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At least 73 records · Page 4

Methods and apparatus for constructing and implementing a universal extension module for processing objects in a database

Methods and apparatus for providing a multi-tier object-relational database architecture are disclosed. In one illustrative embodiment of the present invention, a multi-tier database architecture comprises an object-relational database engine as a top tier, one or more domain-specific extension modules as a bottom tier, and one or more universal extension modules as a middle tier. The individual extension modules of the bottom tier operationally connect with the one or more universal extension modules which, themselves, operationally connect with the database engine. The domain-specific extension modules preferably provide such functions as search, index, and retrieval services of images, video, audio, time series, web pages, text, XML, spatial data, etc. The domain-specific extension modules may include one or more IBM DB2 extenders, Oracle data cartridges and/or Informix datablades, although other domain-specific extension modules may be used.

Li, Chung-Sheng↗

Developing Large-Scale Bayesian Networks by Composition: Fault Diagnosis of Electrical Power Systems in Aircraft and Spacecraft

In this paper, we investigate the use of Bayesian networks to construct large-scale diagnostic systems. In particular, we consider the development of large-scale Bayesian networks by composition. This compositional approach reflects how (often redundant) subsystems are architected to form systems such as electrical power systems. We develop high-level specifications, Bayesian networks, clique trees, and arithmetic circuits representing 24 different electrical power systems. The largest among these 24 Bayesian networks contains over 1,000 random variables. Another BN represents the real-world electrical power system ADAPT, which is representative of electrical power systems deployed in aerospace vehicles. In addition to demonstrating the scalability of the compositional approach, we briefly report on experimental results from the diagnostic competition DXC, where the ProADAPT team, using techniques discussed here, obtained the highest scores in both Tier 1 (among 9 international competitors) and Tier 2 (among 6 international competitors) of the industrial track. While we consider diagnosis of power systems specifically, we believe this work is relevant to other system health management problems, in particular in dependable systems such as aircraft and spacecraft. (See CASI ID 20100021910 for supplemental data disk.)

Mengshoel, Ole Jakob↗

JPEG 2000 Encoding with Perceptual Distortion Control

An alternative approach has been devised for encoding image data in compliance with JPEG 2000, the most recent still-image data-compression standard of the Joint Photographic Experts Group. Heretofore, JPEG 2000 encoding has been implemented by several related schemes classified as rate-based distortion-minimization encoding. In each of these schemes, the end user specifies a desired bit rate and the encoding algorithm strives to attain that rate while minimizing a mean squared error (MSE). While rate-based distortion minimization is appropriate for transmitting data over a limited-bandwidth channel, it is not the best approach for applications in which the perceptual quality of reconstructed images is a major consideration. A better approach for such applications is the present alternative one, denoted perceptual distortion control, in which the encoding algorithm strives to compress data to the lowest bit rate that yields at least a specified level of perceptual image quality. Some additional background information on JPEG 2000 is prerequisite to a meaningful summary of JPEG encoding with perceptual distortion control. The JPEG 2000 encoding process includes two subprocesses known as tier-1 and tier-2 coding. In order to minimize the MSE for the desired bit rate, a rate-distortion- optimization subprocess is introduced between the tier-1 and tier-2 subprocesses. In tier-1 coding, each coding block is independently bit-plane coded from the most-significant-bit (MSB) plane to the least-significant-bit (LSB) plane, using three coding passes (except for the MSB plane, which is coded using only one "clean up" coding pass). For M bit planes, this subprocess involves a total number of (3M - 2) coding passes. An embedded bit stream is then generated for each coding block. Information on the reduction in distortion and the increase in the bit rate associated with each coding pass is collected. This information is then used in a rate-control procedure to determine the contribution of each coding block to the output compressed bit stream.

