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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

ARCADE Technical Pathway and Industry Impact

The Advanced Reactor Cyber Analysis and Development Environment (ARCADE) simplifies the evaluation and assessment of robustness factor and cyber resilience that support secure-by-design for advanced reactor nuclear power plants. In this manner, ARCADE supports risk-informed performance based (RIPB) evaluations of cybersecurity through its integration of plant physics with high-fidelity emulations of control systems. This cross domain approach enables comprehensive analysis of control system sensitivities, cyber-attack scenarios, and their consequences. ARCADE has been custom developed to meet the demands identified in Tier 1 of the Tiered Cyber Analysis (TCA) as outlined in NRC Draft Regulation Guide (RG) 5.96, which provides a RIPB cybersecurity approach for new reactors.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2019

Method for securing a network using cyber economic network transaction security (CENTS)

A method and system for administering an interactive computer network and more particularly to performing security in a network of interactive electronic components, such as a computer network using a currency-based transactional economy model where scarcity serves as a limiting factor to accessing and engaging in various activities within the system.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2023

Engineering Crassulacean Acid Metabolism in C3 and C4 Plants

Carbon dioxide (CO2) is a major greenhouse gas contributing to changing climatic conditions, which is a grand challenge affecting the security of food, energy, and environment. Photosynthesis plays the central role in plant-based CO2 reduction. Plants performing CAM (crassulacean acid metabolism) photosynthesis have a much higher water use efficiency than those performing C3 or C4 photosynthesis. Therefore, there is a great potential for engineering CAM in C3 or C4 crops to enhance food/biomass production and carbon sequestration on arid, semiarid, abandoned, or marginal lands. Recent progresses in CAM plant genomics and evolution research, along with new advances in plant biotechnology, have provided a solid foundation for bioengineering to convert C3/C4 plants into CAM plants. Here, we first discuss the potential strategies for CAM engineering based on our current understanding of CAM evolution. Then we describe the technical approaches for engineering CAM in C3 and C4 plants, with a focus on an iterative four-step pipeline: (1) designing gene modules, (2) building the gene modules and transforming them into target plants, (3) testing the engineered plants through an integration of molecular biology, biochemistry, metabolism, and physiological approaches, and (4) learning to inform the next round of CAM engineering. Finally, we discuss the challenges and future opportunities for fully realizing the potential of CAM engineering.

Yang, Xiaohan↗
DOE OSTI2024

Field Programmable Gate Array-Based Reactor Protection Systems and Potential for Inclusion of Secure Elements to Improve Cybersecurity

For acceptable implementations of technologies like wireless communications, remote monitoring, etc., strong mitigations must be developed and evaluated to ensure that new attack pathways do not increase risk for Advanced Reactors. Secure Elements can be adopted and adapted for this purpose based on tamper resistance and cryptographic abilities, but research must be done to properly integrate into critical components such as FPGA-based Important to Safety systems in conjunction with current and future regulations on cyber security features in Advanced Reactors. Typically, the integration of a Secure Element happens during the POST and UEFI boot of a computing platform, performed by the Operating System, which is not possible with FPGAs because they do not include these firmware components. Work must be done to identify a reliable and secure method for integration in FPGA-based systems which lack Operating Systems and therefore complex boot procedures, system calls, etc.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Field Programmable Gate Array-Based Reactor Protection Systems and Potential for Inclusion of Secure Elements to Improve Cybersecurity

For acceptable implementations of technologies like wireless communications, remote monitoring, etc., strong mitigations must be developed and evaluated to ensure that new attack pathways do not increase risk for Advanced Reactors. Secure Elements can be adopted and adapted for this purpose based on tamper resistance and cryptographic abilities, but research must be done to properly integrate into critical components such as FPGA-based Important to Safety systems in conjunction with current and future regulations on cyber security features in Advanced Reactors. Typically, the integration of a Secure Element happens during the POST and UEFI boot of a computing platform, performed by the Operating System, which is not possible with FPGAs because they do not include these firmware components. Work must be done to identify a reliable and secure method for integration in FPGA-based systems which lack Operating Systems and therefore complex boot procedures, system calls, etc.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2022

