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NASA NTRS2022

A Rideshare Tensegrity Rover Concept to Explore Titan’s Lands and Oceans

The Tension Adjustable Network for Deploying Entry Membrane (TANDEM) concept is a phase II NASA Innovative Advanced Concepts (NIAC) project. One of the goals for this project was to extend the application of tensegrity-based rovers to a rideshare concept for a Titan mission. This report provides preliminary details of the TANDEM concept for Titan. System analyses of the entry vehicle were performed and compared to data from the Huygens mission to Titan. The entry aeroshell was based on Huygens and Stardust aeroshells. Modeling, simulation and design of the tensegrity deployment were performed using a nonlinear optimization form-finding algorithm. Lastly, a neuroevolution-based machine learning control strategy was applied, which produced efficient rolling locomotion gaits.

tensegrity↗
NASA NTRSDate not supplied

Novel Observing Strategies (NOS) and Earth System Digital Twins (ESDT) for Disaster Resilience

"Earth systems have now been observed continuously for more than 50 years, not only from space but also from airplanes, balloons and in-situ sensors. With the addition of commercial remote sensing providers, many more Internet-of-Things sensors and new NASA and international observatories being planned, these incredible amounts of data will soon be augmented by even larger amounts of diverse data and therefore will become more and more difficult to access, integrate, understand and utilize. At the same time, because of climate change and its impacts, in order to predict, manage, and mitigate the effects of extreme science events and disasters, the information produced by all of this data needs to be optimized, organized and analyzed in such a way that it can be utilized by traditional as well as many new non-traditional users. This calls for the development of observing systems that are agile, coordinated and responsive to events of interest, and for information systems to be dynamic, interactive and fast. With these objectives in mind, the Advanced Information Systems Technology (AIST) Program has been developing technologies that will allow for the development of Novel Observing Strategies (NOS) in a distributed, coordinated fashion (i.e., similar to an “Internet-of-Earth-Things”), as well as for the development of novel information systems or Earth System Digital Twins (ESDT) that will build a digital replica of the past and current states of the Earth systems, will derive forecasts of future states under nominal assumptions and will also offer the capability to investigate many hypothetical evolution scenarios under varying impact assumptions. Both NOS and ESDT will be facilitated by the unprecedented advances of Artificial Intelligence technologies, especially Machine Learning (ML), for extracting relevant information from these large amounts of data, for fusing and assimilating diverse data together and for running complex models faster. Together NOS and ESDT will help build the capabilities needed to anticipate, predict and mitigate the effects of future disasters."

Earth Science Remote Sensing; Information Systems↗
NASA NTRSDate not supplied

Investigating the Use of Machine Learning (ML) to Assess Tropospheric Doppler Radar Wind Profiler (TDRWP) Data Quality

Manual Quality Control (MQC) of Tropospheric Doppler Radar Wind Profiler (TDRWP) data is essential for defining an accurate climatology for downstream aerospace vehicle assessments. MQC traditionally takes around 30.5 hours per year of radar data. The Marshall Space Flight Center Natural Environments Branch (MSFC NE) used machine learning (ML) to test the feasibility of automating the MQC process, showing a potential to reduce labor by 300%. However, analysis of the model showed some false positives. We compared a neural network to the model to validate it and develop a process for assessing comparable solutions in the future.

Corey Walker↗
NASA NTRS1982

IAC control system analysis development

The MultiOptimal Differential Equation Language (MODEL) is described. It provides a means for generating numerical solutions to systems of differential equations using a digital computer. The notation of this language is similar to that usually used in describing physical systems by differential equations. Thus, the learning process is simplified, programming becomes easier, and debugging is more readily accomplished. Programs written in the MultiOptimal Differential Equation Language are machine translated into FORTRAN 4 code which is optimal in several respects. The interactive version of MODEL makes use of interactive system routines so that the user may observe the solution as it is being generated and interact with the program in a manner similar to that associated with analog simulation. The DISCOS-Control version of the MODEL simulation language is used to describe the control system for a plant which is modelled by the DISCOS program. DISCOS plant variables may be referenced in the control system description and all the sensor signals, coupling torques, momentum devices and external loads are automatically linked to the DISCOS plant model.

