smart-pixel CNN operation theory, architecture, design and implementation, and system applications are investigated in detail. The VLSI (Very Large Scale Integration) implementation feasibility was illustrated by a prototype smart-pixel 5x5 neuroprocessor array chip of active dimensions 1380 micron x 746 micron in a 2-micron CMOS technology.

Fang, Wai-Chi↗

NASA NTRS2003

Improved Testing Capability and Adaptability Through the Use of Wireless Sensors

From the first Saturn V rocket booster (S-II-T) testing in 1966 and the routine Space Shuttle Main Engine (SSME) testing beginning in 1975, to more recent test programs such as the X-33 Aerospike Engine, the Integrated Powerhead Development (IPD) program, and the Hybrid Sounding Rocket (HYSR), Stennis Space Center (SSC) continues to be a premier location for conducting large-scale testing. Central to each test program is the capability for sensor systems to deliver reliable measurements and high quality data, while also providing a means to monitor the test stand area to the highest degree of safety and sustainability. Sensor wiring is routed along piping and through cable trenches, making its way from the engine test area, through the test stand area and to the signal conditioning building before final transfer to the test control center. When sensor requirements lie outside the reach of the routine sensor cable routing, the use of wireless sensor networks becomes particularly attractive due to their versatility and ease of installation. As part of an on-going effort to enhance the testing capabilities of Stennis Space Center, the Test Technology and Development group has found numerous applications for its sensor-adaptable wireless sensor suite. While not intended for critical engine measurements or control loops, in-house hardware and software development of the sensor suite can provide improved testing capability for a range of applications including the safety monitoring of propellant storage barrels and as an experimental test-bed for embedded health monitoring paradigms.

Solano, Wanda M.↗

DOE OSTI2015

NetMOD Version 2.0 Mathematical Framework

NetMOD ( Net work M onitoring for O ptimal D etection) is a Java-based software package for conducting simulation of seismic, hydroacoustic and infrasonic networks. Network simulations have long been used to study network resilience to station outages and to determine where additional stations are needed to reduce monitoring thresholds. NetMOD makes use of geophysical models to determine the source characteristics, signal attenuation along the path between the source and station, and the performance and noise properties of the station. These geophysical models are combined to simulate the relative amplitudes of signal and noise that are observed at each of the stations. From these signal-to-noise ratios (SNR), the probabilities of signal detection at each station and event detection across the network of stations can be computed given a detection threshold. The purpose of this document is to clearly and comprehensively present the mathematical framework used by NetMOD, the software package developed by Sandia National Laboratories to assess the monitoring capability of ground-based sensor networks. Many of the NetMOD equations used for simulations are inherited from the NetSim network capability assessment package developed in the late 1980s by SAIC (Sereno et al., 1990).

58 GEOSCIENCES↗

DOE OSTI2015

The Emerging Interdependence of the Electric Power Grid & Information and Communication Technology

This paper examines the implications of emerging interdependencies between the electric power grid and Information and Communication Technology (ICT). Over the past two decades, electricity and ICT infrastructure have become increasingly interdependent, driven by a combination of factors including advances in sensor, network and software technologies and progress in their deployment, the need to provide increasing levels of wide-area situational awareness regarding grid conditions, and the promise of enhanced operational efficiencies. Grid operators’ ability to utilize new and closer-to-real-time data generated by sensors throughout the system is providing early returns, particularly with respect to management of the transmission system for purposes of reliability, coordination, congestion management, and integration of variable electricity resources such as wind generation.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2016

Collection of low-grade waste heat for enhanced energy harvesting

Enhanced energy harvesting through the collection of low-grade waste heat is experimentally demonstrated. A structural optimization technique is exploited in the design of a thermal-composite substrate to guide and gather the heat emanating from multiple sources to a predetermined location. A thermoelectric generator is then applied at the selected focusing region to convert the resulting low-grade waste heat to electrical power. The thermal characteristics of the device are experimentally verified by direct temperature measurements of the system and numerically validated via heat conduction simulations. Electrical performance under natural and forced convection is measured, and in both cases, the device with optimized heat flow control plus energy harvesting demonstrates increased power generation when compared with a baseline waste heat recovery system. Electronics applications include energy scavenging for autonomously powered sensor networks or self-actuated devices.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗

NASA NTRS2004

Wind Tunnel Test of an RPV with Shape-Change Control Effector and Sensor Arrays

A variety of novel control effector concepts have recently emerged that may enable new approaches to flight control. In particular, the potential exists to shift the composition of the typical aircraft control effector suite from a small number of high authority, specialized devices (rudder, aileron, elevator, flaps), toward larger numbers of smaller, less specialized, distributed device arrays. The concept envisions effector and sensor networks composed of relatively small high-bandwidth devices able to simultaneously perform a variety of control functions using feedback from disparate data sources. To investigate this concept, a remotely piloted flight vehicle has been equipped with an array of 24 trailing edge shape-change effectors and associated pressure measurements. The vehicle, called the Multifunctional Effector and Sensor Array (MESA) testbed, was recently tested in NASA Langley's 12-ft Low Speed wind tunnel to characterize its stability properties, control authorities, and distributed pressure sensitivities for use in a dynamic simulation prior to flight testing. Another objective was to implement and evaluate a scheme for actively controlling the spanwise pressure distribution using the shape-change array. This report describes the MESA testbed, design of the pressure distribution controller, and results of the wind tunnel test.

Raney, David L.↗

DOE OSTI2015

Wireless Sensor Node Power Profiling Based on IEEE 802.11 and IEEE 802.15.4 Communication Protocols. Modeling and Simulation

Most wireless sensor network (comprising of thousands of WSNs) applications require operation over extended periods of time beginning with their deployment. Network lifetime is extremely critical for most applications and is one of the limiting factors for energy-constrained networks. Based on applications, there are wide ranges of different energy sources suitable for powering WSNs. A battery is traditionally used to power WSNs. The deployed WSN is required to last for long time. Due to finite amount of energy present in batteries, it is not feasible to replace batteries. Recently there has been a new surge in the area of energy harvesting were ambient energy in the environment can be utilized to prolong the lifetime of WSNs. Some of the sources of ambient energies are solar power, thermal gradient, human motion and body heat, vibrations, and ambient RF energy. The design and development of TEGs to power WSNs that would remain active for a long period of time requires comprehensive understanding of WSN operational. This motivates the research in modeling the lifetime, i.e., power consumption, of a WSN by taking into consideration various node and network level activities. A WSN must perform three essential tasks: sense events, perform quick local information processing of sensed events, and wirelessly exchange locally processed data with the base station or with other WSNs in the network. Each task has a power cost per unit tine and an additional cost when switching between tasks. There are number of other considerations that must also be taken into account when computing the power consumption associated with each task. The considerations includes: number of events occurring in a fixed active time period and the duration of each event, event-information processing time, total communication time, number of retransmission, etc. Additionally, at the network level the communication of information data packets between WSNs involves collisions, latency, and retransmission, which result in unanticipated power losses. This report focuses rigorous stochastic modeling of power demand for a schedule-driven WSN utilizing Institute of Electrical and Electronics Engineers 802.11 and 802.15.4 communication protocols. The model captures the generic operation of a schedule-driven WSN when an external event occurs, i.e., sensing, following by processing, and followed by communication. The report will present development of an expression to compute the expected energy consumption per operational cycle of a schedule-driven WSN by taking into consideration the node level activities, i.e., sensing and processing, and the network level activities, i.e., channel access, packet collision, retransmission attempts, and transmission of a data packet.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2024

A comparison of smartphone and infrasound microphone data from a fuel air explosive and a high explosive