A Cybersecurity Threat Profile for a Connected Lighting System

In anticipation of improved energy performance and cost savings, cities and building owners are increasingly considering “smart lighting initiatives” that aim to convert their collection of simple luminaires (i.e., lighting fixtures) into an intelligent connected lighting system (CLS) capable of remotely monitoring energy consumption and fault conditions, and possibly implementing adaptive lighting schemes. The U.S. Department of Energy (DOE) has set an national goal of tripling the energy efficiency and demand flexibility of the buildings sector by 2030, relative to 2020 levels 1. It is forecast that connected lighting systems can contribute to that goal by delivering 125 TWh of annual energy savings by 2035 2, equivalent to the annual output of 50 typical (500 MW) power plants. However, these energy savings and the DOE goal are put at significant risk if connected technologies are not adopted due to real or perceived cybersecurity concerns. Connected IoT devices such as these have historically been rife with vulnerabilities which sometimes put security considerations secondary to functionality and operability. What are the cybersecurity threats that will impact these systems, as formerly banal luminaires transition into intelligent connected devices that collect information about themselves, their surrounding environment, and possibly us? In this paper we analyze a threat profile performed on a fault-detection use case for streetlights. A threat profile establishes security requirements, justifies security measures, yields actionable controls, and effectively communicates risk to stakeholders. This effort provides critical information for making threat-based decisions to increase security at a reasonable cost, and can effectively be used by development teams, software architects, and managers to make cybersecurity a part of their ongoing culture of awareness, training, and prevention. This leads to more secure systems and better-understood security. On-premise, cloud, and hybrid architectures with different authentication mechanisms were modeled and later categorized using the Microsoft STRIDE framework. An analysis of the recommended controls for each threat was performed to determine which controls could and should be put in place by manufacturers or third-party suppliers, and which controls need to be left up the end-user to implement. Fifty-seven threats were identified. Among our key findings: (1) 65% (37/57) of the threats did not involve the luminaires, but rather the other components needed to communicate with and manage them; (2) 63% (36/57) of the threats could have been mitigated through manufacturer-implemented defensive techniques or “controls”; and (3) 23% (13/57) of the threats were dependent on the network configuration. Recommendations based on the results of this work are made to key stakeholder groups. Notably, lighting technology developers are advised to address all threats that can be reasonably controlled with baked-in technology solutions (e.g., encryption or authentication controls), and employ some form of secure supply chain management and tracking where other parts (e.g., sensors, microprocessors) of a luminaire must also be built and manufactured with the proper security controls in place. Developers should also review threats involving assets not developed in-house to understand how connectivity with other devices will affect their product during system operation and determine if a compensating control for a defense-in-depth strategy will be needed. Finally, those interested in deploying CLS should compare the differences between cloud and on-premise models to determine which is more suitable for their needs and the abilities of their security team.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2020

Performance of Scintillation Detectors Based on Quantum Dots in a Semiconductor Matrix (Final Technical Report)

InAs Quantum Dots (QDs) embedded into GaAs semiconductor waveguide have unique scintillation properties, valuable for nuclear security, medical imaging, and high energy physics. In this work, we developed thick (~25um) epitaxial heterostructres with high luminescence efficiency composed of self-assembled nano-engineered InAs QDs grown by molecular beam epitaxy. In this type of detector, the GaAs matrix acts as a stopping material for charged particles or photons generating electrons captured by the QDs acting as luminescence centers. The QD medium is designed to provide fast capture of electrons into QDs (few ps), high QD luminescence efficiency at room temperature (>50%), and strong red-shift of photoluminescence (PL) from the GaAs absorption edge (>250nm). Typical devices consist of a 10-25um thick GaAs layer with embedded sheets of modulation p-type doped InAs QDs and an InGaAs photodetector tuned to the QD emission wavelength. The thick GaAs layer acts also as a waveguide when layer-transferred onto a low-index substrate. Waveguiding and self-absorption (~1cm -1 ) were studied using photoluminescence with scanning laser excitation and modeled with ray optics approximation and geometrical coupling of high-index waveguide to a collection fiber. Scintillating signals from α-particles were analyzed with both an external photodiode (PD) and an integrated PD which provided an improved optical coupling. In the former case, the external InGaAs PD was air-coupled to the scintillator and had the light collection efficiency of about 1% corresponding to limited light extraction through a planar interface with air due to total internal reflection. The mean charge collected by the integrated PD was in the range of (3÷5)×10 4 photoelectrons per 1 MeV of deposited energy, or ~13-20% of the theoretically achievable light yield. Timing of the integrated device was measured by wire-bonding it to the input of an 8 GHz IC. The scintillation response shows an extremely fast 0.3-0.6 ns decay constant and about 40-70 ps time resolution, limited by the system noise. The combined light yield and decay time makes the InAs/GaAs QD heterostructures the fastest high yield scintillation material reported making it valuable for high energy physics and medical imaging applications.

