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NASA NTRSDate not supplied

Lunar Science Investigations and Exploration in Celestial Mapping System

Introduction: As NASA expands the mission portfolio on the lunar surface, there is a need for applications with a broad range of analytical and functional capabilities that can be simultaneously deployed onto multiple mobile and desktop platforms to perform in-situ operations and hence enabling extensive Lunar exploration. Celestial Mapping System (CMS) [1,2] is developed to address the need for tools for science investigations, mission planning, operations and support for planetary sciences. Built on top of NASA WorldWind libraries, CMS can be simultaneously deployed onto multiple platforms, has the flexibility to update to the latest imagery and terrain datasets as they are being acquired (in real time) before and/or during the exploration mission and has the potential to enable traverse path planning suited for rovers, EVA and surface mobility units. It can provide critical functionalities such as equipment planning and optimized placement on Lunar surface, line of sight analysis to inform the coverage area for various equipment, powerful measurement tools based on 3D terrain, 3D COLLADA models to represent rovers, humans and equipment, visualization of derived mapping products (e.g. resource maps), and a data engine for hosting new observations that are not available in other contemporary lunar data tools [1]. Visualization of PSRs: The current presentation focuses on the work performed by the authors, to consume a unique dataset of super-enhanced images of the permanently shadowed regions (PSRs) at the lunar poles which were produced by the Hyper-effective nOise Removal U-net Software (HORUS) tool [3]. This tool was developed in direct support of NASA's VIPER and Artemis programs to enhance the extremely low-light images of the interior of PSRs and provide the first-time ability to see within these regions at and discern surface features (i.e. boulders and craters) down to 3 meters in size. We focused on the region near Nobili crater near Lunar south pole, selected site for VIPER mission and stitched several images to create a high-resolution map within one of the PSR of Nobile crater. Line of Sight Analysis and Traverse Planning in PSRs: We have developed an in-built line of sight analysis (LOS) tool in CMS that analyzes the terrain profile and obstructions and provides the visibility of a given terrain for a remote observer. This tool was utilized to perform viewshed analysis to investigate the area inside the PSR, a remote observer such as a rover could see without actually crossing the region. Figure 1 shows the viewshed analysis on the PSR in Nobile region. The yellow pin shows the observer location outside the PSR. The yellow area shows the visible part of PSR. The obstructed area with no visibility for the observer is shown in red. Figure 1: (left) PSR image on top of a high-resolution mosaic of sunlit images of a crater, in Nobile region (right) Viewshed Analysis of the same PSR with observer location shown by yellow pin. This analysis was extended further to set different heights for various observers and then perform the viewshed analysis. Combining the different visibility profiles can help designing improved traverses within the crater. Future plans: Eventually, HORUS datasets will be integrated into CMS as a layer in selected lunar polar regions. Hazard Maps will then be created based on terrain analysis in those regions. This integration will enable multiple scientific and exploration applications, such as designing traverses within PSRs, analyzing potential landing and science mission targets, investigating the meter-scale geomorphology of PSRs, including craters, boulder, surface roughness, mass wasting features and other indications of the presence of water-ice and other volatiles. Acknowledgments: CMS developers team including Kaitlyn J. Dickinson, Tyler A. Lucarz, Tyler W. Choi from USRA, NASA WorldWind Advisory team including Mark Peterson and Guillermo Miguel Del Castillo, HORUS team member V.T. Bickel, Robinson, M., LRO MOON LROC 2 EDR V1.0, LRO-L-LROC-2-EDR-V1.0, NASA Planetary Data System (PDS), 2009. https://doi.org/10.17189/1520643 References: [1] https://celestial.arc.nasa.gov [2] Agrawal et. al. “Celestial Mapping System for Lunar Surface Mapping and Analytics”, Lunar Surface Innovation Consortium, 2021 [3] Bickel V. et al. (2021) Nat Commun 12, 5607

Lunar Mapping↗
NASA NTRSDate not supplied

Evaluation of Performance, Fatigue and Workload During Real-time, Reactive Telerobotic Mission Control Operations