Watson, Andrew B.↗

Earth observation photography: Looking back 20 years after Skylab

A committee of trained classroom teachers, backed by a volunteer team of technical experts and academic advisors has developed a program for earth science based on photographs obtained from low earth orbit. In selecting targeting objectives, immediate note was made of the fact nearly one generation (20 years) has passed since the United States' ambitious SKYLAB program was conducted. A critical part of those missions was the acquisition of earth photography using a six camera, multi-spectral camera system. This objective was systematically furthered through the term of three separate crew visits to the Space Station. Not merely an exercise in randomly photographing the Earth below, the purpose of the Earth Resource Experiment Package (EREP) was to determine what kind, and how much, photographic data could be acquired of the broad variety of Earth features witnessed on the mission's ground track. The collection of 35,000 photos produced by EREP represents the most complete coverage of Earth. However, it remains under used. GAS 324 intends to revisit, and to add a tier of relevancy to this inventory. The photography of GAS 324 should allow a direct examination and comparison of the changes in the globe in the last 20 years. format in both coverage and quality. The photogra phy acquired by CAN DO should allow a direct examination and comparison of the changes that have occured to the Globe in the last twenty years.

Nicholson, James H.↗

A New Concurrent Engineering Tool for the New Mission Design Center at NASA Ames Research Center

The NASA Ames Mission Design Center (MDC) has undergone a significant transformation process in recent years, culminating in becoming a true Concurrent Engineering Center. The underlying goal of this transformation is to better serve the Ames PI community in a cost-effective and rapidly-responsive way, providing quality products pivotal to the decision-making proposal strategy of our center. The four pillars of the change focus on four areas: personnel, physical places, tools, and training. Personnel: the MDC switched from using a dedicated pool of engineers—mostly entry-level career—for a matrixed approach with more experienced Subject Matter Experts, usually involved in spaceflight projects. These SMEs get detailed to the MDC for the duration of the study on a part-time or full-time basis. Physical places: The physical aspect pertains mostly to the layout of the new Engineering building and the dedicated concurrent engineering layout to foster collaboration. The current plan includes a dedicated space for concurrent engineering sessions as well as dedicated project rooms for concept studies. Tool: the MDC team is developing a new in-house concurrent engineering tool to facilitate concurrent engineering sessions. The team leveraged the many lessons learned and insight gained from using the current concurrent engineering tool, in use since 2007. SMEs have been involved throughout its design and development, ensuring accuracy and providing validity to the implementation approach. This new tool is database-driven and allows a team to work concurrently on the same model of a mission concept. “Workspaces” are provided for each of the traditional spacecraft mission design disciplines, including cost accounting and systems engineering. There are multiple tiers of fidelity available within each workspace, which can be completed parametrically or independently from the other disciplines as needed or synchronously with the other disciplines. A “commit” step synchronizes a workspace with the mission database and identifies any potential conflicts, along with the user who entered the conflicting data. A Mission Summary workspace enables a Study Lead to run an effective CE session, displaying key graphics, workspace status information, and technical and monetary budget information. This new CE tool will be undergoing Beta Testing with its primary user base and a limited Parts database in the summer of 2020. The team plans to release the first fully operational version in December 2020. Training: working in early concept development and maturation for a space mission requires a unique mindset and being comfortable with uncertainties in an environment where requirements are not yet fully developed, and where changes and trade-offs happen at a high tempo. The MDC started a weekly training program to ensure a common knowledge base on how do develop and mature early concept studies, as well as how to operate in a concurrent engineering environment. In conclusion, the MDC transformation will provide the overall PI community focused on cost-effective small satellite scientific missions with a powerful tool to address and mature early concepts more effectively and efficiently.

David Mauro↗

Evaluation of the First Transport Rotorcraft Airframe Crash Testbed (TRACT 1) Full-Scale Crash Test