For prompt detection of large (>1 kt) above-ground explosions, infrasound microphone networks and arrays are deployed at surveyed locations across the world. Denser regional and local networks are deployed for smaller explosions, however, they are limited in number and are often deployed temporarily for experiments. With the expanded interest in smaller yield explosions targeted at vulnerable areas such as population centers and key infrastructures, the need for more dense microphone networks has increased. An “attritable” (affordable, reusable, and replaceable) and flexible alternative can be provided by smartphone networks. Explosion signals from a fuel air explosive (thermobaric bomb) and a high explosive with trinitrotoluene equivalent yields of 6.35 and 3.63 kg, respectively, were captured on both an infrasound microphone and a network of smartphones. The resulting waveforms were compared in time, frequency, and time-frequency domains. The acoustic waveforms collected on smartphones produced a filtered explosion pulse due to the smartphone's diminishing frequency response at infrasound frequencies (<20 Hz) and was found difficult to be used with explosion characterization methods utilizing waveform features (peak overpressure, impulse, etc.). However, the similarities in time frequency representations and additional sensor inputs are promising for other explosion signal identification and analysis. As an example, a method utilizing the relative acoustic amplitudes for source localization using the smartphone sensor network is presented.

47 OTHER INSTRUMENTATION↗

DOE OSTI2020

Islanding Detection in Rural Distribution Systems

This paper summarizes the literature on detection of islanding resulting from distributed generating capabilities in a power distribution system, with emphasis on the rural distribution systems. It is important to understand the legacy technology and equipment in the rural distribution electrical environment due to the growth of power electronics and the potential for adding the new generations of intelligent sensors. The survey identified four areas needing further research: 1. Robustness in the presence of distribution grid disturbances; 2. the future role of artificial intelligence in the islanding application; 3. more realistic standard tests for the emerging electrical environment; 4. smarter sensors. In addition, this paper presents a synchro-phasor-based islanding detection approach based on a wireless sensor network developed by the University of Texas at Austin. Initial test results in a control hardware-in-the-loop (CHIL) simulation environment suggest the effectiveness of the developed method.

24 POWER TRANSMISSION AND DISTRIBUTION↗

DOE OSTI2021

Persistent Acoustic Sensing for Monitoring A Reactor Facility

Measurements over the past few years, taking place within the Multi-Informatics for Nuclear Operations Scenarios project, show that infrasound and low-frequency acoustic monitoring can detect, and often quantify, activities that occur on-site at the High Flux Isotope Reactor. Observable activities include: crane translation, lifting, and lowering; differentiation between loaded and unloaded crane operations; access door opening and closing; vehicle operations; and cooling tower fan operations. Advanced data analytic and spectral feature extraction methods can be used to interpret selected signatures to reach a deeper understanding of different reactor activities. These measurements are being conducted using a network of smartphones that continuously operate in conjunction with cloud-based architectures. A recent addition to the system is the development and deployment of a real-time, cloud-based analytic framework that supports near-real-time alarming which can facilitate tip-and-cue protocols. This paper presents recent research in this area including the use of low-frequency acoustics to tip-off transfer operations and cue a more comprehensive analysis by other sensor networks.

42 ENGINEERING↗

NASA NTRSDate not supplied

Entry, Descent, and Landing Analysis of Low Mass Martian Probe for Surface Climate Network

Aeolus is a mission to provide the first direct measurements of Martian atmospheric wind speeds and correlate them with thermal and compositional data to bring together a complete systematic description for the global energy balance and climate cycles of Mars. Objective A of the Mars Exploration Program Analysis Group (MEPAG) Goal II cites a Science Investigation Area to develop a network of surface landers to provide global, diurnal and synoptic coverage of the near-surface environment to characterize present Mars climate [1]. Aeolus will characterize the present Martian global climate system via an orbiter element and a novel surface network element. A series of low mass, low power probes will be distributed across the Martian surface and measure pressure, sky opacity, temperature, wind speed, water vapor and other trace gases. Low mass and power electrical systems designed to operate in extreme cold and daily thermal cycling for one Martian year could facilitate lower cost, Class-D science probes. Aeolus is targeting a total per-probe mass of <5 kg. Recent advances in nanofabrication of chip-scale sensors that are highly robust to temperature and shock, combined with a novel packaging concept (the deployable sensor probe [2]) originally developed by the Aerospace Corp., for the first time enables a Mars surface climate sensor network. These probes are folded flat during transit to Mars and automatically deploy into the final reentry configuration once released from the orbiter. The capability to fold for stowage significantly increases the probe quantity carried by the orbiter.