Real-time, reactive telerobotic mission control operations require personnel to actively operate and manage remotely controlled vehicles or robots in real time. Due to the physical separation of the vehicle from the operator, such operations present many additional factors that can influence fatigue (i.e., degraded mental performance) and workload (i.e., mental and physical cost of task requirements), making it difficult to assess how long an individual can safely and accurately conduct operations. The upcoming Volatiles Investigating Polar Exploration Rover (VIPER) mission involves remotely controlling a lunar vehicle from an Earth-based mission control station. METHODS: In order to determine how long personnel could successfully maintain alertness and performance while operating a rover, we studied seven trained operators (i.e., 5 drivers, 2 real-time scientists) in a simulated mission control environment. We further assessed workload in order to determine whether perceived workload levels would change relative to time on task and by time of day. Operators completed two five-hour simulations in a randomized order, beginning at noon and at midnight. Performance was evaluated every 30 minutes using the psychomotor vigilance task (PVT), Karolinska Sleepiness Scale (KSS), and NASA Task Load Index (NASA-TLX). RESULTS: On average, participants rated themselves as sleepier (5.06 ± 2.28) on the night drives compared to the day drives (3.12 ± 1.44; P < .0001). Workload was rated higher during the day drives (37.93 ± 20.09) compared to night (32.09 ± 21.74; P < .01). Lastly, participants had no change in average reaction time between the two drives. CONCLUSIONS: From the analysis, we observed performance began to degrade after approximately three hours of driving. Our findings suggest that rotating drivers at least every three hours would be prudent to allow for breaks, and to minimize performance degradation, particularly during night shifts.

fatigue↗
NASA NTRS1979

Wind-tunnel investigation of the thrust augmentor performance of a large-scale swept wing model

Tests were made in the Ames 40- by 80-foot wind tunnel to determine the forward speed effects on wing-mounted thrust augmentors. The large-scale model was powered by the compressor output of J-85 driven viper compressors. The flap settings used were 15 deg and 30 deg with 0 deg, 15 deg, and 30 deg aileron settings. The maximum duct pressure, and wind tunnel dynamic pressure were 66 cmHg (26 in Hg) and 1190 N/sq m (25 lb/sq ft), respectively. All tests were made at zero sideslip. Test results are presented without analysis.

Koenig, D. G.↗
NASA NTRS1980

Flight and tunnel test results of the MDC mechanical jet noise suppressor nozzle

The flight and wind tunnel tests to determine the acoustic and performance effects of a mechanical jet noise suppressor nozzle mounted on a Viper engine of an HS-125 airplane are discussed. Flyover noise measurements were made with microphones mounted on top of a 137.5 m bridge tower. Seven nozzle configurations including two references nozzles, two suppressors, and three ejector inlets were tested. The suppressor nozzle of interest for an advanced supersonic transport, the suppressor/treated ejector, achieved a measured noise reduction of 14 EPNdB relative to a conventional conical reference nozzle at the highest pressure ratio tested (approximately 2.5). The unique engine nacelle, flight hardware, and nacelles from the HS-125 flight test program, combined with a simulated HS-125 fuselage were windtunnel tested. Both propulsion and acoustic data were recorded. Preliminary thrust data results from the wind tunnel tests are summarized and compared to other mechanical suppressor test results. The test results indicate that a noise reduction of at least 16 EPNdB would be possible for the suppressor/ejector nozzle scaled to typical AST engine size with a 5% thrust loss at a typical takeoff climb speed.

Fitzsimmons, R. D.↗
NASA NTRS1981

Jet noise results from static, wind tunnel, and flight tests of conical and mechanical suppressor nozzles

Results of jet noise suppression tests conducted on a Rolls-Royce Viper 601 turbojet engine are reported. Seven exhaust nozzle configurations are tested, including two conical nozzles, two suppressor mixers, and three treated ejector configurations with different ejector inlets. Tests are conducted at the NASA Ames outdoor static test facility and the 40- by 80-ft wind tunnel facility at minimum tunnel flow velocity and normal flow velocities of 230 and 290 ft/sec. Near-field multiple sideline noise levels are projected to the far fields to compare far-field fixed microphone outdoor static noise levels, and wind tunnel near-field noise data are projected to the far field and flight distances to compare with noise levels recorded from an Hs-125 aircraft. Near-field outdoor noise data duplicate the far-field data recorded from fixed microphones within 2 PNdB, and the Douglas mechanical jet noise suppressor/treated ejector exhaust system achieves a noise reduction of 12 EPNdB relative to a conic reference nozzle at equal thrust in flight.

