Results for “Urban Air Mobility Vehicles” — Page 9

NASA NTRSDate not supplied

Solid-state Architecture Batteries for Enhanced Rechargeability and Safety (SABERS) Beyond Li-Ion: Technology to Enable Sustainable Electric Aviation

All-electric vertical take-off and landing vehicles (eVTOL) for urban air mobility (UAM) concepts face numerous challenging technical barriers before their introduction into the consumer marketplace. The primary barrier to overcome is developing an energy storage system capable of meeting the rigorous aerospace safety and performance criteria. The performance metrics for eVTOL vehicles are at least two times greater than those of electric ground vehicles. Furthermore, inherently non-flammable batteries are essential for safe operation of commercial electric aerovehicles. The SABERS concept proposes a battery that meets the key performance criteria through development of a solid-state architecture battery utilizing high-capacity sulfur-selenium cathode and lithium metal anode. The combination of sulfur and selenium offers a balanced energy-to-power density ratio, which can be tailored to the specific application by altering the stoichiometric ratios of sulfur to selenium. This hybrid cathode will be developed by implementing NASA patented holey graphene technology as a highly conductive, ultra-lightweight electrode scaffold. A solid-state electrolyte will be used as a safe, non-flammable replacement to the highly flammable liquid organic electrolytes currently used in SOA lithium-ion batteries. This solid-state lithium-sulfur/selenium cell will be designed into a serial stacking configuration to enable dense packaging of the battery cells. The serial stacking configuration is termed a bipolar stack, which has the advantages of reducing overall cell weight, simplifying the interfaced connections for the cell, and minimizing the cooling requirements. Lastly, optimization of battery components will occur through a robust and rigorous combination of various computational modeling techniques covering multiple length scales. The expected result will be a fully solid-state battery with operational temperatures up to 150 °C which provides the required energy density, discharge rates, and inherent safety to meet the strict aerospace mission performance criteria. This presentation will demonstrate a feasible path for solid-state cells that possess a specific energy of greater than 400 Wh/kg to enable electric aircraft.

Urban Air Mobility (UAM) Vehicles↗

NASA NTRSDate not supplied

Solid-state Architecture Batteries for Enhanced Rechargeability and Safety (SABERS) for Electric Aircraft

All-electric vertical take-off and landing vehicles (eVTOL) for urban air mobility (UAM) concepts face numerous challenging technical barriers before their introduction into the consumer marketplace. The primary barrier to overcome is developing an energy storage system capable of meeting the rigorous aerospace safety and performance criteria. The performance metrics for eVTOL vehicles are at least two times greater than those of electric ground vehicles. Furthermore, inherently non-flammable batteries are essential for safe operation of commercial electric aerovehicles. The SABERS concept proposes a battery that meets the key performance criteria through development of a solid-state architecture battery utilizing high-capacity sulfur-selenium cathode and lithium metal anode. The combination of sulfur and selenium offers a balanced energy-to-power density ratio, which can be tailored to the specific application by altering the stoichiometric ratios of sulfur to selenium. This hybrid cathode will be developed by implementing NASA patented holey graphene technology as a highly conductive, ultra-lightweight electrode scaffold. A solid-state electrolyte will be used as a safe, non-flammable replacement to the highly flammable liquid organic electrolytes currently used in SOA lithium-ion batteries. This solid-state lithium-sulfur/selenium cell will be designed into a serial stacking configuration to enable dense packaging of the battery cells. The serial stacking configuration is termed a bipolar stack, which has the advantages of reducing overall cell weight, simplifying the interfaced connections for the cell, and minimizing the cooling requirements. Lastly, optimization of battery components will occur through a robust and rigorous combination of various computational modeling techniques covering multiple length scales. The expected result will be a fully solid-state battery with operational temperatures up to 150 °C which provides the required energy density, discharge rates, and inherent safety to meet the strict aerospace mission performance criteria. This presentation will demonstrate a feasible path for solid-state cells that possess a specific energy of greater than 400 Wh/kg to enable electric aircraft.