EDL↗

NASA NTRS2019

Carbon Nanotube Gas Sensor Using Neural Networks

The need to identify the presence and quantify the concentrations of gases and vapors is ubiquitous in NASA missions and societal applications. Sensors for air quality monitoring in crew cabins and ISS have been actively under development (Ref. 1). In particular, measuring the concentration of CO2 and NH3 is important because high concentrations of these gases pose a risk to ISS crew health. Detection of fuel and oxidant leaks in crew vehicles is critical for ensuring mission safety. Accurate gas and vapor concentrations can be measured, but this typically requires bulky and expensive instrumentation. Recently, inexpensive sensors with low power demands have been fabricated for use on the International Space Station (ISS). Carbon Nanotube (CNT) based chemical sensors are one type of these sensors. CNT sensors meet the requirements for low cost and ease of fabrication for deployment on the ISS. However, converting the measured signal from the sensors to human readable indicators of atmospheric air quality and safety is challenging. This is because it is difficult to develop an analytical model that maps the CNT sensor output signal to gas concentration. Training a neural network on CNT sensor data to predict gas concentration is more effective than developing an analytic approach to calculate the concentration from the same data set. With this in mind a neural network was created to tackle this challenge of converting the measured signal into CO2 and NH3 concentration values.

Norman, Thaddeus J.↗

DOE OSTI2019

Realized ecological forecast through an interactive Ecological Platform for Assimilating Data (EcoPAD, v1.0) into models

Abstract. Predicting future changes in ecosystem services is not only highly desirable but is also becoming feasible as several forces (e.g., available big data, developed data assimilation (DA) techniques, and advanced cyber-infrastructure) are converging to transform ecological research into quantitative forecasting. To realize ecological forecasting, we have developed an Ecological Platform for Assimilating Data (EcoPAD, v1.0) into models. EcoPAD (v1.0) is a web-based software system that automates data transfer and processing from sensor networks to ecological forecasting through data management, model simulation, data assimilation, forecasting, and visualization. It facilitates interactive data–model integration from which the model is recursively improved through updated data while data are systematically refined under the guidance of model. EcoPAD (v1.0) relies on data from observations, process-oriented models, DA techniques, and the web-based workflow. We applied EcoPAD (v1.0) to the Spruce and Peatland Responses Under Climatic and Environmental change (SPRUCE) experiment in northern Minnesota. The EcoPAD-SPRUCE realizes fully automated data transfer, feeds meteorological data to drive model simulations, assimilates both manually measured and automated sensor data into the Terrestrial ECOsystem (TECO) model, and recursively forecasts the responses of various biophysical and biogeochemical processes to five temperature and two CO 2 treatments in near-real time (weekly). Forecasting with EcoPAD-SPRUCE has revealed that mismatches in forecasting carbon pool dynamics are more related to model (e.g., model structure, parameter, and initial value) than forcing variables, opposite to forecasting flux variables. EcoPAD-SPRUCE quantified acclimations of methane production in response to warming treatments through shifted posterior distributions of the CH 4 :CO 2 ratio and the temperature sensitivity ( Q 10 ) of methane production towards lower values. Different case studies indicated that realistic forecasting of carbon dynamics relies on appropriate model structure, correct parameterization, and accurate external forcing. Moreover, EcoPAD-SPRUCE stimulated active feedbacks between experimenters and modelers to identify model components to be improved and additional measurements to be taken. It has become an interactive model–experiment (ModEx) system and opens a novel avenue for interactive dialogue between modelers and experimenters. Altogether, EcoPAD (v1.0) acts to integrate multiple sources of information and knowledge to best inform ecological forecasting.

54 ENVIRONMENTAL SCIENCES↗