Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Smart manufacturing”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

An IEEE 1451.1 Architecture for ISHM Applications

The IEEE 1451.1 Standard for a Smart Transducer Interface defines a common network information model for connecting and managing smart elements in control and data acquisition networks using network-capable application processors (NCAPs). The Standard is a network-neutral design model that is easily ported across operating systems and physical networks for implementing complex acquisition and control applications by simply plugging in the appropriate network level drivers. To simplify configuration and tracking of transducer and actuator details, the family of 1451 standards defines a Transducer Electronic Data Sheet (TEDS) that is associated with each physical element. The TEDS contains all of the pertinent information about the physical operations of a transducer (such as operating regions, calibration tables, and manufacturer information), which the NCAP uses to configure the system to support a specific transducer. The Integrated Systems Health Management (ISHM) group at NASA's John C. Stennis Space Center (SSC) has been developing an ISHM architecture that utilizes IEEE 1451.1 as the primary configuration and data acquisition mechanism for managing and collecting information from a network of distributed intelligent sensing elements. This work has involved collaboration with other NASA centers, universities and aerospace industries to develop IEEE 1451.1 compliant sensors and interfaces tailored to support health assessment of complex systems. This paper and presentation describe the development and implementation of an interface for the configuration, management and communication of data, information and knowledge generated by a distributed system of IEEE 1451.1 intelligent elements monitoring a rocket engine test system. In this context, an intelligent element is defined as one incorporating support for the IEEE 1451.x standards and additional ISHM functions. Our implementation supports real-time collection of both measurement data (raw ADC counts and converted engineering units) and health statistics produced by each intelligent element. The handling of configuration, calibration and health information is automated by using the TEDS in combination with other electronic data sheets extensions to convey health parameters. By integrating the IEEE 1451.1 Standard for a Smart Transducer Interface with ISHM technologies, each element within a complex system becomes a highly flexible computation engine capable of self-validation and performing other measures of the quality of information it is producing.

Morris, Jon A.↗
NASA NTRS2013

Damage Detection Response Characteristics of Open Circuit Resonant (SansEC) Sensors

The capability to assess the current or future state of the health of an aircraft to improve safety, availability, and reliability while reducing maintenance costs has been a continuous goal for decades. Many companies, commercial entities, and academic institutions have become interested in Integrated Vehicle Health Management (IVHM) and a growing effort of research into "smart" vehicle sensing systems has emerged. Methods to detect damage to aircraft materials and structures have historically relied on visual inspection during pre-flight or post-flight operations by flight and ground crews. More quantitative non-destructive investigations with various instruments and sensors have traditionally been performed when the aircraft is out of operational service during major scheduled maintenance. Through the use of reliable sensors coupled with data monitoring, data mining, and data analysis techniques, the health state of a vehicle can be detected in-situ. NASA Langley Research Center (LaRC) is developing a composite aircraft skin damage detection method and system based on open circuit SansEC (Sans Electric Connection) sensor technology. Composite materials are increasingly used in modern aircraft for reducing weight, improving fuel efficiency, and enhancing the overall design, performance, and manufacturability of airborne vehicles. Materials such as fiberglass reinforced composites (FRC) and carbon-fiber-reinforced polymers (CFRP) are being used to great advantage in airframes, wings, engine nacelles, turbine blades, fairings, fuselage structures, empennage structures, control surfaces and aircraft skins. SansEC sensor technology is a new technical framework for designing, powering, and interrogating sensors to detect various types of damage in composite materials. The source cause of the in-service damage (lightning strike, impact damage, material fatigue, etc.) to the aircraft composite is not relevant. The sensor will detect damage independent of the cause. Damage in composite material is generally associated with a localized change in material permittivity and/or conductivity. These changes are sensed using SansEC. The unique electrical signatures (amplitude, frequency, bandwidth, and phase) are used for damage detection and diagnosis. An operational system and method would incorporate a SansEC sensor array on select areas of the aircraft exterior surfaces to form a "Smart skin" sensing surface. In this paper a new method and system for aircraft in-situ damage detection and diagnosis is presented. Experimental test results on seeded fault damage coupons and computational modeling simulation results are presented. NASA LaRC has demonstrated with individual sensors that SansEC sensors can be effectively used for in-situ composite damage detection of delamination, voids, fractures, and rips. Keywords: Damage Detection, Composites, Integrated Vehicle Health Monitoring (IVHM), Aviation Safety, SansEC Sensors