In 2012, the NASA Rotary Wing Crashworthiness Program initiated the Transport Rotorcraft Airframe Crash Testbed (TRACT) research program by obtaining two CH-46E helicopters from the Navy CH-46E Program Office (PMA-226) at the Navy Flight Readiness Center in Cherry Point, North Carolina. Full-scale crash tests were planned to assess dynamic responses of transport-category rotorcraft under combined horizontal and vertical impact loading. The first crash test (TRACT 1) was performed at NASA Langley Research Center's Landing and Impact Research Facility (LandIR), which enables the study of critical interactions between the airframe, seat, and occupant during a controlled crash environment. The CH-46E fuselage is categorized as a medium-lift rotorcraft with fuselage dimensions comparable to a regional jet or business jet. The first TRACT test (TRACT 1) was conducted in August 2013. The primary objectives for TRACT 1 were to: (1) assess improvements to occupant loads and displacement with the use of crashworthy features such as pre-tensioning active restraints and energy absorbing seats, (2) develop novel techniques for photogrammetric data acquisition to measure occupant and airframe kinematics, and (3) provide baseline data for future comparison with a retrofitted airframe configuration. Crash test conditions for TRACT 1 were 33-ft/s forward and 25-ft/s vertical combined velocity onto soft soil, which represent a severe, but potentially survivable impact scenario. The extraordinary value of the TRACT 1 test was reflected by the breadth of meaningful experiments. A total of 8 unique experiments were conducted to evaluate ATD responses, seat and restraint performance, cargo restraint effectiveness, patient litter behavior, and photogrammetric techniques. A combination of Hybrid II, Hybrid III, and ES-2 Anthropomorphic Test Devices (ATDs) were placed in forward and side facing seats and occupant results were compared against injury criteria. Loads from ATDs in energy absorbing seats and restraints were within injury limits. Severe injury was likely for ATDs in forward facing passenger seats, legacy troop bench seats, and a three-tiered patient litter. In addition, two standing ATDs were used to evaluate the benefit of Mobile Aircrew Restraint Systems (MARS) versus a standard gunner's belt. The ATD with the MARS survived the impact, while fatal head blunt trauma occurred for the standing ATD held by the legacy gunner's belt. In addition to occupant loading, the structural response of the airframe was assessed based on accelerometers located throughout the airframe and using three-dimensional photogrammetric techniques. Analysis of the photogrammetric data indicated regions of maximum deflection and permanent deformation.

Annett, Martin S.↗

Characteristics of Total Column CO2 Retrievals from the OCO Missions: Biases, Information Content and Implications for Flux Inversions

The Orbiting Carbon Observatory-2 and Orbiting Carbon Observatory-3, launched in 2015 and 2019, respectively, are intended to collect and deliver high-resolution observations of CO2 with unprecedented space and time coverage. Observations of CO2 from these remote-sensing missions (also known as XCO2, or column-based average, dry air mole fraction of CO2) are then used by the global carbon cycle community to answer a wide range of science questions, from the distribution and quantification of global and regional CO2 source-sink patterns to quantification of anthropogenic sources at urban scales. Even though we have had the OCO-2 mission flying for a few years now, the retrieval algorithms are continuously evolving and improving to deliver XCO2 retrievals with very high precision and high accuracy (or low biases). In this presentation, we will discuss a simple yet effective quantitative framework that has been developed by the OCO-2 flux team to evaluate the information content of these XCO2 retrievals as soon as they are released, i.e., with lower latency than full-scale flux inversions. This framework serves as a precursor to advanced inverse modeling frameworks and is intended to provide an early but accurate assessment of the signal present in the satellite retrievals, the robustness of that signal, and the ability of these retrievals to resolve patterns in CO2 surface fluxes that cannot be resolved by our current network of surface sites. Specific results will tackle a tiered set of questions that are being addressed using this framework: (a) what are the distribution of retrievals in the different modes of operation and how do they vary in space and time? (b) what is the information that is being given to the inverse modeling frameworks from the space-based data, information above and beyond what is provided by the in-situ data? and (c) how do these factors influence our choices for doing flux inversions with the satellite retrievals? While the primary focus of the results will be on application of this technique to mature OCO-2 retrievals, we will show early results for a couple of months of OCO-3 retrievals. For the time-period that the retrievals from the two missions overlap, we will highlight how this framework allows us to effortlessly put the information from OCO-3 and OCO-2 on an equal footing, thus enabling easy comparison between the two pioneering missions.

Chatterjee, Abhishek↗

Computational fluid dynamics research at the United Technologies Research Center requiring supercomputers

An overview of research activities at the United Technologies Research Center (UTRC) in the area of Computational Fluid Dynamics (CFD) is presented. The requirement and use of various levels of computers, including supercomputers, for the CFD activities is described. Examples of CFD directed toward applications to helicopters, turbomachinery, heat exchangers, and the National Aerospace Plane are included. Helicopter rotor codes for the prediction of rotor and fuselage flow fields and airloads were developed with emphasis on rotor wake modeling. Airflow and airload predictions and comparisons with experimental data are presented. Examples are presented of recent parabolized Navier-Stokes and full Navier-Stokes solutions for hypersonic shock-wave/boundary layer interaction, and hydrogen/air supersonic combustion. In addition, other examples of CFD efforts in turbomachinery Navier-Stokes methodology and separated flow modeling are presented. A brief discussion of the 3-tier scientific computing environment is also presented, in which the researcher has access to workstations, mid-size computers, and supercomputers.