Mckinnon, R. A.↗
NASA NTRS1990

Generic interpreters and microprocessor verification

The following topics are covered in viewgraph form: (1) generic interpreters; (2) Viper microprocessors; (3) microprocessor verification; (4) determining correctness; (5) hierarchical decomposition; (6) interpreter theory; (7) AVM-1; (8) phase-level specification; and future work.

Windley, Phillip J.↗
NASA NTRS1993

Aircraft wing structure detail design

The provisions of this project call for the design of the structure of the wing and carry-through structure for the Viper primary trainer, which is to be certified as a utility category trainer under FAR part 23. The specific items to be designed in this statement of work were Front Spar, Rear Spar, Aileron Structure, Wing Skin, and Fuselage Carry-through Structure. In the design of these parts, provisions for the fuel system, electrical system, and control routing were required. Also, the total weight of the entire wing planform could not exceed 216 lbs. Since this aircraft is to be used as a primary trainer, and the SOW requires a useful life of 107 cycles, it was decided that all of the principle stresses in the structural members would be kept below 10 ksi. The only drawback to this approach is a weight penalty.

Sager, Garrett L.↗
NASA NTRS1993

Cockpit control system

The purpose of this project is to provide a detail design for the cockpit control system of the Viper PFT. The statement of work for this project requires provisions for control of the ailerons, elevator, rudder, and elevator trim. The system should provide adjustment for pilot stature, rigging, and maintenance. MIL-STD-1472 is used as a model for human factors criterion. The system is designed to the pilot limit loading outlined in FAR part 23.397. The general philosophy behind this design is to provide a simple, reliable control system which will withstand the daily abuse that is experienced in the training environment without excessive cost or weight penalties.

Lesnewski, David↗
NASA NTRS1993

The Design of a Primary Flight Trainer using Concurrent Engineering Concepts

Concurrent Engineering (CE) concepts seek to coordinate the expertise of various disciplines from initial design configuration selection through product disposal so that cost efficient design solutions may be achieve. Integrating this methodology into an undergraduate design course sequence may provide a needed enhancement to engineering education. The Advanced Design Program (ADP) project at Embry-Riddle Aeronautical University (EMU) is focused on developing recommendations for the general aviation Primary Flight Trainer (PFT) of the twenty first century using methods of CE. This project, over the next two years, will continue synthesizing the collective knowledge of teams composed of engineering students along with students from other degree programs, their faculty, and key industry representatives. During the past year (Phase I). conventional trainer configurations that comply with current regulations and existing technologies have been evaluated. Phase I efforts have resulted in two baseline concepts, a high-wing, conventional design named Triton and a low-wing, mid-engine configuration called Viper. In the second and third years (Phases II and III). applications of advanced propulsion, advanced materials, and unconventional airplane configurations along with military and commercial technologies which are anticipated to be within the economic range of general aviation by the year 2000, will be considered.

Ladesic, James G.↗
NASA NTRS2012

Universal fieldable assay with unassisted visual detection

A universal detection system based on allosteric aptamers, signal amplification cascade, and eye-detectable phrase transition. A broadly applicable homogeneous detection system is provided. It utilizes components of the blood coagulation cascade in the presence of polystyrene microspheres (MS) as a signal amplifier. Russell's viper venom factor X activator (RVV-X) triggers the cascade, which results in an eye-visible phase transition--precipitation of MS bound to clotted fibrin. An allosteric RNA aptamer, RNA132, with affinity for RVV-X and human vascular endothelial growth factor (VEGF.sub.165) was created. RNA132 inhibits enzymatic activity of RVV-X. The effector molecule, VEGF.sub.165, reverses the inhibitory activity of RNA132 on RVV-X and restores its enzymatic activity, thus triggering the cascade and enabling the phase transition. Similar results were obtained for another allosteric aptamer modulated by a protein tyrosine phosphatase. The assay is instrumentation-free for both processing and readout.