Frisch, H. P.↗
NASA NTRS2020

Ellicott City Disasters II - Building a Real-Time Predictive Flood Model for Improving Early Warning Systems in Ellicott City, Maryland

As flood events in the United States grow in frequency and intensity, the uses of applied remote sensing analyses are increasingly necessary for effective flood monitoring and warning systems. The NASA DEVELOP Ellicott City Disasters III project investigated the use of machine learning for applications in flood risk detection to support the improvement of early warning systems in Ellicott City, Maryland. To strengthen the efforts of the Howard County Office of Emergency Management (OEM) in building a more robust flood monitoring system, this term built on the predictive capability of the long-short term memory (LSTM) model created by the second term of this DEVELOP project to create a Sequentially Trained Real-time EstimAted Model (STREAM). Enhancements to the model included the integration of both real-time and predicted weather products from the National Weather Service to increase predictive capacity. These weather products were supplemented by stream gauge data from the OEM as well as real-time radar products. The resultant flood risk model was trained to evaluate input variables and predict stage height in Ellicott City in real time. The model, upgraded to predict stage height up to 8 hours in advance, was incorporated into an online dashboard in a user-friendly interface. The project demonstrated the potential for integration of open data and NASA Earth observations into a flood risk forecasting tool capable of informing real-time decision-making.

Erika Munshi↗
NASA NTRS2020

Ellicott City Disasters III: Building a Real-Time Statistical Flood Model for Improving Early Warning Systems in Ellicott City, Maryland

As flood events in the United States grow in frequency and intensity, the uses of applied remote sensing analyses are increasingly necessary for effective flood monitoring and warning systems. The NASA DEVELOP Ellicott City Disasters III project investigated the use of machine learning for applications in flood risk detection to support the improvement of early warning systems in Ellicott City, Maryland. To strengthen the efforts of the Howard County Office of Emergency Management (OEM) in building a more robust flood monitoring system, this term built on the predictive capability of the long-short term memory (LSTM) model created by the second term of this DEVELOP project to create a Sequentially Trained Real-time EstimAted Model (STREAM). Enhancements to the model included the integration of both real-time and predicted weather products from the National Weather Service to increase predictive capacity. These weather products were supplemented by stream gauge data from the OEM as well as real-time radar products. The resultant flood risk model was trained to evaluate input variables and predict stage height in Ellicott City in real time. The model, upgraded to predict stage height up to 8 hours in advance, was incorporated into an online dashboard in a user-friendly interface. The project demonstrated the potential for integration of open data and NASA Earth observations into a flood risk forecasting tool capable of informing real-time decision-making.

Erika Munshi↗
NASA NTRSDate not supplied

Developing Concepts of Operations Using Multi-Step Tool Techniques With Large Language Models