Landgrebe, Anton J.↗

Compression behavior of unidirectional fibrous composite

The longitudinal compression behavior of unidirectional fiber composites is investigated using a modified Celanese test method with thick and thin test specimens. The test data obtained are interpreted using the stress/strain curves from back-to-back strain gages, examination of fracture surfaces by scanning electron microscope, and predictive equations for distinct failure modes including fiber compression failure, Euler buckling, delamination, and flexure. The results show that the longitudinal compression fracture is induced by a combination of delamination, flexure, and fiber tier breaks. No distinct fracture surface characteristics can be associated with unique failure modes. An equation is described which can be used to extract the longitudinal compression strength knowing the longitudinal tensile and flexural strengths of the same composite system.

Sinclair, J. H.↗

Compressive behavior of unidirectional fibrous composites

The longitudinal compressive behavior of unidirectional fiber composites was investigated by using the Illinois Institute of Technology Research Institute (IITRI) test method with thick and thin test specimens. The test data obtained are interpreted by means of stress/strain curves from back-to-back strain gages, examination of fracture surfaces by scanning electron microscope, and predictive equations for distinct failure modes including fiber compression failure. Euler buckling, delamination, and flexure. The results show that longitudinal compressive fracture is induced by a combination of delamination, flexure, and fiber tier breaks. No distinct fracture surface characteristics can be associated with unique failure modes. An equation is described that can be used to extract the longitudinal compressive strength from the longitudinal tensile and flexural strengths of the same composite system.

Sinclair, J. H.↗

Case for Deploying Complex Systems Utilizing Commodity Components

When the International Space Station (ISS) finally reached an operational state, many of the Payload Operations and Integration Facility (POIF) hardware components were reaching end of life, COTS product costs were soaring, and the ISS budget was becoming severely constrained. However, most requirement development was complete. In addition, the ISS program is a fully functioning program with at least fifteen years of operational life remaining. Therefore it is critical that any upgrades, refurbishments, or enhancements be accomplished in realtime with minimal disruptions to service. For these and other reasons, it was necessary to ensure the viability of the POIF. Due to the to the breadth of capability of the POIF (a NASA ground station), it is believed that the lessons to be learned by other complex systems are applicable and any solutions garnered by the POIF are applicable to other complex systems as well. With that in mind, a number of new approaches have been investigated to increase the portability of the POIF and reduce the cost of refurbishment, operations, and maintenance. These new approaches were directed at the Total Cost of Ownership (TCO); not only the refurbishment but also current operational difficulties, licensing, and anticipation of the next refurbishment. Our basic premise is that technology had evolved dramatically since the concept of the POIF ground system and we should leverage our experience on this new technological landscape. Fortunately, Moore's law and market forces have changed the landscape considerably. These changes are manifest in five (5) ways that are particularly relevant to POIF: 1. Complex Instruction Set Computing (CISC) processors have advanced to unprecedented levels of compute capacity with a dramatic cost break, 2. Linux has become a major operating system supported by most vendors on a broad range of platforms, 3. Windows(TradeMark) based desktops are pervasive in the office environment, 4. Stable and affordable WindowsTM development environments and tools are available and offer a rich set of capabilities, 5. The WindowsTM 2000 provides a stable client platform, Therefore, five studies were proposed, developed, and are in the current process of deployment which dramatically reduces the cost of operations, maintenance, refurbishment, and deployment of a ground system. Restating and refining the basic premise stated earlier, it is possible to enhance operations through the replacement of hardware and software components with commodity based items wherever applicable. This will dramatically reduce the overall lifecycle cost of the project. The first study leveraged the POIF S secure, three-tier, web architecture to replace the client workstations with lower cost PC platforms. A second study initiated a review of COTS products to examine the level of added value of each product. This study included replacement of some COTS products with custom code, deletions, substitutions, and consolidation of COTS products. Studies three and four reviewed the server architectures of the data distribution systems and Enhanced HOSC System (EHS) command and telemetry system to propose migration to new platforms, both software and hardware. The final study reviewed current IP communication technologies, developed an operational model for flight operations, and demonstrated that voice over IP was practical and could be integrated into operations.