Urban Air Mobility (UAM) Vehicles↗

NASA NTRS2023

Solid-State Architecture Batteries for Enhanced Rechargeability and Safety (SABERS): Advanced Battery Technology for Sustainable Aviation

All-electric vertical take-off and landing vehicles (eVTOL) for urban air mobility (UAM) concepts face numerous challenging technical barriers before their introduction into the consumer marketplace. The primary barrier to overcome is developing an energy storage system capable of meeting the rigorous aerospace safety and performance criteria. The performance metrics for eVTOL vehicles are at least two times greater than those of electric ground vehicles. Furthermore, inherently non-flammable batteries are essential for safe operation of commercial electric aerovehicles. The SABERS concept proposes a battery that meets the key performance criteria through development of a solid-state architecture battery utilizing high-capacity sulfur-selenium cathode and lithium metal anode. The combination of sulfur and selenium offers a balanced energy-to-power density ratio, which can be tailored to the specific application by altering the stoichiometric ratios of sulfur to selenium. This hybrid cathode will be developed by implementing NASA patented holey graphene technology as a highly conductive, ultra-lightweight electrode scaffold. A solid-state electrolyte will be used as a safe, non-flammable replacement to the highly flammable liquid organic electrolytes currently used in SOA lithium-ion batteries. This solid-state lithium-sulfur/selenium cell will be designed into a serial stacking configuration to enable dense packaging of the battery cells. The serial stacking configuration is termed a bipolar stack, which has the advantages of reducing overall cell weight, simplifying the interfaced connections for the cell, and minimizing the cooling requirements. Lastly, optimization of battery components will occur through a robust and rigorous combination of various computational modeling techniques covering multiple length scales. The expected result will be a fully solid-state battery with operational temperatures up to 150 °C which provides the required energy density, discharge rates, and inherent safety to meet the strict aerospace mission performance criteria. This presentation will demonstrate a feasible path for solid-state cells that possess a specific energy of greater than 400 Wh/kg to enable electric aircraft. The presentation will also explore novel materials and computational models used to achieve all solid-state cells that operate safely at very high temperatures and specific energies. The cells can withstand damage while operating without an increase in temperature or spontaneous ignition.

Urban Air Mobility (UAM) Vehicles↗

NASA NTRSDate not supplied

Guidance for Designing Safety into Urban Air Mobility: Hazard Analysis Techniques

The national airspace system is exceptionally safe, specifically in terms of commercial air traffic operations. The introduction of innovative aircraft (such as electric vertical takeoff and landing vehicles) undergoing novel operations (such as for an urban air passenger carrying mission) is a potential disruptor to the current means of regulating and ensuring the safety of air travel. The aviation industry and associated regulatory bodies are adapting their approaches to assuring system safety to enable these new paradigms. However, any system safety analysis requires that a hazard assessment be performed. In this work, we consider the Functional Hazard Assessment (FHA) and Systems Theoretic Process Analysis (STPA) techniques for hazard assessment and evaluate whether they can be used in a complementary fashion for regulatory approval purposes. We perform an FHA and an STPA on an electric vertical takeoff and landing (eVTOL) vehicle undergoing an urban air mobility (UAM) passenger carrying reference scenario and present excerpts of this analysis. We then draw parallels between the techniques and highlight elements where they naturally reinforce to each other’s results, specifically in the consideration of hazard severity with respect to flight phases, the design of hazard mitigations, and the applicability of the results to all types of regulatory approvals (e.g., type certification, operational approval, and crew training).

Mallory S Graydon↗

NASA NTRSDate not supplied

Conceptual Design Trade Studies for Acoustic Predictions of the NASA UAM Tiltrotor Reference Vehicle

A toolchain of low-and mid-fidelity tools is applied to NASA’s Urban Air Mobility tiltrotor reference vehicle to quantify trades in sizing, performance, and noise at the conceptual design level. The process includes conceptual sizing, comprehensive analysis, and acoustic analysis to design and analyze versions of the concept tiltrotor with differing design variables. Rotor tip speed is the primary design variable studied, with blade twist, blade taper, and blade number also considered. The noise metrics used are the FAA/EASA certification Effective Perceived Noise Levels for takeoff, flyover, and approach. Certification condition noise is calculated for all conditions in both conversion and airplane flight modes, with airplane mode flight resulting in noise 10-25EPNdB quieter than conversion mode and tip speed variation providing noise reduction up to 9EPNdB.