The National Aeronautics and Space Administration (NASA) Air Mobility Pathfinders (AMP) project is developing and evaluating concepts of operations (ConOps) for safe, secure, and scalable Urban Air Mobility (UAM) operations. The AMP project’s Operational Concepts, Architecture, and Requirements Integration (OCARI) Team is using a Model Based System Engineering (MBSE) approach for integration, interoperability, and traceability of Advanced Air Mobility (AAM) ecosystems centered around urban air taxi services. The team’s goal is to define structures and behaviors needed for system feasibility, readiness, and interoperability, establish a UAM knowledge base, and trace and validate assumptions and requirements relevant to AAM. NASA Langley Research Center (LaRC) is spearheading an innovative digital engineering approach to integrate, communicate, and facilitate the research of multi-modal transportation systems. The Knowledge-based Digital Platform (KbDP) is a concept being developed that ties the workflows of Project Managers (PM), Principal Investigators (PI), and System Engineers together across organizational boundaries. It does so through the management of an information database defined by mathematical, data science, and system engineering principles. Machine Learning (ML) algorithms play a key role in this concept by extracting meaningful knowledge from relational and graph databases, document repositories, and system artifacts, which the human user leverages to greatly improve the efficiency and effectiveness of their research. Recent advancements in the field of Large Language Models (LLMs), specifically models trained for tool use, such as Command-R , now allow for the reliable implementation of single-step and multi-step tool-centric systems. These techniques provide the LLM with a set of tools, in our case Python functions, that can be called on to answer a much wider range of questions compared to LLMs implemented using a traditional single-source or Retrieval Augmented Generation (RAG) approach. Through this method, the LLM can pull information from multiple data sources, such as relational or graph databases, document repositories, application programming interfaces (APIs), and SysML artifacts depending on the user’s question. The LLM can also output the information in a variety of different formats, using output generation tools, such as CSV, UML, or SysML artifacts. Additionally, tools can be assigned roles and can work together to provide answers to queries in an “agent” like approach, similar to that implemented by Microsoft’s AutoGen framework where different agents can converse with each other to accomplish tasks. Previously, our team developed a chatbot system with “agent like” functionality in the form of different “modes” the user could select from a user interface (UI), this architecture can be seen on the left in figure 1. Three different modes were implemented, the first mode allowed the LLM to utilize the structures and algorithms within a graph database to trace UAM requirements. The second mode gave the LLM access to a vector search capable of providing relevant information from thousands of document pages related to UAM ConOps and requirements. The third mode served as a general assistant where users could enter open-ended questions and custom prompts to utilize the LLM for different use-cases. This system improved the process surrounding generating and analyzing information related to UAM requirements, however, the implementation provided a clunky user experience. Users were required to know what mode to select within the UI in advance before entering their question to the selected tool. Moreover, the different tools were isolated from each other, they lacked bidirectional links that would allow for tools to collaborate to generate better responses. Our team is working on a new architecture, seen on the right in the below figure, with the goal to address many of the UX shortcomings of our original system while improving the accuracy and depth of responses from the LLM. This new system will automatically select the appropriate tool to use based off the user’s question. Each tool will be capable of calling on any of the other tools available to the LLM, resulting in a collaborative pipeline where tools can pass data between other tools until enough data is received to generate an answer to the user’s question. Using a locally deployed, open-source, LLM, the NASA OCARI team, in collaboration with Collins Aerospace, will implement a prototype application that will bridge knowledge across multiple sources to assist System Engineers (SEs) with requirements discovery and tracing, research question and use case identification, and assumption validation. Such a system will also allow SEs to more easily, and intuitively, explore the AAM ecosystem, ultimately improving the efficiency and effectiveness of the SE's research and decision-making processes surrounding ConOps development and validation. In this session, our team will provide a video demonstration of our new prototype architecture in action. We will also present an overview of our prototype system architecture and talk about its advantages over traditional LLM deployments along with how those advantages can provide additional value to the field of System Engineering.

systems engineering↗
NASA NTRS1972

A robot conditioned reflex system modeled after the cerebellum.

Reduction of a theory of cerebellar function to computer software for the control of a mechanical manipulator. This reduction is achieved by considering the cerebellum, along with the higher-level brain centers which control it, as a type of finite-state machine with input entering the cerebellum via mossy fibers from the periphery and output from the cerebellum occurring via Purkinje cells. It is hypothesized that the cerebellum learns by an error-correction system similar to Perceptron training algorithms. An electromechanical model of the cerebellum is then developed for the control of a mechanical arm. The problem of modeling the granular layer which selects the set of parallel fibers which are active at any instant of time is considered, and a relevance matrix is constructed to model the relative degree of influence which mossy fibers from the various joints have on the sets of granule cells unique to each joint.

Albus, J. S.↗
NASA NTRS1994

Automatic cataloguing and characterization of Earth science data using SE-trees

In the future, NASA's Earth Observing System (EOS) platforms will produce enormous amounts of remote sensing image data that will be stored in the EOS Data Information System. For the past several years, the Intelligent Data Management group at Goddard's Information Science and Technology Office has been researching techniques for automatically cataloguing and characterizing image data (ADCC) from EOS into a distributed database. At the core of the approach, scientists will be able to retrieve data based upon the contents of the imagery. The ability to automatically classify imagery is key to the success of contents-based search. We report results from experiments applying a novel machine learning framework, based on Set-Enumeration (SE) trees, to the ADCC domain. We experiment with two images: one taken from the Blackhills region in South Dakota; and the other from the Washington DC area. In a classical machine learning experimentation approach, an image's pixels are randomly partitioned into training (i.e. including ground truth or survey data) and testing sets. The prediction model is built using the pixels in the training set, and its performance is estimated using the testing set. With the first Blackhills image, we perform various experiments achieving an accuracy level of 83.2 percent, compared to 72.7 percent using a Back Propagation Neural Network (BPNN) and 65.3 percent using a Gaussain Maximum Likelihood Classifier (GMLC). However, with the Washington DC image, we were only able to achieve 71.4 percent, compared with 67.7 percent reported for the BPNN model and 62.3 percent for the GMLC.