77 NANOSCIENCE AND NANOTECHNOLOGY↗
DOE OSTI2024

Photovoltaic Analysis and Response Support (PARS) Platform for Solar Situational Awareness and Resiliency Services

The project's primary objective is to develop a digital-twin based Photovoltaic (PV) Analysis and Response Support (PARS) platform, which aims to provide real-time situational awareness and optimal response plans. This platform is designed to enhance the performance of hybrid PV systems, making them competitive with or even superior to conventional generation resources. The PARS platform enabled the project team to develop and evaluate an extensive suite of grid support functionalities for the hybrid PV systems to enhance grid performance, across key areas including visibility, dispatchability, security, resilience, and reliability. Given the global push toward achieving 100% clean energy by 2035, there is a significant increase in the integration of inverter-based resources (IBRs) throughout the energy grid. Effectively managing the inherent variability and uncertainty associated with IBRs is crucial for ensuring cost-effectiveness, reliability, and security in both the main grid and islanded microgrids. Constrained to a limited array of IEEE test systems or standard feeder models, traditional IBR modeling struggles to assimilate new field data, accurately reflect system dynamics, and adapt to the evolving energy landscape. In our project, we embraced a Digital Twin (DT) strategy for crafting the PARS platform. A digital twin acts as a precise virtual counterpart of a physical system, built on historical data and continuously honed with real-time insights. This enables the high-fidelity DT to accurately mirror current system operations and forecast future scenarios. Consequently, the PARS platform becomes an ideal environment for testing and refining monitoring, control, power, and energy management algorithms designed to boost hybrid PV system performance. The defining feature of the PARS platform, distinguishing it from other advanced simulation tools, is its exceptional adaptability. This is achieved by employing actual network topologies and utilizing real-time field data for fine-tuning and calibration, ensuring a close emulation of real-world conditions. The project deliverables include: 1) High-fidelity IBR models and tools for real-time parameterization, utilizing real-time field measurements to refine IBR models for enhanced accuracy and performance; 2) Grid-forming and Grid-following capabilities to deliver resilience services, including blackstart, voltage and frequency support, cold-load pick-up, power reserves, and three-phase load balancing across grid-connected and microgrid settings; 3) Machine learning-based forecasting tools and methods for generating synthetic data and topologies, creating diverse and realistic simulation environments for evaluating varied operational scenarios; 4) Advanced microgrid power and energy management algorithms for optimizing the integration and operation of PV, storage, and demand response resources within both feeder and community scales. The power grid data sets are provided by four utility companies in North Carolina and the New York Power Administration. Acting as industry advisors, our industry partners communicated stakeholder needs and regulatory standards to the research teams, aiding technology transfer by incorporating the developed methodologies into their daily operations. This collaboration ensures that the PARS platform, functioning as a power system digital twin, enhances our understanding of IBR dynamic behaviors and enables the development and evaluation of IBR control functions that match or exceed the capabilities of conventional synchronous generators.