Acoustic↗

NASA NTRSDate not supplied

Acoustic Predictions of the Moog S-250 in Hover

Acoustic predictions were made on the Moog S-250 vehicle to assess one of NASA’s mid-fidelity prediction toolchains for Urban Air Mobility-type vehicles. Experimental data from a 60-foot hover test is used for comparison. The S-250 is an RPM-controlled vehicle in a quadcopter-type configuration with four sets of contra-rotating rotors and powered by eight independently controlled electric motors. The same type of rotor blade used on the S-250 was 3D laser scanned to enable the development of custom-made airfoil tables and more accurate blade loadings. Noise predictions at the first couple of blade-pass frequencies indicate a good comparison to experimental data.

Acoustic prediction↗

NASA NTRS2019

Simulating Fleet Noise for Notional UAM Vehicles and Operations in New York

This paper presents the results of systems-level simulations using Metrosim that were conducted for notional Urban Air Mobility (UAM)-style vehicles analyzed for two different scenarios for New York (NY). UAM is an aviation industry term for passenger or cargo-carrying air transportation services, which are often automated, operating in an urban/city environment. UAM-style vehicles are expected to use vertical takeoff and landing with fixed wing cruise flight. Metrosim is a metroplex-wide route and airport planning tool that can also be used in standalone mode as a simulation tool. The scenarios described and reported in this paper were used to evaluate a fleet noise prediction capability for this tool. The work was a collaborative effort between the National Aeronautics and Space Administration (NASA), Intelligent Automation, Inc (IAI), and the Port Authority of New York and New Jersey (PANYNJ). One scenario was designed to represent an expanded air-taxi operation from existing helipads around Manhattan to the major New York airports. The other case represented a farther term vision case with commuters using personal air vehicles to hub locations just outside New York, with an air-taxi service running frequent connector trips to a few key locations inside Manhattan. For both scenarios, the trajectories created for the entire fleet were passed to the Aircraft Environmental Design Tool (AEDT) to generate Day-Night Level (DNL) noise contours for inspection. Without data for actual UAM vehicles available, surrogate AEDT empirical Noise-Power-Distance (NPD) tables used a similar sized current day helicopter as the Baseline, and a version of that same data linearly scaled as a first guess at possible UAM noise data. Details are provided for each of the two scenario configurations, and the output noise contours are presented for the Baseline and reduced noise DNL cases.

Glaab, Patricia↗

NASA NTRSDate not supplied

More / All Electric Vertical Take-Off and Landing (VTOL) Vehicle Sensitivities to Propulsion and Power Performance

Battery power and energy density are important parameters for the emerging concepts for more / all-electric vehicles. Electric propulsion and power system performance is also important. To better understand how electric propulsion and power systems component performance influences overall vehicle design, a sensitivity assessment was performed noting changes in vehicle gross weight and energy usage. Updated versions of the Revolutionary Vertical lift Technology (RVLT) Project vertical take-off and landing (VTOL) urban air mobility (UAM) reference vehicles and missions were used. NASA electric vehicle studies are discussed which were used to help select the range of electric propulsion and power system performance parameters used in this assessment. Thermal management systems (TMS) considerations are also important; new and innovative power management and distribution systems can reduce electric system weight and losses, reducing thermal management constraints often imposed by electric systems modest maximum use temperatures. Vehicles with higher disk loadings (smaller rotors) require higher power levels per unit weight for VTOL operations, which make them more sensitive to electric system weights and efficiencies. Battery, all-electric vehicles show different sensitivities to component performance than turboelectric or hybrids systems. Battery, all-electric propulsion systems may increase vehicle weight and size, but still results in lower mission energy usage than their hydrocarbon-fueled versions. Significant vehicle weight growth to electric propulsion and power system power-to-weight reductions also occurs at different levels among the various concepts. From these results, one can more readily identify required component performance levels, potential component choices or, research and development paths.