Bryant, Barry S.↗

Middleware as a mission enabler for Mars exploration

Effective midleware can improve the capability of business and science applications in several ways, e.g., by hiding platform heterogeneity or by providing standard shared services which reduce the complexity or increase the capability of every application. Recent successes in midleware, such as multi-tier client/server and web-based architectures, have fueled phenomenal growth in enterprise level applications, which provide better integration and more rapid adaptability of business in many fields.

middleware software architecture services data com↗

The 50 Constellation Priority Sites

The Constellation program (CxP) has developed a list of 50 sites of interest on the Moon which will be targeted by the LRO narrow angle camera. The list has also been provided to the M~ team to supplement their targeting list. This list does not represent a "site selection" process; rather the goal was to find "representative" sites and terrains to understand the range of possible surface conditions for human lunar exploration to aid engineering design and operational planning. The list compilers leveraged heavily on past site selection work (e.g. Geoscience and a Lunar Base Workshop - 1988, Site Selection Strategy for a Lunar Outpost - 1990, Exploration Systems Architecture Study (ESAS) - 2005). Considerations included scientific, resource utilization, and operational merits, and a desire to span lunar terrain types. The targets have been organized into two "tiers" of 25 sites each to provide a relative priority ranking in the event of mutual interference. A LEAG SAT (special action team) was established to validate and recommend modifications to the list. This SAT was chaired by Dr. Paul Lucey. They provided their final results to CxP in May. Dr. Wendell Mendell will organize an on-going analysis of the data as they come down to ensure data quality and determine if and when a site has sufficient data to be retired from the list. The list was compiled using the best available data, however, it is understood that with the flood of new lunar data, minor modifications or adjustments may be required.

Noble, S.↗

Auto Tracking Antenna Platform

The present invention is an auto tracking antenna platform upon which multiple antenna elements can be mounted to track a common moving object. The antenna tracking platform generally comprises a bottom pedestal enclosing a rotary azimuth actuator for controlled-rotary motion about the single vertical (z) axis, and an upper multi-tier framework housing a horizontal antenna-mounting beam pivotally supported for rotation about a horizontal (x) axis, and a drive assembly for direct-drive rotation of the antenna-mounting bar. Antenna elements are mounted along the horizontal mounting bar and the feeds routed through the azimuth actuator. This enables the use of fiber optic rotary joints or slip rings to pass data and video, instead of RF (waveguide) rotary joints which are required to pass high power RF signals.

Sanner, Kurt G↗

The Herschel Multi-tiered Extragalactic Survey: HerMES

The Herschel Multi-tiered Extragalactic Survey, HerMES, is a legacy program designed to map a set of nested fields totalling approx. 380 deg(exp 2). Fields range in size from 0.01 to approx. 20 deg (exp 2), using Herschel-SPIRE (at 250, 350 and 500 micron), and Herschel-PACS (at 100 and 160 micron), with an additional wider component of 270 deg. (exp. 2) with SPIRE alone. These bands cover the peak of the redshifted thermal spectral energy distribution from interstellar dust and thus capture the re-processed optical and ultra-violet radiation from star formation that has been absorbed by dust, and are critical for forming a complete multi-wavelength understanding of galaxy formation and evolution. The survey will detect of order 100,000 galaxies at 5-sigma in some of the best studied fields in the sky. Additionally, HerMES is closely coordinated with the PACS Evolutionary Probe survey. Making maximum use of the full spectrum of ancillary data, from radio to X-ray wavelengths, it is designed to: facilitate redshift determination; rapidly identify unusual objects; and understand the relationships between thermal emission from dust and other processes. Scientific questions HerMES will be used to answer include: the total infrared emission of galaxies; the evolution of the luminosity function; the clustering properties of dusty galaxies; and the properties of populations of galaxies which lie below the confusion limit through lensing and statistical techniques. This paper defines the survey observations and data products, outlines the primary scientific goals of the HerMES team, and reviews some of the early results.