14 SOLAR ENERGY↗
DOE OSTI2018

VULCON: A System for Vulnerability Prioritization, Mitigation, and Management

Vulnerability remediation is a critical task in operational software and network security management. In this paper, an effective vulnerability management strategy, called VULCON (VULnerability CONtrol), is developed and evaluated. The strategy is based on two fundamental performance metrics: i). Time-to-Vulnerability Remediation (TVR) and; ii). Total Vulnerability Exposure (TVE). VULCON takes as input real vulnerability scan reports, metadata about the discovered vulnerabilities, asset criticality, and personnel resources. VULCON uses a mixed integer multi-objective optimization algorithm to prioritize vulnerabilities for patching, such that the above performance metrics are optimized subject to the given resource constraints. VULCON has been tested on multiple months of real scan data from a Cyber-Security Operations Center (CSOC). Results indicate an overall Total Vulnerability Exposure reduction of 8.97\% when VULCON optimizes a realistic security analyst workforce's effort. Additionally, it is demonstrated that VULCON can determine monthly resources required to maintain a target TVE score. As such, VULCON provides valuable operational guidance for improving vulnerability response processes in CSOCs.

Farris, Katheryn A.↗
DOE OSTI2024

Efficient Anomaly Detection Driven By Different Machine Learning Architectures And Models

The rapid growth and ubiquitous adoption of the internet and cyber-physical systems (CPS) have fundamentally transformed modern communication, work, and human-system interactions. While networks now form the backbone of critical digital ecosystems, enabling seamless data transmission across diverse, interconnected systems, this increased connectivity also expands the attack surface, making real-time detection of network intrusions and anomalies a pressing challenge. Detecting unusual activities within network infrastructure requires advanced data traffic analysis to differentiate between legitimate and malicious interactions. Traditional approaches to network anomaly detectionâ??such as rule-based and signature-based systemsâ??often depend on predefined patterns to identify known anomalies, limiting their effectiveness against emerging, stealthy, or previously unseen threats. These conventional methods suffer from high false alarm rates and fail to adapt to the ever-evolving nature of network traffic, particularly in large-scale, decentralized environments where data volume, velocity, and variety are constantly increasing. This dissertation presents artificial intelligence (AI)-driven approaches to anomaly detection that leverage graphics processing unit (GPU)-enabled high-performance computing (HPC) platforms for processing massive network traffic data and monitoring the components of cyber-physical systems (CPS) for potentially hazardous conditions. The research advances several key contributions: (1) Designing efficient machine learning techniques for CPS condition monitoring and anomaly detection; (2) enabling federated learning (FL) frameworks that enable distributed detection while preserving data privacy and system resilience; (3) exploring graph-based methodologies combining graph neural networks (GNN) and graph machine learning (ML) approaches for the Internet of Things (IoT) and automotive network security, and (4) performing distributed edge computing optimizations that integrate FL with scalable technologies for reduced communication overhead. Through extensive experiments, these methodologies demonstrate that complex anomaly detection and condition monitoring tasks can be achieved while balancing computational efficiency and detection accuracy through fine-grained network information processing. The frameworks developed in this research establish a robust foundation for network anomaly detection, providing scalable, adaptive, and privacy-preserving solutions for safeguarding CPS and IoT networks in an increasingly interconnected digital landscape. The practical implications of these research findings are significant, as they can inform the development of next-generation network security systems and contribute to the protection of critical infrastructure against sophisticated cyber attacks.

Marfo, William↗
DOE OSTI2023

Engineering Crassulacean Acid Metabolism in C 3 and C 4 Plants

Carbon dioxide (CO 2 ) is a major greenhouse gas contributing to changing climatic conditions, which is a grand challenge affecting the security of food, energy, and environment. Photosynthesis plays the central role in plant-based CO 2 reduction. Additionally, plants performing CAM (crassulacean acid metabolism) photosynthesis have a much higher water use efficiency than those performing C 3 or C 4 photosynthesis. Therefore, there is a great potential for engineering CAM in C 3 or C 4 crops to enhance food/biomass production and carbon sequestration on arid, semiarid, abandoned, or marginal lands. Recent progresses in CAM plant genomics and evolution research, along with new advances in plant biotechnology, have provided a solid foundation for bioengineering to convert C 3 /C 4 plants into CAM plants. Here, we first discuss the potential strategies for CAM engineering based on our current understanding of CAM evolution. Then we describe the technical approaches for engineering CAM in C 3 and C 4 plants, with a focus on an iterative four-step pipeline: (1) designing gene modules, (2) building the gene modules and transforming them into target plants, (3) testing the engineered plants through an integration of molecular biology, biochemistry, metabolism, and physiological approaches, and (4) learning to inform the next round of CAM engineering. Finally, we discuss the challenges and future opportunities for fully realizing the potential of CAM engineering.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2021