Electric Propulsion Systems (Aircraft)↗

NASA NTRSDate not supplied

More / All Electric Vertical Take-Off and Landing (VTOL) Vehicle Sensitivities to Propulsion and Power Performance

Battery power and energy density are important parameters for the emerging concepts for more / all-electric vehicles. Electric propulsion and power system performance is also important. To better understand how electric propulsion and power systems component performance influences overall vehicle design, a sensitivity assessment was performed noting changes in vehicle gross weight and energy usage. Updated versions of the Revolutionary Vertical lift Technology (RVLT) Project vertical take-off and landing (VTOL) urban air mobility (UAM) reference vehicles and missions were used. NASA electric vehicle studies are discussed which were used to help select the range of electric propulsion and power system performance parameters used in this assessment. Thermal management systems (TMS) considerations are also important; new and innovative power management and distribution systems can reduce electric system weight and losses, reducing thermal management constraints often imposed by electric systems modest maximum use temperatures. Vehicles with higher disk loadings (smaller rotors) require higher power levels per unit weight for VTOL operations, which make them more sensitive to electric system weights and efficiencies. Battery, all-electric vehicles show different sensitivities to component performance than turboelectric or hybrids systems. Battery, all-electric propulsion systems may increase vehicle weight and size, but still results in lower mission energy usage than their hydrocarbon-fueled versions. Significant vehicle weight growth to electric propulsion and power system power-to-weight reductions also occurs at different levels among the various concepts. From these results, one can more readily identify required component performance levels, potential component choices or, research and development paths.

electric propulsion systems (aircraft) mission ana↗

NASA NTRSDate not supplied

Second-Generation UAM Community Noise Assessment Using the FAA Aviation Environmental Design Tool

Vehicles serving the urban air mobility (UAM) market are anticipated to operate in communities close to the public at large. The approved model for assessing environmental impact of air traffic actions in the United States, the Federal Aviation Administration’s Aviation Environmental Design Tool (AEDT), does not support analysis of such operations due to a combined lack of a UAM aircraft performance model and aircraft noise data. This paper discusses second-generation developments to assess the acoustic impact of UAM fleet operations on the community using AEDT and demonstrates its use for representative UAM operations. In particular, methods were developed to add broadband self noise into computed noise-power-distance data, and vertiport-centric operations were evaluated for two concept vehicles.

urban air mobility↗

NASA NTRS2019

Propulsion System Optimization for a Turboelectric Tiltwing Urban Air Mobility Aircraft

An emerging potential market within the aviation industry is short, frequent air taxi flights within the urban airspace. These air taxis (also called urban air mobility or UAM vehicles) are envisioned to be vertical take-o and landing designs which are capable of carrying 1 to 15 passengers in an intra-urban environment with less than 50 nautical miles of range. Numerous vehicle conceptual designs have been proposed by various industry and government organizations to fulfill these potential missions. These concepts are enabled by recent advancements in a number of areas including propulsion and power systems. While new technologies are making these vehicles possible, this new UAM design space is large, unexplored, and multidisciplinary in nature. New challenges exist in identifying and creating optimized designs for these unique vehicles with new propulsion technologies. This work presents the development of a suite of propulsion system analysis tools, which when coupled together, can improve the multidisciplinary conceptual design and optimization of UAM vehicle propulsion systems. These analysis tools are then applied to the design optimization of a turboelectric propulsion system for a notional UAM tiltwing concept. The optimization demonstration for this vehicle shows how a tightly-coupled multidisciplinary design can be developed which considers both physical design characteristics and operating schedules. Furthermore, the results explore trade-o s in the thermal management system design and how those trade-o s impact the overall vehicle.

Hendricks, Eric S.↗

NASA NTRSDate not supplied

Impact of Handling Qualities on Motor Sizing for Multirotor Aircraft with Urban Air Mobility Missions

Control models of three NASA Urban Air Mobility (UAM) reference vehicles (the quadrotor, octocopter, and Lift+Cruise (LPC)) were created and compared to determine the effect of rotor number and disk loading on control margin and design. The heave and yaw axes demand more actuator usage than the roll and pitch axes. Between heave and yaw, heave was the more demanding of the two because of the dependence of heave on the engine speed controller (ESC). When the feedback gains for all three vehicles were optimized to Level 1 handling qualities (HQs) specifications using CONDUIT, the ESC for the octocopter was the most stable and had the highest rise time (time for the rotor to respond to an input), while the LPC ESC was the least stable and had the smallest rise time. Rise time corresponds to the time required for rotor response. When actuator usage was translated to current margin, torque margin, and power margin, heave was the most demanding axis, followed by yaw, roll, and then pitch for all three vehicles. The results emphasize the importance of an accurate motor model within the control system architecture.

