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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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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Affinity Electrophoresis Using Ligands Attached To Polymers

In new technique, reduction of electrophoretic mobilities by addition of polyethylene glycol to ligands increases electrophoretic separabilities. In immuno-affinity electrophoresis, modification of ligands extends specificity of electrophoretic separation to particles having surface electric-charge structures otherwise making them electrophoretically inseparable. Modification of antibodies by polyethylene glycol greatly reduces ability to aggregate while enhancing ability to affect electrophoretic mobilities of cells. In hydrophobic-affinity electrophoresis, addition of polyethylene glycol reduces tendency toward aggregation of cells or macromolecules.

Van Alstine, James M.↗
NASA NTRS2019

Forming Aggregations using Virtual Sharding: Lessons Learned from Simple Scalable Storage (S3)

Data aggregation is the ability to combine separate datasets to form a single new logical dataset provides users with a powerful abstraction. The advantage of an aggregate dataset is that the users are freed from having to understand, and incorporate into their workflow, knowledge about the (ad hoc) organization of the constituent datasets. However, aggregating large numbers of files can be computationally complex with data server systems performing many repetitive operations. As part of the authors work on subsetting data stored on Amazon Web Service (AWS) Simple Storage Service (S3), we developed technology to read portions of otherwise monolithic data files. This enables the formation of virtual shards for user in subsetting data stored in HDF5 (hierarchical data format, version 5) files. This same tool can be used to form aggregations that combine data stored in many HDF5 files when those files are stored on S3. The nature of the virtual sharding and the algorithm that exploits it for subsetting is such that it can also be used for aggregation with the need for many of the repetitive operations required by the per file aggregation techniques. We will present timing information that demonstrates the flexibility of this approach. However, the lessons learned is that while this is a useful result in and of itself, these very same techniques can be applied in other contexts where data are stored in services and on media other than S3. For example, this same technique can be applied to data stored on spinning disk. Pushing the envelope for S3 forced a reexamination of our data access techniques which lead to unexpected positive benefits.

Gallagher, James↗
NASA NTRSDate not supplied

Understanding amyloids to prevent biofilm formation in space

There is a pressing need to search for novel approaches to combat biofilm formation, both in space and in medical applications. Many proteins have the ability to form ordered aggregates called amyloids. Amyloids are known to be an important part of biofilms. The use of anti-amyloid drugs is a novel venue for the development of antimicrobial agents. The ultrastructure of the amyloid aggregate shows a high packing of proteins, the second-order structure of which is dominated by β-sheets. The ability to form an amyloid aggregate is especially typical for proteins containing domains (protein fragments) with sufficient lability to arrange themselves in a tight β-sheet structure. Bioinformatics tools allow the prediction of such behavior of proteins in genomic data. We use GeneLab data of microbial populations identified aboard the International Space Station and other spacecraft to look for bacterial species that utilize amyloid aggregation in biofilm formation. We use a combined bioinformatic approach with a relatively high throughput molecular biology assay and biophysical assays to evaluate the anti-amyloid anti-biofilm approach. The significance of the research extends from understanding basic microbial community responses to spaceflight, to biofouling of the built environments in space as well as the long-term health of astronauts. Bioinformatics shows that onboard the ISS, bacterial species produce far more amyloid and prion proteins than are currently verified, hence their role in bacterial ecosystems is largely unknown. As we propose there is a link between amyloid formation in space and biofilm production, this research should lead to new paths for biofilm remediation in space.

Tomasz Zajkowski↗
NASA NTRS1999

Constraining the Global, Cloud-Free Reflected Solar Radiation Flux (RSRF) with Earth Observing System (EOS) Instruments