Rymon, Ron↗
NASA NTRSDate not supplied

Transcriptomics-based Machine Learning Analysis Predicts Space-Exposed Murine Livers

Limited sample sizes, high data dimensionality, and sensitivity to technical and biological variability of next generation sequencing (NGS), has typically limited machine learning (ML) in space studies and further study of radiation effects. However, pooling smaller studies while addressing intra- and inter-study variabilities allows for ML predictive modeling. Here, integration methods were applied to whole transcriptome shotgun sequencing (RNAseq) data from 6 mouse liver GeneLab datasets (GLDS) with a total of 113 spaceflight and ground-control samples to determine top features relevant to spaceflight including the effect of radiation exposure. Data was normalized within each study, then merged and scaled across all datasets. Data dimensionality was reduced using a minimum redundancy maximum relevance (MRMR) methodology. The top MRMR features were used to predict spaceflight vs. ground-control samples using a Random Forest (RF) classifier with 5-fold cross validation (CV). The ML-based gene sets were further compared against differential gene expression results from individual GLDS. CV training using the top 100 MRMR genes show averages of 86% accuracy and 0.95 AUC value on the validation set over 5 folds (Figure 1A). Baseline set analysis on differentially expressed genes (DEGs) identified using padj ≤ 0.05 show 811 or 68 DEGs overlapping between at least 2 or 3 studies, respectively (Figure 1B). Over-representation analysis showed overlapping biological processes related to fatty acid and lipid metabolism. Set analysis between the MRMR features and the DEGs showed 60 or 8 genes overlapping with at least 1 or 2 studies, respectively. MRMR feature selection and ensemble ML methods (e.g. RF) improve performance relative to a Naïve Bayes classifier when NGS data sets are analyzed. A challenge of applying ML methods across heterogeneous NGS data is accounting for signal:noise ratio. Here, signal validation across studies was shown by intersecting sets between top MRMR genes and DEGs from RNASeq analysis. Non-intersecting sets introduce opportunity to explore spaceflight relevant genes and implementing ML methods across existing NGS datasets may overcome sample size limitations. ML coupled with existing analytical methods enhances understanding of disease by revealing common underlying pathways across datasets.

Machine Learning↗
NASA NTRS2018

Metabrain for Embedded Cognition (MBEC)

This study presents the application of Hidden Markov Models (HMM) to determine specialized features without expert input. Specifically, the application of such a method for classification of high multi-path fading is targeted, for demonstrating the feasibility of such an approach. This is the first step in the development of a meta-brain for embedded cognition (M-BEC) suite that can be used to apply machine learning to various communication systems at NASA GRC. The project explores the concept of fading and how it affects communication systems in a negative way. Currently, supervised learning methods are used to study the effects of fading on space links. However, such models rely on expert features to make predictions as to the state of a link and whether fading is present. This project offers the possibility of having the HMM learn what characteristics are important and make predictions based on those characteristics. This project explores Hidden Markov Models, their theory and applications to various problems, as well as the underlying equations and assumptions. A preliminary result is presented and recommendations are made as to the use of such an approach for communications systems.

Propagation↗
NASA NTRSDate not supplied

Validation of Machine Learning Algorithms for Hyperspectral Inversion of Common Water Quality Indicators

The upcoming transition to a diverse suite hyperspectral airborne and orbiting optical sensors will provide an unprecedented opportunity to measure inland water quality characteristics at a fidelity not previously achievable. This presentation will assess prototype deep learning models trained on synthetic hyperspectral data and validated with collocated in-situ measurements. Synthesized data is becoming increasingly popular for use in data-driven approaches to complex problems, and can compliment real data to increase performance on complex and unusual phenomenon, reduce or test bias, and experiment to demonstrate explainability. We will present insights from hyperspectral inversions of Chlorophyl-a, Phycocyanin, and concentration of non-algal particles using selected orbiting and airborne sensors over diverse, optically complex aquatic scenarios. We analyze how various optical water types affect fidelity of results and where improvements can be made as we prototype for globally operational water quality algorithms which can be leveraged by upcoming hyperspectral missions such as the Surface Biology and Geology (SBG) mission.