Impact↗

NASA NTRS2021

An Uncertainty Quantification Framework for Autonomous Flight System Tracking and Health Monitoring

This work proposes a perspective towards establishing a framework for uncertainty quantification of autonomous system tracking and health monitoring. The approach leverages the use of a predictive process structure, which maps uncertainty sources and their interaction according to the quantity of interest and the goal of the predictive estimation. It is systematic and uses basic elements that are system agnostic, and therefore needs to be tailored according to the specificity of the application. This work is motivated by the interest in low-altitude unmanned aerial vehicle operations, where awareness of vehicle and airspace state becomes more relevant as the density of autonomous operations grows rapidly. Predicted scenarios in the area of small vehicle operations and urban air mobility have no precedent, and holistic frameworks to perform prognostics and health management (PHM) at the system- and airspace-level are missing formal approaches to account for uncertainty. At the end of the paper, two case studies demonstrate implementation framework of trajectory tracking and health diagnosis for a small unmanned aerial vehicle. This work has been accepted for publication at the International Journal of Prognostics and Health Management Jan 2021. Minor edits have been incorporated to this original submission to incorporate complete overview and software integration.

Uncertainty Quantification↗

NASA NTRSDate not supplied

Designing A Coaxial Quadrotor for Urban Air Mobility

The NASA Revolutionary Vertical Lift Technology Project has created several Urban Air Mobility reference design vehicles to aid the burgeoning UAM industry. With over 700 conceptual designs already proposed, much interest has been generated across many unique configurations to bring vertical flight to the masses. The quadrotor configuration is one of the NASA reference vehicles, and does have some conceptual designs proposed in the industry. This study looks at the conceptual design of a coaxial quadrotor vehicle as an extension of the NASA RVLT quadrotor concept vehicle. The coaxial quadrotor has a similar layout to the quadrotor, but with a coaxial rotor at each of the four corners of the vehicle. Trade studies carried out using the NASA Design and Analysis of Rotorcraft (NDARC) tool analyzed the vehicle sizing, design gross weight, and performance for four design variants. The variants all use the baseline coaxial quadrotor layout, but analyze the effects of two major design choices: 1) variable pitch vs variable speed rotor control, and 2) motor to rotor power transmission via a gearbox vs direct-drive. The results indicate one design variant may have more benefits on some of the design objectives while another configuration may better satisfy the others.

UAM↗

NASA NTRS2019

In-Time Non-Participant Casualty Risk Assessment to Support Onboard Decision Making for Autonomous Unmanned Aircraft

Numerous operational paradigms, technologies, and missions are emerging as newcomers to the National Airspace System (NAS) develop small Unmanned Aircraft Systems (sUAS), personal air vehicles and other Urban Air Mobility (UAM) concepts. As the list of applications expands, maintaining the safety of the current airspace system remains one of the core concerns preventing widespread commercial implementation of these concepts. Further, the risks associated with unmanned aircraft operations themselves have to be recognized and mitigated in a timely manner. Safety-critical risks include, but are not limited to, flight outside of approved airspace, unsafe proximity to people or property, critical system failures, loss-of control, and cyber-security related risks. Instead of reacting to accidents, a set of predictive and data-driven risk monitoring, assessment, and mitigation capabilities are envisioned to help capture and eliminate hazards as these systems become operational. NASA’s System-wide Safety project is performing R&D on such a safety assurance concept. As part of this concept, this paper describes an architecture that continuously monitors a diverse set of onboard and ground-based sources to estimate and predict non-participant casualty risk during flight. Timely identification of the changing nature of this risk can inform decision making processes to mitigate current and impending situations.

Ancel, Ersin↗

NASA NTRSDate not supplied

Preliminary Steps in Developing Rapid Aero Modeling Technology

The Rapid Aero Modeling (RAM) approach is a method to efficiently and automatically obtain aerodynamic models during testing, significantly saving time and resources. Motivation for this technology results from demand for experimental efficiency and model fidelity that has increased with growing aircraft complexity and aerodynamic nonlinearities. These issues are typical in the responses presented by a class of vehicles categorized as Urban Air Mobility aircraft where many features from both airplane and rotorcraft are present. For UAM configurations, with typically many more factors than conventional aircraft, traditional test methods can lead to increased costs and missed interactions. RAM guides the test to obtain high-fidelity, statistically rigorous aircraft models, and the approach is applicable to computational, ground, or flight-test experiments. It combines concepts from Design of Experiment theory and Aircraft System Identification theory that allow the user the freedom to choose, in advance of the test, a specific level of fidelity typically, in terms of prediction error. RAM only collects data required to meet the user-specified fidelity and fidelity is only limited by the facility and test article capabilities. An initial wind tunnel test to support development of RAM was conducted to assess potential metrics, algorithms, and procedures. This paper presents results from initial tests for the development of RAM technology and highlights some of the unique features of RAM applied toa conventional configuration during a ground-based, static, wind-tunnel test.