Variations in the top-of-atmosphere reflected solar radiation flux, and in the factors that determine its value, are among the most important diagnostic indicators of changes in Earth's energy balance. Data from the MISR (Multi-angle Imaging SpectroRadiometer), MODIS (Moderate-resolution Imaging Spectroradiometer), SAGE-3 (Stratospheric Aerosol and Gas Experiment), and CERES (Clouds and Earth's Radiant Energy System), all of which are spacecraft instruments scheduled for launch in 1999, will each constrain pieces of the RSRF budget. Prior to launch, we are performing studies to determine the sensitivity of these instruments to key factors that influence the cloud-free RSRF: aerosol optical depth, aerosol scattering properties, and surface visible bidirectional reflectance distribution function (BRDF). We are also assessing the ability of the aggregate of instruments to constrain the overall RSRF budget under natural conditions over the globe. Consider the MISR retrieval of aerosols: according to simulations over cloud-free, calm ocean, for pure particles with natural ranges of optical depth, particle size, and indices of refraction, MISR can retrieve column aerosol optical depth for all but the darkest particles, to an uncertainty of at most 0.05 or 20%, whichever is larger, even if the particle properties are poorly known. For one common particle type, soot, constraints on the optical depth over dark ocean are very poor. The simulated measurements also allow us to distinguish spherical from non-spherical particles, to separate two to four compositional groups based on indices of refraction, and to identify three to four distinct size groups between 0. 1 and 2.0 microns characteristic radius at most latitudes. Based on these results, we expect to distinguish air masses containing different aerosol types, routinely and globally, with multiangle remote sensing data. Such results far exceed current satellite aerosol retrieval capabilities, which provide only total optical depth for assumed particle properties; the new information will complement in situ data, which give details about aerosol size and composition locally. In addition, our team is using climatologies that reflect the constraints each instrument is expected to provide, along with ERBE (Earth Radiation Budget Experiment) data and a radiative transfer code, to study overall sensitivity to RSRF, helping us prepare for similar studies with new data from the EOS-era instruments.

Kahn, Ralph↗
NASA NTRS2001

A Boundary Condition for Simulation of Flow Over Porous Surfaces

A new boundary condition is presented.for simulating the flow over passively porous surfaces. The model builds on the prior work of R.H. Bush to eliminate the need for constructing grid within an underlying plenum, thereby simplifying the numerical modeling of passively porous flow control systems and reducing computation cost. Code experts.for two structured-grid.flow solvers, TLNS3D and CFL3D. and one unstructured solver, USM3Dns, collaborated with an experimental porosity expert to develop the model and implement it into their respective codes. Results presented,for the three codes on a slender forebody with circumferential porosity and a wing with leading-edge porosity demonstrate a good agreement with experimental data and a remarkable ability to predict the aggregate aerodynamic effects of surface porosity with a simple boundary condition.

Frink, Neal T.↗
NASA NTRS1992

The ability of lens alpha crystallin to protect against heat-induced aggregation is age-dependent

Alpha crystallin was prepared from newborn and aged bovine lenses. SDS-PAGE and tryptic peptide mapping demonstrated that both preparations contained only the alpha-A and alpha-B chains, with no significant contamination of other crystallins. Compared with alpha crystallin from the aged lens, alpha crystallin from the newborn lens was much more effective in the inhibition of beta L crystallin denaturation and precipitation induced in vitro by heat. Together, these results demonstrate that during the aging process, the alpha crystallins lose their ability to protect against protein denaturation, consistent with the hypothesis that the alpha crystallins play an important role in the maintenance of protein native structure in the intact lens.

NASA Discipline Cell Biology↗
NASA NTRS1994

Molecular chaperone properties of the high molecular weight aggregate from aged lens

The high molecular weight aggregate (HMWA) fraction was isolated from the water soluble proteins of aged bovine lenses. Its composition and ability to inhibit heat-induced denaturation and aggregation were compared with the lower molecular weight, oligomeric fraction of alpha isolated from the same lens. Although the major components of both fractions were the alpha-A and alpha-B chains, the HMWA fraction possessed a decreased ability to protect other proteins against heat-induced denaturation and aggregation. Immunoelectron microscopy of both fractions demonstrated that alpha particles from the HMWA fraction contained increased amounts of beta and gamma crystallins, bound to a central region of the supramolecular complex. Together, these results demonstrate that alpha crystallins found in the HMWA fraction possess a decreased ability to protect against heat-induced denaturation and aggregation, and suggest that at least part of this decrease could be due to the increased presence of beta and gamma crystallins complexed to the putative chaperone receptor site of the alpha particles.