Dudley, Kenneth L.↗
DOE OSTI2022

Stresses within rare-earth doped yttria-stabilized zirconia thermal barrier coatings from in-situ synchrotron X-ray diffraction at high temperatures

There is a growing interest for smart coatings that can be integrated into turbine engines for in-situ temperature measurements or health monitoring. The addition of rare-earth dopants into standard thermal barrier ceramic top coat materials is used to obtain luminescent coatings that enable spectral measurements, for real-time temperature or health monitoring. The thermomechanical performance and durability of such novel coating compositions in extreme environments still remains to be evaluated. Consequently, the ability to manufacture sensor coatings which present suitable thermal properties needs to be demonstrated. For this study, highly luminescent erbium and europium doped yttria-stabilized zirconia and state-of-the-art yttria-stabilized zirconia coatings manufactured by air plasma spray were characterized to determine the effects of the embedded rareearth dopants on coating internal strain and stress and to quantify and compare their high temperature response using synchrotron X-ray diffraction. In-situ depth-resolved strain measurements were performed at 15 μm intervals along the depth of the coatings to evaluate materials response at key locations, specifically at layer interfaces. In-plane stress was calculated for the coatings and a finite element model was implemented to supplement the results and enable further predictions. The results show that the sensor coatings that were manufactured in this work revealed only minor variations in the strain response of sensor coatings under a typical thermal cycle and especially at temperatures closer to that of gas turbine operating conditions, compared to state-of-the-art coatings. This work demonstrates the viability of manufacturing rare-earth doped yttria-stabilized zirconia coatings that provide beneficial spectroscopic monitoring capabilities while having minimal impact on the thermomechanical response of the thermal barrier coatings.

Air plasma spray↗
DOE OSTI2021

Perform Life Cycle Energy and GHG Emission Analysis, Select Candidate Refrigerant(s), Developing Heat Pump by Using Low-GWP Refrigerants and 5 mm Diameter Tubes

Reducing environmental impacts from the energy conversion systems has been an important research topic due to recent severe global climate changes. In residential buildings, the space heating and cooling are main energy consumers, which are relying on vapor compression based heat pumps. To mitigate the environmental impacts of residential systems, the heat pumps using low-GWP refrigerants and 5mm-tube heat exchangers are proposed to replace the conventional 9 mm or 7 mm tube heat exchangers. This research uses a simulation-based design method to optimize the refrigerant circuitries of a 5-ton low-GWP refrigerant heat pumps whose indoor and outdoor heat exchangers adopt 5 mm tubes. Heat pump systems using four commercially available low-GWP refrigerants (R454A, R454C, ARM20A and ARM20B) are optimized and compared with the baseline R410A system. The results indicate that directly replacing 9 mm tubes into 5mm tubes in the baseline systems induces heat pump performance degradation; by optimizing the 5 mm tube heat pumps with added tube rows, the system refrigerant charge is reduced up to 33% compared with the baseline; the optimized low-GWP 5 mm tube heat pumps offer the same or higher performance under both cooling and heating mode; that under cooling mode, the EER improvement is up to 10.7% and under heating mode the COP improvement is up to 3.4%; and a smart flow control device to maintain counter-flow circuitry pattern on both operating modes can improve the heating performance of 5 mm tube optimized system by up to 3.0%. In an effort to better understand the environmental impacts of these systems, life cycle climate performance (LCCP) evaluation method is used to assess the baseline and optimized systems. LCCP considers the direct and indirect emissions of the system over the course of its lifetime from manufacturing to disposal. Our analyses indicate that the optimized systems using 5mm tubes and low-GWP refrigerants can reduce life-cycle CO 2 emission significantly. And improving system efficiency is the most effective way to reduce the emission of low-GWP refrigerant systems. This report shows that using 5 mm diameter tubes in heat exchangers is a feasible approach to develop heat pumps with low-GWP refrigerants. Using the proposed design approach can yield higher system efficiency with lower environmental impact.