Surface Biology and Geology (SBG)↗
NASA NTRS2024

Digital Lunar Exploration Sites (DLES) Terrain Crafting

Humans will soon be returning to the surface of the Moon with NASA’s Artemis program. The Artemis program is an international collaboration that will consist of a complex series of space systems and missions to explore the lunar surface and pave the way for the future exploration of Mars. NASA and its partners rely heavily on simulation for lighting and navigation studies as well as training astronauts, flight controllers, and mission support staff. The NASA Exploration Systems Simulations (NExSyS) team in the Simulation and Graphics Branch (ER7) in the Engineering Directorate at NASA’s Johnson Space Center has built up many simulation products to support this effort, one of which is the Digital Lunar Exploration Sites (DLES). DLES is a collection of products used to simulate and render the lunar surface in a digital environment. We discussed and presented an overview of the DLES products at the 2022 IEEE Aerospace Conference in Big Sky, MT with a paper titled "Digital Lunar Exploration Sites". This “DLES Terrain Crafting” paper will expand on the information previously provided in “DLES” paper and dive deeper into the details of the terrain crafting process and the toolsets used to support this task. The best digital data currently available of the lunar surface is provided by the Lunar Reconnaissance Orbiter (LRO). Its Lunar Orbiter Laser Altimeter (LOLA) achieves an impressive resolution of 5m per pixel at the Lunar South Pole (LSP) and can generate datasets covering a large continuous region near the LSP. There are a few additional methods, such as Shape from Shading which can infer higher resolution data (up to 1m per pixel) from the LRO Narrow Angle Camera (NAC) images. However, surface-based simulations require higher-resolution data, and this paper will discuss the process of enhancing the terrain to meet that need. The process begins with capturing statistical data of craters in the regions of interest using images provided by the LRO NAC. This data is then used to scatter artificial features which are not captured in the truth data, resulting in an enhanced DEM with a much higher resolution of 20cm per pixel. Many tools were built up to assist in the creation of these artificial Digital Elevation Models (DEM), which this paper will discuss in detail. DEMs themselves are a very powerful representation of a planetary surface, and many operations and tools can utilize the data they contain. This paper includes a description of the rendering of the lunar surface in a graphics engine, generation of contact patches to simulate tire to ground interaction, and ray tracing utilities to model Line of Sight (LOS) interactions with the terrain. This paper will also explore some new tool sets currently under development which aim to utilize Machine Learning (ML) to assist in the identification of craters from LRO NAC imagery. While this is not a novel idea, the NExSyS team is developing a unique approach which may result in more robust identification of crater characteristics.

Artemis↗
NASA NTRS2024

Soil Salinity Level Assessment and Prediction Integrating UAV-borne Hyperspectral Imaging and Machine Learning Algorithms to Combat Desertification

In response to the ongoing global food crisis, the United Nations has identified “Zero Hunger” as one of its Sustainable Development Goals. A central contributor to the crisis is the process in which agricultural lands go through desertification. Research has shown a direct correlation between soil salinity and desertification - increased salinity levels indicate a higher risk for desertification. Furthermore, researchers have explored various techniques to map soil salinity, but these methods are oftentimes inefficient and don’t address future salinity predictions. To improve desertification monitoring, soil salinity can be observed via hyperspectral imaging on unmanned aerial vehicles (UAVs) to predict the risk of agricultural desertification using artificial intelligence (AI) and machine learning (ML) techniques. A significant gap exists in past research that applies ML and imaging techniques to soil salinity: convolutional neural networks (CNNs) and regression models are rarely leveraged together, despite the efficiency and accuracy of these models. To compensate for this gap, the proposed system leverages the use of these AI and ML models to improve soil assessment and prediction techniques. This approach involves three steps - data collection, image analysis, and future prediction. Using hyperspectral cameras on UAVs to collect the data from the region, a trained CNN model will output estimated soil salinity levels at a specific time. The estimations will then be analyzed by a regression model to assess the accuracy of future soil salinity predictions. The proposed system will identify regions at risk of desertification to help farmers mitigate agricultural loss, in turn helping alleviate the food crisis.