NASA Discipline Developmental Biology↗
NASA NTRS2001

Validation of Ocean Color Satellite Data Products in Under Sampled Marine Areas

The planktonic marine cyanobacterium, Trichodesmium sp., is broadly distributed throughout the oligotrophic marine tropical and sub-tropical oceans. Trichodesmium, which typically occurs in macroscopic bundles or colonies, is noteworthy for its ability to form large surface aggregations and to fix dinitrogen gas. The latter is important because primary production supported by N2 fixation can result in a net export of carbon from the surface waters to deep ocean and may therefore play a significant role in the global carbon cycle. However, information on the distribution and density of Trichodesmium from shipboard measurements through the oligotrophic oceans is very sparse. Such estimates are required to quantitatively estimate total global rates of N2 fixation. As a result current global rate estimates are highly uncertain. Thus in order to understand the broader biogeochemical importance of Trichodesmium and N2 fixation in the oceans, we need better methods to estimate the global temporal and spatial variability of this organism. One approach that holds great promise is satellite remote sensing. Satellite ocean color sensors are ideal instruments for estimating global phytoplankton biomass, especially that due to episodic blooms, because they provide relatively high frequency synoptic information over large areas. Trichodesmium has a combination of specific ultrastructural and biochemical features that lend themselves to identification of this organism by remote sensing. Specifically, these features are high backscatter due to the presence of gas vesicles, and absorption and fluorescence of phycoerythrin. The resulting optical signature is relatively unique and should be detectable with satellite ocean color sensors such as the Sea-Viewing Wide Field-of-view Sensor (SeaWiFS).

Subramaniam, Ajit↗
NASA NTRS1993

The C-terminal region of alpha-crystallin: involvement in protection against heat-induced denaturation

Recent studies have demonstrated that the alpha-crystallins can protect other proteins against heat-induced denaturation and aggregation. To determine the possible involvement of the C-terminal region in this activity, the alpha-crystallins were subjected to limited tryptic digestion, and the amount of cleavage from the N-terminal and C-terminal regions of the alpha-A and alpha-B crystallin chains was assessed using antisera specific for these regions. Limited tryptic digestion resulted in cleavage only from the C-terminal region of alpha-A crystallin. This trypsin-treated alpha-A crystallin preparation showed a decreased ability to protect proteins from heat-induced aggregation using an in vitro assay. Together, these results demonstrate that the C-terminal region of alpha-A crystallin is important for its ability to protect against heat-induced aggregation, which is consistent with the hypothesis that post-translational changes that are known to occur at the C-terminal region may have significant effects on the ability of alpha-A crystallin to protect against protein denaturation in vivo.

NASA Discipline Cell Biology↗
NASA NTRS2019

Method for Tracking and Communicating Aggregate Risk Through the Use of Model-Based Systems Engineering (MBSE) Tools

Large, complex projects can identify a significant number and variety of risks, throughout the project life cycle. These risks are analyzed, mitigated, closed or accepted as independent uncertainties. Once closed or accepted, it is easy for projects to lose awareness of their impact. In reality, each of these risks contributes some amount to the overall risk posture of the project. The ability to track and effectively communicate this aggregate risk has represented a challenge to project management. There have been previous attempts to create a schema to communicate the aggregate effect of risks, without notable success. Most of these attempts have centered on some additive metric derived from the scoring of likelihood and consequence values. This, in and of itself, is a logical approach, but all too often the scores were then aggregated to a level where all context was lost. One weakness has been a lack of attempt to create linkages or logical groups of the risks upon which useful aggregation could then occur. The overall move to model-based (systems) engineering (MBSE) has opened up a vast frontier of opportunities to better integrate all project data. MBSE provides an underlying layer that links data items to each other. Objectives link to requirements, which then link to functions, functions to physical architecture items, and so on, as far down as projects want to model. While it started with a focus on modeling requirements based on things like use cases, efforts are now underway to integrate safety and mission assurance (S&MA) information and analyses, such as risks. This effort, called Model Based Mission Assurance (MBMA), is yielding models that are more useful and are a more accurate representations of the systems. MBSE models, with this ability to link related items, provide a new means of tracking and communicating aggregate risks. In the proposed method, risks are added into the models as distinct items, having attributes that communicate a scoring derived from the likelihood and consequence values as charted on the standard NASA 5x5 risk matrix. Like earlier efforts, each box in the 5x5 has an associated scoring, which may include both a current score and potential post-mitigation/control score. The risk items are then linked to elements of the model, such as system objectives/goals, requirements, functions, or physical architecture items, with "Risk to" relationships. These risks will then be communicated by use of reports generated from the model, detailing all risks and/or hazards linked to model elements. These reports can include aggregate impacts, including a current scoring and potential future state scoring based on the planned mitigations and/or controls. These reports will show all risks, open, accepted, and closed, linked to project objectives or requirements. When run as part of an upcoming risk acceptance discussion, these reports will serve to remind the team of all previous risks that relate to the effected portion of the system. When included as part of periodic program or project reviews, risk reviews, and safety reviews, this method can improve the overall understanding of the system's true risk posture. This proposed method takes full advantage of the advances that modern modeling techniques provide, with a minimal investment of additional time. Utilizing the model environment also enables a near constant access to current state of aggregate risks.