42 ENGINEERING↗
DOE OSTI2022

Efficient Refrigerated Display Cases - Can They Flex Their Power? Preprint

Refrigerated display cases are widely-used, critical equipment in supermarkets for maintaining product safety and quality. Energy-efficient medium temperature liquid-cooled refrigerated display cases can save 25-70% of the total supermarket energy, according to manufacturers. Traditionally, cases operate by maintaining a temperature around a user-input setpoint that is dependent on the product in the case. Although cases are major electrical energy consumers, they are hardly ever considered for implementing load-flexibility strategies. With added load-flexibility capabilities, refrigerated display cases can shed (reduce), or shift (by adding and subsequently shedding) load. Supermarkets can reduce their energy costs and enhance electric grid integrity by implementing these smart load-flexibility control strategies. Advanced controls can also enable load-shifting to coincide with optimum periods of renewable energy generation. This will further improve operational costs and reduce greenhouse gas emissions without compromising food safety and quality. In this research, we have evaluated the energy savings of liquid-cooled medium temperature display cases and developed load flexibility strategies leveraging an advanced controls system, a variable speed compressor, and heat rejection via a water-cooled condenser. This study further assessed the impact of load flexibility strategies in a controlled environment chamber for a single refrigerated display case.

ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION↗
DOE OSTI2026

Smart Inverters, Dumb Risk: Taking Control of IBR Security in the Digital Age

This presentation addresses the security challenges posed by Inverter-Based Resources (IBRs) in the modern energy landscape. The presentation highlights the vulnerabilities and risks associated with IBRs, including the potential for cyber-attacks, the impact of insecure defaults, and the systemic risks posed by supply chain dependencies. Key topics covered include: 1) The increasing digital transformation in energy systems and the associated security risks. 2) Specific vulnerabilities in IBRs, including weak passwords, hardcoded credentials, and insecure web application interfaces. 3) The implications of persistent connectivity and the strategic risks posed by foreign-manufactured components. 4) The role of regulatory frameworks, such as NERC CIP, in addressing these challenges and the limitations of current oversight. 5) Practical solutions for mitigating risks, including secure design practices, vendor risk assessments, and the importance of strong passwords and role-based access control. The presentation underscores the necessity of a comprehensive, system-of-systems approach to securing IBRs, emphasizing the need for collaboration across various stakeholders, including operators, developers, and regulators, to ensure the resilience and security of the energy grid.

24 - POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS1983

Noise Abatement

SMART, Sound Modification and Regulated Temperature compound, is a liquid plastic mixture with exceptional energy and sound absorbing qualities. It is derived from a very elastic plastic which was an effective noise abatement material in the Apollo Guidance System. Discovered by a NASA employee, it is marketed by Environmental Health Systems, Inc. (EHS). The product has been successfully employed by a diaper company with noisy dryers and a sugar company with noisy blowers. The company also manufactures an audiometric test booth and acoustical office partitions.

Source record↗
NASA NTRS2007

Ares Launch Vehicles Lean Practices Case Study

The Ares launch vehicles team, managed by the Ares Projects Office (APO) at NASA Marshall Space Flight Center, has completed the Ares I Crew Launch Vehicle System Requirements Review and System Definition Review and early design work for the Ares V Cargo Launch Vehicle. This paper provides examples of how Lean Manufacturing, Kaizen events, and Six Sigma practices are helping APO deliver a new space transportation capability on time and within budget, while still meeting stringent technical requirements. For example, Lean philosophies have been applied to numerous process definition efforts and existing process improvement activities, including the Ares I-X test flight Certificate of Flight Readiness (CoFR) process, risk management process, and review board organization and processes. Ares executives learned Lean practices firsthand, making the team "smart buyers" during proposal reviews and instilling the team with a sense of what is meant by "value-added" activities. Since the goal of the APO is to field launch vehicles at a reasonable cost and on an ambitious schedule, adopting Lean philosophies and practices will be crucial to the Ares Project's long-term SUCCESS.