Patrick C Murphy↗

NASA NTRS2020

Solid-state Architecture Batteries for Enhanced Rechargeability and Safety (SABERS)

All-electric vertical take-off and landing vehicles (eVTOL) for urban air mobility (UAM) concepts face numerous challenging technical barriers before their introduction into the consumer marketplace. The most challenging of these technical barriers to overcome is developing an energy storage system capable of meeting the rigorous aerospace safety and performance criteria. The performance metrics for eVTOL craft, such as specific energy and cycle life, are at least 2 times greater than those of electric automobiles. Furthermore, safety is essential for operation of commercial electric aerovehicles. Preliminary systems level analysis studies have indicated that there are five key properties which must be optimized for successful implementation of battery systems. Those five key criteria are safety, energy density, power, packaging design and scalability. Current state-of-the-art (SOA) lithium-ion batteries meet or exceed the requirements for electric aviation in the areas of power and scalability, yet are insufficient in the key performance criteria of energy, safety and packaging design. The SABERS concept proposes a battery that meets all five key performance criteria through the development of a solid-state architecture cell design utilizing high energy density and power density sulfur-selenium cathode with a lithium metal anode. Data will be presented demonstrating high performing sulfur - selenium cathode that offers a balanced energy to power density ratio, which can be tailored to the specific application by altering the stoichiometric ratios of sulfur to selenium. This cathode is being developed by implementing NASA patented holey graphene technology as a highly conductive, ultra-lightweight electrode scaffold. Novel processing methods allow developing solid-state electrolyte that is a safe, non-flammable replacement to the highly flammable liquid organic electrolytes currently used in SOA lithium-ion batteries. The all solid-state lithium-sulfur-selenium cell design enables the implementation of a bipolar stack configuration, which has the advantages of reducing overall cell weight, reducing the amount of interfaced connections for the cell, and minimizing cooling requirements for the battery. In particular, the solid-state design allows for a serial stacking configuration to enable dense packaging of the cells within the bipolar stack. Lastly, optimization of battery components occurs through a robust and rigorous combination of various computational modeling techniques covering multiple length scales. The expected result will be a solid-state battery with operational temperatures from 0 °C to 150 °C which provides the required energy density, discharge rate, and inherent safety to meet strict aerospace performance criteria.

solid state batteries↗

NASA NTRSDate not supplied

Systems Health Monitoring: Integrating FMEA into Bayesian Networks

The foreseeable high traffic density suggests that a large number of electric propulsion systems will enter the airspace, and that they will also operate at high frequency, e.g., large number of take offs and landings per unit time. The reliability of such critical systems is therefore key to ensure high safety standards in the low-altitude airspace. Diagnostic systems, which aim at identifying incipient faults, can mitigate unexpected failures or lower-than-expected reliability by performing early fault detection by monitoring the systems. A key element of fault diagnosis is fault detection and isolation (FDI), which complexity increases with the complexity of the system itself, namely the number of subsystems and components, interactions among sub-systems, and the number of sensors available. The proposed approach leverages combination of failure mode and effect analysis (FMEA) integrated with Bayesian networks, thus introducing dependability structures into a diagnostic framework to aid FDI. Faults and failure events from the FMEA are mapped within a Bayesian network, where network edges replicate the links embedded within FMEAs. The integrated framework enables the fault isolation process by identifying the probability of occurrence of specific faults or root causes given evidence observed through sensor signals. In this work, sub systems of Urban Air Mobility (UAM) type vehicle like avionics, structures, power-train etc. are taken into account to show the approach at the system level. This work integrates early design phase in the development of UAM type vehicles with diagnostic tools, which are often developed later in the product life-cycle, or retrofitted at a later time on systems. Failure mode and effect analysis (FMEA) derived for the system in the design phase is embedded within a Bayesian network (BN).

UAM↗