model based mission assurance↗
NASA NTRS2001

Physical State of Ices in the Outer Solar System

Comparison of the identity and abundances of ices observed around protostars and those associated with comets clearly suggests that comets preserve the heritage of the interstellar materials that aggregated to form them. However, the ability to identify these same species on icy satellites in the outer solar system is a complex function of the composition of the original ices, their subsequent thermal histories, and their exposure to various radiation environments. Our ability to identify the ices currently present on objects in the outer solar system relies upon observational and laboratory, and theoretical efforts. To date there is ample observational evidence for crystalline water ice throughout the outer solar system. In addition, there is growing evidence that amorphous ice may be present on some bodies. More volatile ices, e.g. N2, CH4. CO, and other species, e.g. ammonia hydrate, are identified on objects lying at and beyond Uranus. Both photolysis and radiolysis play important roles in altering the original surfaces due to chemical reactions and erosion of the surface. Ultraviolet photolysis appears to dominate alteration of the upper few hundred Angstroms, although sputtering the surface can sometimes be a significantly competitative process; dominating on icy surfaces embedded in a strong planetary magnetospheric field. There is growing observational evidence that the by-products of photolysis and radiolysis, suggested on a theoretical basis, are present on icy surfaces.

Roush, Ted L.↗
NASA NTRS2019

Using Graph Coloring to Compute Total Derivatives More Efficiently in OpenMDAO

When they are applicable, gradient based optimization algorithms are the most efficient way to solve design optimization problems. Although gradient based methods are generally efficient, they can be made significantly more so through the usage of analytic techniques to compute the necessary total derivatives. The traditional forward (direct) and reverse (adjoint) analytic techniques have computational costs that scale linearly with the number of design variables and the number of constraints, respectively. In this work, we present an application of a graph coloring algorithm to the analytic techniques for computing total derivative Jacobians in order to achieve much better computational scaling than the pure analytic methods can provide alone. A detailed theoretical explanation of how coloring algorithms interact with analytic derivative methods is presented that illustrates specific types of sparsity patterns that must be present in total derivative Jacobians in order for this coloring technique to be effective. The new technique has been implemented as a feature in the OpenMDAO framework and the implementation is demonstrated on two example problems. The performance on the example problems up to 50% reduction in compute cost for optimizations with bi-directional coloring compared to traditional constraint aggregation. Additionally, the results show how coloring technique alleviates some of the numerical difficulties that constraint aggregation can cause, leading to the ability to solve larger problems. It is expected that the new method will have wide applicability to multidisciplinary optimization problems, and that its availability in OpenMDAO will offer significant computational savings for users without the need for them to implement the coloring algorithm themselves.

Trajectory↗
NASA NTRS1993

Studies of chondrogenesis in rotating systems

A great deal of energy has been exerted over the years researching methods for regenerating and repairing bone and cartilage. Several techniques, especially bone implants and grafts, show great promise for providing a remedy for many skeletal disorders and chondrodystrophies. The bioreactor (rotating-wall vessel, RWV) is a cell culture system that creates a nurturing environment conducive to cell aggregation. Chondrocyte cultures have been studied as implants for repair and replacement of damaged and missing bone and cartilage since 1965 [Chesterman and Smith, J Bone Joint Surg 50B:184-197, 1965]. The ability to use large, tissue-like cartilage aggregates grown in the RWV would be of great clinical significance in treating skeletal disorders. In addition, the RWV may provide a superior method for studying chondrogenesis and chondrogenic mutations. Because the RWV is also reported to simulate many of the conditions of microgravity it is a very useful ground-based tool for studying how cell systems will react to microgravity.