Doreswamy, Rajiv↗
DOE OSTI2023

Analyzing Insider Risk Threat to the Internet of Things (IoT)

Recent technological advancement has created a growing convergence of innovation. From machine learning to ubiquitous computing to wireless networks and automation, the world is seeing new technology increasingly capable of connecting with each other. Devices and systems use open communications networks to interact, process information, and react. This is called the Internet of Things (IoT) and is comprised of physical devices that exchange data over networks, creating revolutionary possibilities. The most common way most people interact with an IoT is through ‘smart home’ products like Amazon’s Alexa, which use microphones, speakers, and phones to control a variety of devices, from lights and thermostats, to cameras, to appliances and vacuum cleaners. But the open nature of IoT networks—necessary for their ability to communicate and operate—also introduces privacy and security concerns. At a personal level, this might mean a hack into a home to steal private information, but when applied in broader industries like healthcare, transportation, manufacturing, or the military, this vulnerability can have serious consequences. As IoT usage and interconnectivity increases, so too does the susceptibility to malicious actors. And the entire system is only as secure as its least secure member. This creates particular risk and vulnerability to radiological material industries, as a competent insider adversary could utilize the IoT to potentially steal or access classified or sensitive information about employees, sites, or systems; or simply sabotage security or maintenance from a more remote—and less secure—device. The IoT relies on a secure network across the entire system, especially in transport which may lack the security of more permanent locations; if one device fails, it can create a ripple effect and an insider threat may seek to exploit that connectivity. While IoT benefits drive increased innovation and usage, there are also vulnerabilities an insider threat could exploit; this risk of an IoT to radiological material must be addressed in any mitigation effort.

Kinney, Justin↗
DOE OSTI2026

Communications Reliability for Vehicle Grid Integration

Electric Vehicles (EVs) adoption rate has been steadily increasing in the US leading to a growing number of charging stations including faster DC (Direct Current) chargers and slower Level 1 and Level 2 AC (Alternating Current) chargers. This increase in demand for electricity is further exacerbated by recent developments in Artificial Intelligence (AI) technology, advanced manufacturing, and digitization. These factors will require electric utilities to upgrade their infrastructure to keep up with the increasing electrical demand (especially during peak hours). An easy way to counteract the need for these upgrades is to shift a major chunk of active charge sessions (durations where there is energy transfer from charger to EV's propulsion battery) to off-peak hours thereby flattening the load curve and making the infrastructure more resilient. This concept is known as Smart Charge Management (SCM). EV owners also benefit from SCM since it lowers their charging costs and consequently their transportation costs by prioritizing charging during off-peak hours. SCM takes advantage of EV's capability to act as a controllable load or DER (Distributed Energy Resource). This report summarizes the reliability analysis performed on the communication required for two of these SCM use-cases. This analysis only focuses on SCM strategies for unidirectional charging (energy transfer from EVSE to EV or V1G) and not bidirectional charging.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS2011

Development Roadmap for an Adjustable X-Ray Optics Observatory

We are developing adjustable X-ray optics to use on a mission such as SMART-X (see posters 38.02, 38.03 and Presentation 30.03). To satisfy the science problems expected to be posed by the next decadal survey, we anticipate requiring effective area greater than 1 square meter and Chandra-like angular resolution: approximately equal to 0.5 inches. To achieve such precise resolution we are developing adjustable mirror technology for X-ray astronomy application. This uses a thin film of piezoelectric material deposited on the back surface of the mirror to correct for figure distortions, including manufacturing errors and deflections due to gravity and thermal effects. We present here a plan to raise this technology from its current Level 2, to Level 6, by 2018.