multi-tiered↗

Reusable Solid Rocket Motor - Accomplishments, Lessons, and a Culture of Success

The Reusable Solid Rocket Motor represents the largest solid rocket motor ever flown and the only human rated solid motor. Each Reusable Solid Rocket Motor (RSRM) provides approximately 3-million lb of thrust to lift the integrated Space Shuttle vehicle from the launch pad. The motors burn out approximately 2 minutes later, separate from the vehicle and are recovered and refurbished. The size of the motor and the need for high reliability were challenges. Thrust shaping, via shaping of the propellant grain, was needed to limit structural loads during ascent. The motor design evolved through several block upgrades to increase performance and to increase safety and reliability. A major redesign occurred after STS-51L with the Redesigned Solid Rocket Motor. Significant improvements in the joint sealing systems were added. Design improvements continued throughout the Program via block changes with a number of innovations including development of low temperature o-ring materials and incorporation of a unique carbon fiber rope thermal barrier material. Recovery of the motors and post flight inspection improved understanding of hardware performance, and led to key design improvements. Because of the multidecade program duration material obsolescence was addressed, and requalification of materials and vendors was sometimes needed. Thermal protection systems and ablatives were used to protect the motor cases and nozzle structures. Significant understanding of design and manufacturing features of the ablatives was developed during the program resulting in optimization of design features and processing parameters. The project advanced technology in eliminating ozone-depleting materials in manufacturing processes and the development of an asbestos-free case insulation. Manufacturing processes for the large motor components were unique and safety in the manufacturing environment was a special concern. Transportation and handling approaches were also needed for the large hardware segments. The reusable solid rocket motor achieved significant reliability via process control, ground test programs, and postflight assessment. Process control is mandatory for a solid rocket motor as an acceptance test of the delivered product is not feasible. Process control included process failure modes and effects analysis, statistical process control, witness panels, and process product integrity audits. Material controls and inspections were maintained throughout the sub tier vendors. Material fingerprinting was employed to assess any drift in delivered material properties. The RSRM maintained both full scale and sub-scale test articles. These enabled continuous improvement of design and evaluation of process control and material behavior. Additionally RSRM reliability was achieved through attention to detail in post flight assessment to observe any shift in performance. The postflight analysis and inspections provided invaluable reliability data as it enables observation of actual flight performance, most of which would not be available if the motors were not recovered. These unique challenges, features of the reusable solid rocket motor, materials and manufacturing issues, and design improvements will be discussed in the paper.

Moore, Dennis R.↗

A streamlined software environment for situated skills

This paper documents a powerful set of software tools used for developing situated skills. These situated skills form the reactive level of a three-tiered intelligent agent architecture. The architecture is designed to allow these skills to be manipulated by a task level engine which is monitoring the current situation and selecting skills necessary for the current task. The idea is to coordinate the dynamic activations and deactivations of these situated skills in order to configure the reactive layer for the task at hand. The heart of the skills environment is a data flow mechanism which pipelines the currently active skills for execution. A front end graphical interface serves as a debugging facility during skill development and testing. We are able to integrate skills developed in different languages into the skills environment. The power of the skills environment lies in the amount of time it saves for the programmer to develop code for the reactive layer of a robot.

Yu, Sophia T.↗

Collaborative Resource Allocation

Collaborative Resource Allocation Networking Environment (CRANE) Version 0.5 is a prototype created to prove the newest concept of using a distributed environment to schedule Deep Space Network (DSN) antenna times in a collaborative fashion. This program is for all space-flight and terrestrial science project users and DSN schedulers to perform scheduling activities and conflict resolution, both synchronously and asynchronously. Project schedulers can, for the first time, participate directly in scheduling their tracking times into the official DSN schedule, and negotiate directly with other projects in an integrated scheduling system. A master schedule covers long-range, mid-range, near-real-time, and real-time scheduling time frames all in one, rather than the current method of separate functions that are supported by different processes and tools. CRANE also provides private workspaces (both dynamic and static), data sharing, scenario management, user control, rapid messaging (based on Java Message Service), data/time synchronization, workflow management, notification (including emails), conflict checking, and a linkage to a schedule generation engine. The data structure with corresponding database design combines object trees with multiple associated mortal instances and relational database to provide unprecedented traceability and simplify the existing DSN XML schedule representation. These technologies are used to provide traceability, schedule negotiation, conflict resolution, and load forecasting from real-time operations to long-range loading analysis up to 20 years in the future. CRANE includes a database, a stored procedure layer, an agent-based middle tier, a Web service wrapper, a Windows Integrated Analysis Environment (IAE), a Java application, and a Web page interface.

Wang, Yeou-Fang↗