Non-NASA Center↗
NASA NTRSDate not supplied

A Brief Review of Chaotropic vs. Kosmotropic Salts on the Degree of Saturation of Membrane Fatty Acids: Implications for Preservation of Environmental Biomarkers

Water activity is well known to have a significant impact on habitability, due to the presence of salts. However, salt composition is also important for habitability, as it can impact microbial activity and biomolecular interactions since certain salts are known to disrupt hydrogen bonding. Chaotropic agents disrupt hydrogen bonding in aqueous solutions leading to increased entropy (chaos) whereas kosmotropic agents are compounds that promote hydrogen bonding (order). The Hofmeister series (Fig. 1) shows the ordering of ions in terms of their ability to stabilize and induce precipitation or aggregation of proteins.

M B Wilhelm↗
NASA NTRSDate not supplied

An Optimization Approach to Support Science Decision Making for Lunar Surface Exploration

Introduction: Scientific exploration is one of the three pillars of NASA’s Moon2Mars architecture, with crew surface extra vehicular activities (EVA) serving a critical enabling function. Development of surface EVA operational planning and execution, specifically integrating science and flight control teams (FCT), is currently being explored through analog scenarios. This integration, exercised, for example, through the Joint EVA and Hu-man Surface Mobility Test Team (JETT), allows for science input on EVA activities in near real-time through a Science Evaluation Room (SER), or Arte-mis science backroom, which integrates with the broader FCT through the Science Officer. The SER works within the FCT to support dynamic EVA planning in response to changes in operational constraints as well as science opportunities and re-prioritization, increasing the mission science return and accelerating the accomplishment of the Moon2Mars science objectives. The SER works within the FCT to provide recommendations to traverse execution in near real-time. One challenge is the requirement to deliver SER inputs to the FCT on operationally relevant timelines. Failure to do so may result in suboptimal execution of science exploration EVAs or even loss of key science objectives. To close this gap, we present a network optimization tool to allow the SER to provide rapid input to the FCT in response to changes in operational constraints or science opportunities. Inputs are predicated on approved science objectives, and clear rationale must be provided to the FCT for any requested change. Accordingly, this tool incorporates the Science Traceability Matrix (STM), SER prioritization scheme, and station characterization and action planning with operational constraints such as duration, traverse speed, and distance to maximize science objectives based on SER priorities, consistent with FCT operational requirements. Method: As a proof of concept, we used an existing linear programing software package used to simulate optimal routes through cellular metabolism. We built a Demonstrative Model with three STM objectives and four stations on a region of the Moon. The objectives were given an arbitrary prioritization and mapped to the stations through four possible crew actions. (Figs. 1 and 2). This station to STM mapping is consistent with the method used by the JETT5 Science Team to develop analog surface EVA science planning. We used a grid system with the landing site at the origin and the four stations placed across the positive x,y quadrant. Actions were assigned to each station and the accomplishment of those actions resulted in a numerical “reward” based on the ability of that action to achieve science objectives. The aggregate reward from each individual STM objective contributes to a global score (Science Yield), weighted by its priority. Operational constraints included a requirement to start and end at the landing site, 5 minutes each for initial station characterization and “clean up,” and variable total EVA time, traverse rate (fixed to 0.5 meters per second in our example), and time to perform each action (10, 5, 7, and 15 min for actions 1, 2, 3, and 4, respectively). Additional constraints and variables will be added in the future (e.g., sample mass, number of stations, traverse route constraints, illumination). Optimization. We converted the connections (arcs) between these stations (nodes) into a mixed integer linear programming optimization problem (arcs = constraints, nodes = variables) with the objective to maximize Science Yield. For any action, the Science Yield is equal to the relevance of that action to an STM objective [3, 2, and 1 point(s) for High, Med., and Low relevance, respectively], multiplied by the STM Objective Priority [3, 2, and 1 point(s) for High, Med., and Low priority, respectively]. This resulted in a model that computes the optimal station and action combination to maximize the Science Yield. These weightings can be adjusted by the SER as desired. Results: We explored three test cases for the Demonstrative Model. First, we set the maximum EVA duration to 120 minutes and computed the optimal route (Fig. 3A). The model suggested per-forming Actions 1 and 2 at Station P01, followed by Actions 1 and 2 at Station P02, and finally Actions 1 and 3 at Station P04 before returning to the Landing Site. Second, we adjusted the STM Objective Priori-ty order and computed the new optimal route (Fig. 3B). Under this situation, the model suggested per-forming all Actions at Station P02 followed by all Actions at Station P03. The previous test cases were relevant to SER planning activities. Next, we explored providing mid-EVA replanning input to the FCT. Scenario: While executing the Route in Fig. 3A the crew finishes at Station P01 and FCT decides that the EVA needs to finish in 45 minutes back at the Landing Site. FCT asks SER to recommend changes to the plan to accommodate this operation-al change. Using the model and incorporating these new constraints (start at Station P01, max. time of 45 min), the model suggested performing Actions 2 and 4 at Station P03 (Fig. 4), requiring 41 minutes to complete and return to the Landing Site. Interestingly, Station 3 was not part of the original route. Using the model, we determined the EVA would need 66 minutes, instead of 45, in order for the original Station P04 to yield a larger Science Yield than Station P03. The parametrization and simulation was per-formed in less than a minute, demonstrating the operational relevance of the approach. Future Efforts: The results from the Demonstrative Model suggest this tool can accelerate SER decision making on operationally relevant timelines. Use in analog activities, such as JETT5 or follow-ons, which have over a dozen stations for a crew to explore and over a dozen actions per station, will provide needed validation of the utility of this tool for planning EVAs, replanning mid-EVA, or planning follow-on EVAs based on previous results. Further integration with FCT execution monitoring tools may provide additional efficiency gains, al-lowing rapid and iterative exploration of operation-al and science decision space by the FCT and SER.