Chelyapov, Nicolas↗
NASA NTRS2014

Clearance Analysis of Node 3 Aft CBM to the Stowed FGB Solar Array

In early 2011, the ISS Vehicle Configuration Office began considering the relocation of the Permanent Multipurpose Module (PMM) to the aft facing Common Berthing Mechanism (CBM) on Node 3 to open a berthing location for visiting vehicles on the Node 1 nadir CBM. In this position, computer-aided design (CAD) models indicated that the aft end of the PMM would be only a few inches from the stowed Functional Cargo Block (FGB) port solar array. To validate the CAD model clearance analysis, in the late summer of 2011 the Image Science and Analysis Group (ISAG) was asked to determine the true geometric relationship between the on-orbit aft facing Node 3 CBM and the FGB port solar array. The desired measurements could be computed easily by photogrammetric analysis if current imagery of the ISS hardware were obtained. Beginning in the fall of 2011, ISAG used the Dynamic Onboard Ubiquitous Graphics (DOUG) program to design a way to acquire imagery of the aft face of Node 3, the aft end-cone of Node 1, the port side of pressurized mating adapter 1 (PMA1), and the port side of the FGB out to the tip of the port solar array using cameras on the Space Station Remote Manipulator System (SSRMS). This was complicated by the need to thread the SSRMS under the truss, past Node 3 and the Cupola, and into the space between the aft side of Node 3 and the FGB solar array to acquire more than 100 images from multiple positions. To minimize the number of SSRMS movements, the Special Purpose Dexterous Manipulator (SPDM) would be attached to the SSRMS. This would make it possible to park the SPDM in one position and acquire multiple images by changing the viewing orientation of the SPDM body cameras using the pan/tilt units on which the cameras are mounted. Using this implementation concept, ISAG identified four SSRMS/SPDM positions from which all of the needed imagery could be acquired. Based on a photogrammetric simulation, it was estimated that the location of the FGB solar array could be measured within an accuracy of about 1 in. in each axis relative to the ISS Analysis Coordinate System (ISSACS). In October 2011, a proposed image-acquisition plan was drafted by ISAG and released for review. The ISS Robotics flight control team (ROBO) proposed minor changes to SPDM positions 1 and 4 to meet ISS proximity requirements. The updated image acquisition plan and draft chit were presented to and approved by the Systems Working Group (SWG) November 18 and were sent to the Vehicle Configuration Board (VCB) in early December 2011. Working with ROBO on 3 successive days (February 21, 22, and 23), ISAG collected 161 images of the ISS. Approximately 40 images were collected from each of the four different SSRMS/SPDM positions, with each set mapping the region from the Node 3 end cone, across Node 1, along the forward port side portion of the FGB, and out the port side FGB solar arrays. From this imagery, the best 80 images were selected for use in the analysis. The images were radiometrically enhanced to improve color and contrast and loaded into the FotoG analysis software along with the camera parameters and control data, which consisted of the coordinates for 54 handrail attachment bolts on the aft face of Node 3, in the ISSACS coordinate system. The results of this analysis produced the measured coordinates of 116 points distributed across the face of the FGB solar array panels (see figure 3) along with propagated uncertainty estimates in each coordinate axis. These results were sent to the ISS Vehicle Configuration Office, which sent them to the Configuration Analysis Modeling and Mass Properties (CAMMP) team for comparison with the Russian-provided CAD model for the retracted FGB solar arrays. The CAMMP analysis unexpectedly showed that the measured location of the port FGB solar array was up to 41-in. further outboard than the design and was slightly twisted about its rotational axis. The unexpected comparison results produced some initial concern regarding the accuracy of the photogrammetric measurements. To verify the measured results, ISAG personnel conducted a second analysis using just the imagery of the solar arrays in an arbitrary coordinate system defined by the three corner points of the inboard-most panel, with the design distance between points A1 and A10 as the only scale. The new measurements agreed with the original results to within less than 1 in. RMS in each axis, confirming the original solar array measurements. ISAG produced a final report for the ISS Vehicle Configuration Office documenting an apparent anomaly in the retracted configuration of the port FGB solar arrays. A copy of the measurement report was translated and sent to the Russian Space Agency. During a Vehicle Integrated Performance and Resources (VIPeR) teleconference September 24, 2012, the Russians acknowledged receipt of a translated copy of the ISAG report. The Russian representative stated that the head of the solar array design team claimed that the measured configuration was impossible unless the structure was physically broken. The Russians acknowledged that they had no expertise in photogrammetry, so the analysis technique employed was a "black box" to them, and they did not know how to use the ISAG results. They asked for a single image in which the overextension of the port solar array could be obviously seen. On November 10, 2012, during a face-to-face meeting with their Russian counterparts at JSC, ISAG presented nadir-view imagery of the FGB acquired during Space Shuttle rendezvous. Using the known width of the pressurized portion of the FGB as a scale, this analysis clearly showed that the port FGB solar array was extended outboard further than the Russian design for the retracted solar array.