Schwartz, Dan↗
DOE OSTI2023

EVs@Scale Next-Gen Profiles - EV Profile Capture 2023

As part of the U.S. DOE EVs@Scale consortium Next-Gen Profiles (NGP) project, the profile capture of production electric vehicles undergoing high power charging (HPC) is conducted over a wide range of conditions to explore variance and performance. Charge session parameters are collected from both the electric vehicle (EV) and electric vehicle supply equipment (EVSE) at a rate of 10Hz and entered into a time-series database for analysis. These charge profiles are captured under nominal and off-nominal conditions, exploring the impact of battery state of charge (SOC), battery temperature, vehicle condition, smart charge management (SCM), and EVSE limitations. Nominal conditions are defined to be ideal conditions that should transfer the maximum allowable energy in the minimum possible amount of time. Nominal condition profiles are compared across EVs to characterize state-of-the-art EV charging performance against one another. Off-nominal condition profiles are compared against its nominal condition profile counterpart to highlight the variance across less desirable starting conditions within a single EV. Under nominal conditions, most EVs can achieve the original equipment manufacturer (OEM) rated peak-power and charge times. Peak power across EVs has variance due to the vehicle design, battery topology, charging strategy, etc. These 10-100% nominal preconditioned charge profiles across 13 EVs (11 light-duty (LD), 2 heavy-duty (HD)) were used for analysis in power curve analysis, power distribution, SOC and range comparison, thermal impacts of current draw, battery pack size and energy charged, and ramp rates. Power curve analysis show the uniqueness in power vs time curves across all EVs, breaking down the features of a typical profile and where variation is typically seen. Power distribution results showed that over 50% of charge time is spent below 50kW and only 12.1% is spent above 200kW. SOC and range performance yielded different top performing EVs when exploring goals of performance from SOC and range gained after 10-min (EV2) and 20-min (EV8), and time-to-achieve 80% SOC (EV8) and 200 miles of range (EV1). Current draw from 400-volt EVs had a higher thermal impact to cable/connector temperatures when compared to 800-volt EVs, due to a higher current requirement to achieve similar power levels. There was high variance in C rating, a useful metric when comparing the relationship between peak/average charge session power and relative battery pack size, across EVs under test. Ramp rates during initial power transfer were examined, fastest and slowest speeds ranging from 192.5kW/second to 2.6kW/second respectively. A similar analysis of ramp rates was also conducted for OCPP curtailment testing, where EVs underwent a 2-minute 65A curtailment request before returning to full-power charge. Under off-nominal conditions, most EVs experienced variation from the nominal condition profiles. EVs that underwent the full set of NGP defined testing conditions were compared, analysis of which was categorized by 800-volt and 400-volt EVs. It should be noted that the 800-volt EVs had significantly higher peak power ratings than the 400-volt EVs, and thus were more prone to variance. Initial state of charge, battery temperature, and vehicle condition had a considerable impact on peak power levels and charge time for the 800-volt vehicles under test. EVSE limited tests lowered achievable power down to 200kW, greatly impacted 800-volt charging power, and had little to no effect on 400-volt charging power. Adapter testing was performed on a single 400-volt EV, where power and current limitations were found but overall charge time was not significantly impacted. Adapter and boost converter testing was performed on a single 800-volt EV, where both charge power and charge time were greatly impacted. Charge profiles are unique, and comparing such requires analysis that examines starting conditions, vehicle and battery topologies,

Charging↗
DOE OSTI2023

In-field strain and temperature measurements in a (RE)Ba 2 Cu 3 O 7–x coil via Rayleigh-backscattering interrogated optical fibers

(RE)Ba 2 Cu 3 O 7-x (REBCO) conductors have overcome technical challenges related to manufacturing quality, length homogeneity, scale-up of piece-length, and joints. There is one remaining technical challenge, however, which is common to all high temperature superconductors and lies in effective detection of failure to prevent material degradation. An innovative technique based on optical fibers interrogated by Rayleigh backscattering has been shown to have advantages over voltage taps at detecting incipient faults. Prior work has experimentally demonstrated the technique in several implementation scenarios, including direct integration of optical fibers into superconducting conductors and cables to create a class of ‘SMART’ conductors and cables that are able to monitor their own health. In this paper, the magnet monitoring technique based on Rayleigh backscattering interrogated optical fibers has been experimentally studied in a model coil subject to external magnetic field, where different fiber integration methods are used to increase selectivity of the fiber sensor to temperature. Results show that the spectral shift displays different features during strain and thermal transients. The implications of the results in terms of potential and limitations of each sensor as well as strain-temperature decoupling are discussed.