UAV systems↗
NASA NTRSDate not supplied

Prediction of Aircraft Estimated Time of Arrival Using A Supervised Learning Approach

We present a novel data-driven approach for prediction of the estimated time of arrival (ETA) of aircraft in the terminal area via the implementation of a Random Forest regression model. The model uses data fused from a number of sources (flight track, weather, flight plan information, etc.) and provides predictions for the remaining flight time for aircraft landing at Dallas/Fort Worth (DFW) International Airport. The predictions are made when the aircraft is at a distance of 200-miles from the airport. The results show that the model is able to predict estimated time of arrival to within ± 5 min for 90% of the flights in the test data with the mean absolute error being lower at 145 seconds. This paper covers the entire pipeline of data collection, preprocessing, setup and training of the ML model, and the results obtained for DFW.

Machine learning↗
NASA NTRSDate not supplied

DeepONet-Assisted Optimization of Surface Topography for Transition Delay in a Mach 4.5 Boundary Layer

We use deep learning, an ensemble variational technique (EnVar), and direct numerical simulations(DNS) to design an optimal topography for a two-dimensional roughness element that delays the on-set of laminar-turbulent transition in a Mach 4.5 flat-plate boundary layer. Deep operator networks (DeepONets), which have the known ability to learn complex nonlinear operators within dynamical systems, are used for machine learning. For the baseline configuration of a smooth flat plate, the second-mode waves at the DNS inflow cause a quick nonlinear breakdown of the high-speed boundary layer within the computational domain. Results reported in the present study validate the ability of DeepONets to model the transition delay via a given topography of the roughness element. The computing cost to optimize the rough-ness element for minimal skin-friction drag is substantially lowered by the DeepONets-based reduced-order model. In comparison to the baseline method of EnVar optimization based on DNS alone, the DeepONets-based EnVar optimizer is able to delay transition past the outflow boundary of the computational domain while utilizing almost 5–6 times fewer DNS.

Machine Learning↗
NASA NTRS2019

Understanding Machine Learning in Earth Science: A Natural Language Processing Approach

Machine learning (ML) is being increasingly utilized in Earth science research. Benefits of ML include efficiency, reduction of human error, and ability to extract hidden patterns within data. However, the mutual lack of each other’s domain knowledge by ML and Earth science stands as a barrier to timely and effective implementation. Earth science, in particular, faces challenges in generating sample data, compared to those of traditional ML problems such as face recognition or stock predictions, where data is abundant and not lacking in ground truth, which is necessary for labeling. Earth science data are more varying in formats, such as HDF5 and image resolutions, and are not standardized across instruments, even within a given Earth science discipline. Previous studies have been done to outline the specific challenges that Earth science faces with ML, while others have focused on using existing publications to mine information efficiently. Other resources such as Scikit-Learn have developed decision trees for choosing appropriate machine learning algorithms, but application within Earth science subjects becomes much more complex. For the current study, we propose a methodology and tool that aids in implementation of ML in Earth science using natural language processing (NLP). Our work comprises three main parts: (1) analyzing existing publications related to ML and Earth science, using natural language processing: (2) extracting from the publications information on ML models subjects in Earth Science: and (3) visualizing the extracted relationships as a network graph. The resulting network graph should aid the Earth science communities in applying optimal ML algorithms and guiding data preparation through visualization of similar studies. The network graph and analysis of document similarity will be the basis of our next step, which is to develop a decision tree for selecting optimal machine learning methodologies for specified Earth science applications.

Zheng, Laura↗
NASA NTRS2022

A Deep Learning Approach to Fast Radiative Transfer

Due to the sheer volume of data, leveraging satellite instrument observations effectively in a data assimilation context for numerical weather prediction or for remote sensing requires a radiative transfer model as an observation operator that is both fast and accurate at the same time. Physics-based line-by-line radiative transfer (RT) models fulfil the requirement for accuracy, but are too slow and too costly in computational terms for operational applications. Therefore, fast methods were developed to be able to perform fast RT calculations using techniques such as spectral sampling or pre-computed look-up tables. The operational fast models currently calculate the absorption and scattering coefficients from the pre-computed regression coefficients and atmospheric state and cloud profiles. As a novel solution to this problem, this work investigates a deep learning approach to replace the regression coefficients in the fast RT models. A selection of hidden-layer neural network configurations is trained against atmospheric transmittance profile data computed by an accurate line-by-line model and their performance is evaluated and their advantages and disadvantages are discussed.

Machine learning↗