A Multi-Site Networked Hardware-in-Loop Platform for Evaluation of Interoperability and Distributed Intelligence at Grid-Edge

Electric power systems have experienced large increases in the number of intelligent, connected and controllable devices being deployed, leading to a high degree of distributed intelligence at the grid-edge. These devices, both utility-owned and consumer-owned, include but are not limited to: renewable generation sources, energy storage, remote switches, voltage regulators, and smart controllable loads such as electric vehicles. These new devices provide significant potential for increased operational flexibility that can be leveraged to achieve system reconfiguration, resiliency improvements, power quality improvements, and distribution system automation. However, there are two significant challenges that must be addressed before these assets can be leveraged for operations: interoperability and system level validation prior to deployment. Because of the complexity of distributed control systems, and their interactions with legacy centralized controls, a purely simulations-based approach for pre-deployment validation is not sufficient. It requires hardware-in-loop testing to emulate the operational hardware devices and evaluate their performance. Additionally, securely integrating multiple test facilities at utility operators and vendors might enable rapid scale-up of evaluation platforms, and remove the need for multiple expensive standalone installations. Presented in this paper, is the development of a multi-site evaluation platform that employs Advanced Distribution Management Systems (ADMS), distributed control devices, real-time hardware-in-loop assets, secure communication links, and protocol adapters. This platform uses standards-based approaches and open-source tools, and hence can serve as a template for other researchers and institutions to implement their multi-site evaluation frameworks for pre-deployment testing.

Essakiappan, Somasundaram↗
DOE OSTI2022

Cyber-Resilient Design Methodology for Microgrids

Recent advancement in tools has helped with microgrid design, development, planning and operation. Microgrids offer a unique application based on users with different requirements for tools. The process of designing, constructing, commissioning, and assessing a microgrid is not always straightforward due to these distinct requirements. Additionally, metrics are needed for performance evaluation. This panel will offer an overview and description of tools that helps with microgrid design, construction, planning, operation, cyber security, and metrics-driven performance assessment driven by multiple diverse applications and use cases.

CCE↗
DOE OSTI2020

Development of a Reference Design for a Cyber-Physical System

The purpose of this thesis is to develop a reference design to assist in the selection of security practices in power electronics design. A prototype will be developed from this reference design for evaluation. This evaluation will include a brief cost/benefit analysis to gauge the efficacy of implementing each layer of security throughout the power electronics design process. This thesis will also describe the obstacles and effectiveness of integrating a Trusted Platform Module (TPM) into a cyber-hardened grid-connected device. The TPM device is a secured crypto processor that assists in generating, storing, and restricting the use of cryptographic keys. The emphasis of this research is to establish integrity, authenticity, and confidentiality within a system by providing a baseline of security concerns for segments of the system. This research considers communication, control, and hardware level securities. The scope of this thesis will review the necessary security methods as well as consider the effects these methods have on the embedded system, to assess the desired security to responsiveness trade off. Applying this approach to a design process will alleviate various unknowns of appending security to a power electronics design. This thesis describes the specific vulnerabilities introduced within this grid-edge environment, and how the liabilities within the system can be mitigated. Initially, common security techniques will be considered to establish a guideline to benchmark performance and resource costs of the system. The foundation will be a non-hardened power electronic system platform with industry standard communication protocols. Several security techniques and attack vectors will then be evaluated to contribute to the base level platform. Other fail-safe features take place to gauge progress of the selected approach, non-inclusive to the TPM. Collectively, this investigation will determine a valid experiment by appraising and categorizing resource allocation, performance overhead, and monetary cost analysis results into a reference design. The prototype will then demonstrate methods to relieve common threats that are purposefully implemented into the design.