Science Operations↗
NASA NTRS2006

Efficient Agent-Based Models for Non-Genomic Evolution

Modeling dynamical systems composed of aggregations of primitive proteins is critical to the field of astrobiological science involving early evolutionary structures and the origins of life. Unfortunately traditional non-multi-agent methods either require oversimplified models or are slow to converge to adequate solutions. This paper shows how to address these deficiencies by modeling the protein aggregations through a utility based multi-agent system. In this method each agent controls the properties of a set of proteins assigned to that agent. Some of these properties determine the dynamics of the system, such as the ability for some proteins to join or split other proteins, while additional properties determine the aggregation s fitness as a viable primitive cell. We show that over a wide range of starting conditions, there are mechanisins that allow protein aggregations to achieve high values of overall fitness. In addition through the use of agent-specific utilities that remain aligned with the overall global utility, we are able to reach these conclusions with 50 times fewer learning steps.

Gupta, Nachi↗
NASA NTRS1992

Performance comparison of token ring protocols for hard-real-time communication

The ability to guarantee the deadlines of synchronous messages while maintaining a good aggregate throughput is an important consideration in the design of distributed real-time systems. In this paper, we study two token ring protocols, the priority driven protocol and the timed token protocol, for their suitability for hard real-time systems. Both these protocols use a token to control access to the transmission medium. In a priority driven protocol, messages are assigned priorities and the protocol ensures that messages are transmitted in the order of their priorities. Timed token protocols do not provide for priority arbitration but ensure that the maximum access delay for a station is bounded. For both protocols, we first derive the schedulability conditions under which the transmission deadlines of a given set of synchronous messages can be guaranteed. Subsequently, we use these schedulability conditions to quantitatively compare the average case behavior of the protocols. This comparison demonstrates that each of the protocols has its domain of superior performance and neither dominates the other for the entire range of operating conditions.

Kamat, Sanjay↗
NASA NTRS2012

HOSC DTN Gateway Test Report

Goals of this activity: Test the Huntsville Operations Support Center (HOSC) Delay/Disruption Tolerant Networking (DTN) Gateway for operational use Current activity includes: (1) Test the Implementation of a new DTN2 gateway at the HOSC (2) Confirm integration of DTN nodes into the S-band uplink and Ku-band downlink of the ISS for limited use (3) Implement Aggregate Custody Signal to ISS platforms (4) Verify operational support for Colorado University (CU) onboard components (5) Verify ability to support Multi-Purpose End-To- End Robotic Operation Network (METERON) OpsCon-2

Pitts, Robert Lee↗