Liddle, Donn↗
NASA NTRSDate not supplied

Autonomous Lunar PNT Simulator (ALPS)

In this paper we present a simulation tool that has been used to develop an architecture for a low-cost Position, Navigation and Time (PNT) system to provide PNT services on and around the Moon using non-dedicated low-cost orbital and ground assets. The simulation tool has been developed to be flexible and is capable of modeling and analyzing the many different capabilities and configurations that the non-dedicated assets could support. The tool models the creation of an ad hoc swarm, the localization of this swarm and the subsequent provision of PNT services from this swarm. We present results from several studies of select configurations chosen to reflect existing and future real-world needs and capabilities. Over the next few decades there is expected to be a substantial increase in Lunar missions supporting and inspired by NASA’s Artemis Program. It is expected that a large fraction of these missions will be low cost, utilizing rideshares and CubeSats, just as has seen in Earth orbit over the past decade. Many of these missions will need navigation capabilities but may be unable to support the large power, mass and weight that a weak GNSS or DSN based navigation solution would entail. As Lunar PNT service demand is not likely to be needed over the entire lunar surface 24/7, the creation of a dedicated Lunar GNSS constellation cannot be justified. Hence, our proposed architecture envisions utilizing existing Lunar science and exploration assets to create ad hoc and on demand Lunar PNT swarms capable of providing PNT services to low cost missions. The simulation reflects the two distinct parts of the architecture: the creation of a Lunar PNT swarm using non-dedicated existing assets, and the quantitative modeling of the quality of the PNT services that this swarm provides. To support the former, the simulation supports various swarm localization techniques, including centralized and distributed EKFs both of which support pluggable dynamics models. In modeling the PNT service performance the simulation adopts standard techniques from the GNSS community, including providing degree of precision (DOP) estimates for theoretical end users. Crucially, all asset capabilities, including clock accuracy, independent location self-knowledge and timing measurement precision can be set independently for each asset, reflecting the key concept of utilizing non-dedicated assets. The simulation is predominantly implemented in MATLAB, with GMAT being used for the propagation of orbital assets. The paper will present results from the simulation reflecting the tool’s flexibility and focusing on scenarios that match real-world proposed missions, including scenarios designed to provide PNT support to lunar surface missions similar to NASA Ames' forthcoming VIPER mission. The performance of centralized and decentralized swarm configuration and localization techniques will be compared. Finally, performance of the PNT service provided by an autonomous Lunar PNT swarm will be compared to existing radiometric and weak GNSS methods.

Kelley Elizabeth Hashemi↗
NASA NTRSDate not supplied

Developing Mass Spectrometry for Water Quantitation and Volatiles Analysis from In-Situ Regolith

With a revived focus to create a sustainable hu-man presence on the moon, and in preparation for future Mars exploration, it is imperative that all resources are utilized to their fullest potential [1]. In-Situ Resource Utilization (ISRU) will be critical for future mission success as it would enable in-dependent operation of missions while reducing the dependence on the complex supply chain created between the Earth, the moon and Mars. One of the most critical resources that has been identified for ISRU on the lunar surface is water [2]. Water is a versatile resource that can be used in various space operations, such as ra-diation shielding and conversion to oxygen (O2) for propellant [3,4]. One of the most water rich resources is thought to be within the regolith lo-cated in the permanently shadowed regions (PSR) of the Moon; several upcoming missions, such as PRIME-1 and VIPER, are already sched-uled to confirm this hypothesis [5,6]. However, there are currently no missions planned to quanti-fy the abudance of water at these regions. The quantity of water contained in the ice will inform and help the development of future ISRU plants and operation. Water and other volatile gases can be detect-ed upon controlled heating of icy lunar regolith for an accurate quantification of water. This method is similar to thermogravimetric analysis, which was used to analyze Apollo lunar regolith sam-ples. However, losses via sublimation/evaporation or contamination may have occurred with the samples due to the transit and exposure to the terrestrial environment. Furthermore, water would not be expected for these samples since they were not collected from a PSR. Thus, for more accurate results, icy lunar regolith should be ana-lyzed in situ to provide the most representative composition of both water and other volatile gas-es. The Light Water Analysis and Volatile Extract (LightWAVE) project aims to address this knowledge gap. A system has been developed to collect, heat and analyze evolved gases from lu-nar regolith on the lunar surface. The gases will be analyzed by a modified commercial off the shelf (COTS) residual gas analyzer (RGA) quad-rupole mass spectrometer. Evolved gases from heated regolith samples can be identified by the observed mass-to-charge (m/z) ratios, and the peak intensities correlate to the abundances of the observed gases for quantitation. Therefore, our group is developing a calibration methodology utilizing a COTS RGA to quantitate water from in-situ regolith samples on the lunar surface. The partial pressure of water and ideal gas law will be used to quantify the total water evolved from a regolith sample. Here we present our methodol-ogy for the design and calibration for water quan-titation using a COTS RGA.