Blair, Nicholas Paul↗
DOE OSTI2018

Implementation of ISO 50001 at Marine Corps Air Station Beaufort

The ISO 50001 implementation demonstration at U.S. Marine Corps Air Station (MCAS) Beaufort proved the feasibility of integrating an ISO 50001-conforming EnMS into existing command structures. The approach of leveraging external experts in gap analysis, EnMS training, and technical assistance were effective. In addition, strong leadership commitment and personnel resources were critical for success. Addressing typical personnel rotations by training newly rotated personnel and partnering key leadership positions in the EnMS structure with civilian counterparts can ensure program continuity. The project team brought forward many creative solutions that address the unique challenges for the Marine Corps and has paved the way for future Marine Corps EnMS implementations with example strategies and work products. Implementation of an ISO 50001 EnMS at additional Marine Corps facilities could provide for integration of base energy-related data systems and standardized energy reporting, using meaningful metrics for energy performance improvement. Beyond the energy performance improvement benefits of ISO 50001, widespread adoption of the standard at Marine Corps facilities would provide the communication and integration basis on which to reduce energy resiliency concern and could integrate energy service cyber security protections base wide. High levels of energy consumption, aggressive mandates from multiple sources, complex organizational structures, and constant personnel rotation make ISO 50001 a uniquely attractive proposition for the Marine Corps in support of the DoD’s overall energy strategy. The recently launched Energy Ethos and Unit Energy Manager (UEM) programs offer dynamic action-based programs over which ISO 50001 based business management can provide integrated governance of the Marine Corps installations’ energy programs.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2019

A Moving Target Defense Control Framework for Cyber-Physical Systems

This paper considers the problem of efficiently and securely controlling cyber-physical systems that are operating in uncertain, and adversarial environments. To mitigate sensor, actuator attacks, and performance loss due to such attacks, we formulate a secure control algorithm that consists of a proactive and a reactive defense mechanism. The proactive mechanism, which is based on the principles of moving target defense, utilizes a stochastic switching structure to dynamically and continuously alter the parameters of the system, while hindering the attacker's ability to conduct successful reconnaissance to the system. The unpredictability of the current actuator and sensor is optimized using an information entropy measure, which is induced by probabilistic switching. The reactive mechanism on the other side, detects potentially attacked components, namely sensors and actuators, by leveraging online data to compute an integral Bellman error. A rigorous mathematical framework is presented to guarantee the stability of the equilibrium point of the closed-loop system, and provide a quantified bound on the performance loss when utilizing both reactive and proactive mechanisms. Simulation results show the efficacy of the proposed approaches on a benchmark aircraft model.

42 ENGINEERING↗
DOE OSTI2020

A Flexible and Secure Evaluation Platform for Overvoltage Protection in Power Electronics Systems

This paper summarizes the fault mechanisms specifically for the overvoltage protection schemes in power electronic converters and the resulted power electronics enabled systems. A flexible and secure evaluation platform for overvoltage protection, has also been presented based on this conceptual mechanism. The proposed platform aims at testing the protection performance of distinctive overvoltage protection schemes. It would be applied to verify the effectiveness, identify potential strengths and weaknesses, and obtain the most critical protection response time to provide sufficient engineering insights for the designer. The operation principle and detailed design guideline have been presented first. The comprehensive component stress has been analyzed. An intensive set of LTSpice simulations have been conducted to show the validity of the proposed assessment approach.

Zheng, Sheng↗
DOE OSTI2017

Uncertainty analysis of wavelet-based feature extraction for isotope identification on NaI gamma-ray spectra

Low-resolution isotope identifiers are widely deployed for nuclear security purposes, but these detectors currently demonstrate problems in making correct identifications in many typical usage scenarios. While there are many hardware alternatives and improvements that can be made, performance on existing low resolution isotope identifiers should be able to be improved by developing new identification algorithms. We have developed a wavelet-based peak extraction algorithm and an implementation of a Bayesian classifier for automated peak-based identification. The peak extraction algorithm has been extended to compute uncertainties in the peak area calculations. To build empirical joint probability distributions of the peak areas and uncertainties, a large set of spectra were simulated in MCNP6 and processed with the wavelet-based feature extraction algorithm. Kernel density estimation was then used to create a new component of the likelihood function in the Bayesian classifier. Furthermore, identification performance is demonstrated on a variety of real low-resolution spectra, including Category I quantities of special nuclear material.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