Nilab Azim↗
NASA NTRSDate not supplied

Assessing Impact of Joint Actuator Failure on Lunar Rover Mobility

Wheeled rovers are critical to exploration of the lunar surface, and loss of mobility actuators can have mission-ending consequences. NASA’s upcoming Volatiles Investigating Polar Exploration Rover (VIPER) has a four-wheeled active suspension, which gives it flexible extreme terrain mobility at the cost of an increased number of mobility actuators and potentially a higher mobility cost due to actuator loss than might occur on a similar six-wheeled rover. Impact varies greatly by both the affected joint and its failure state, and that in some cases modification of driving strategy may be able to partially mitigate mobility impact.

rover↗
NASA NTRSDate not supplied

Cryobotics: Extreme Cold Environment Testing

The extreme cold environment test chamber was designed to conduct research in cryobotics; an area of study that focuses on robotic systems and rotating machinery operating in extreme cold environments including Earth, low Earth orbit, Mars, Moon, asteroids, Solar orbit, planetary orbit, or those encountered during travel among these destinations. The test chamber incorporates a modular dynamometer, consisting of a variety of brakes, torque sensors and motors to be easily interchanged between tests. Each test employs a unique test profile that incorporates different setpoints of applied torques and velocities for a given period or number of revolutions. The modularity of the dynamometer setup allows for any combination of motor, gearbox to be tested. The chamber has been used to run tests for various projects including Bulk Metallic Glass Gears (BMGG), Volatiles Investigating Polar Exploration Rover (VIPER), Intelligent Payload Experiment (IPEX), and Pilot Excavator. Various upgrades have been made to the extreme cold environment test chamber for the use of cryobotic research. These upgrades greatly increased the autonomous capabilities of the test set up by providing redundancies in the hardware and software. The redundancies were primarily added to protect the integrity of the cryohead. A new strapping and insulation method was performed to create the thermal conductive path from the actuators to the cryohead. The software was upgraded to include temperature setpoint control, further increasing the autonomous capabilities of the test. This paper goes into detail regarding the upgrades made to the extreme cold environment test chamber, as well as highlights the results from a COLDArm acceptance test.

Jonathan Drew Smith↗
NASA NTRSDate not supplied

Numerical Modelling of Sublimation Losses During Sample Handling Within the Light WAVE Lunar Water Prospecting Instrument

NASA’s focus of exploring the Moon’s south pole under the Artemis program has placed new emphasis on characterizing the quantity and distribution of water ice and other volatiles present within the Moon’s permanently shadowed regions (PSRs), first measured during the 2009 LCROSS mission. NASA’s VIPER rover is the first of a series of prospecting missions to characterize this water ice resource. NASA’s Johnson Space Center (JSC) has developed the Light Water Analysis and Volatiles Extraction (Light WAVE) instrument shown in Figure 1 for a follow-on prospecting mission, designed to be a rover payload for water ice prospecting at various depths and locations within PSRs. A key source of error for lunar water prospecting instruments, including Light WAVE, is the loss of water in an icy regolith sample to the lunar vacuum via sublimation due to heating above its ice-stable temperature. This abstract and conference presentation discuss a sublimation model for Light WAVE’s sample crucible using COMSOL Multiphysics to assess the sublimation losses that would occur between sample collection from an external drill and sealing the sample within Light WAVE’s boiler.

Lunar Polar Water↗