36 MATERIALS SCIENCE↗
NASA NTRS2005

All-Terrain Intelligent Robot Braves Battlefront to Save Lives

As NASA s lead center for creating robotic spacecraft and rovers, the Jet Propulsion Laboratory (JPL) builds smart machines that can perform very complicated tasks, far, far away from the homeland. JPL s robotic proficiency is making an impact millions of miles away on Mars, where two rovers are presently unlocking the secrets of the Red Planet s rugged terrain, and thousands of miles away in the embattled regions of Iraq and Afghanistan, where robots sown from the seeds of JPL machines have been deployed to be the "eyes and ears" of humans on the front line. This commercial offspring, known as the PackBot Tactical Mobile Robot, is manufactured by iRobot, Inc., of Burlington, Massachusetts.

Source record↗
DOE OSTI2022

Lifelike metallic structures using origami and compliant mechanisms

In nature, materials and designs are smart i.e., they achieve the desired shape or size to optimize different processes without needing external devices. However, in the design of mechanical metallic structures, gaining such behavior without using special materials or external sources is still a visionary thought. Here the concept of lifelike metallic structures is introduced. Further, the vision is to produce designs where the metallic walls can behave like human muscles. To create such structures, origami-inspired designs in combination with compliant mechanisms are proposed. For fabricating such designs with desired mechanical properties, it is also proposed to leverage additive manufacturing techniques.

36 MATERIALS SCIENCE↗
NASA NTRS1992

An 8-DOF dual-arm system for advanced teleoperation performance experiments

This paper describes the electro-mechanical and control features of an 8-DOF manipulator manufactured by AAI Corporation and installed at the Jet Propulsion Lab. (JPL) in a dual-arm setting. The 8-DOF arm incorporates a variety of features not found in other lab or industrial manipulators. Some of the unique features are: 8-DOF revolute configuration with no lateral offsets at joint axes; 1 to 5 payload to weight ratio with 20 kg (44 lb) payload at a 1.75 m (68.5 in.) reach; joint position measurement with dual relative encoders and potentiometer; infinite roll of joint 8 with electrical and fiber optic slip rings; internal fiber optic link of 'smart' end effectors; four-axis wrist; graphite epoxy links; high link and joint stiffness; use of an upgraded JPL Universal Motor Controller (UMC) capable of driving up to 16 joints. The 8-DOF arm is equipped with a 'smart' end effector which incorporates a 6-DOF forcemoment sensor at the end effector base and grasp force sensors at the base of the parallel jaws. The 8-DOF arm is interfaced to a 6 DOF force reflecting hand controller. The same system is duplicated for and installed at NASA-Langley.

Bejczy, Antal K.↗
NASA NTRS1998

An Example of Concurrent Engineering

The Collaborative Engineering Design and Analysis Room (CEDAR) facility allows on-the- spot design review capability for any project during all phases of development. The required disciplines assemble in this facility to work on any problems (analysis, manufacturing, inspection, etc.) associated with a particular design. A small highly focused team of specialists can meet in this room to better expedite the process of developing a solution to an engineering task within the framework of the constraints that are unique to each discipline. This facility provides the engineering tools and translators to develop a concept within the confines of the room or with remote team members that could access the team's data from other locations. The CEDAR area is envisioned as excellent for failure investigation meetings to be conducted where the computer capabilities can be utilized in conjunction with the Smart Board display to develop failure trees, brainstorm failure modes, and evaluate possible solutions.

Rowe, Sidney↗
DOE OSTI2025

Unlocking nighttime mobility: Land use and accessibility in public transit for night commuters

Night commuters are integral to urban transportation systems. Essential services such as healthcare and manufacturing rely on workers who travel at night, and reliable mobility options are crucial for them. A gap exists in understanding how land use and accessibility influence public transportation use among night commuters. This study addresses this gap by using public data to explore land use and accessibility factors that affect night commuters' public transportation use in New York State. We investigated (1) the demographic characteristics of night commuters; (2) the influence of land use and accessibility on nighttime public transportation use; and (3) potential improvements to increase public transportation use and their impact. We combined data from the National Household Travel Survey with the Smart Location Database to link home locations with land use characteristics. Using logistic regression, we found that although females are generally less likely to be night commuters, they are more likely to use public transportation. Longer commute distances are associated with higher use of public transportation. Increasing job density along fixed-guideway transit routes and improving overall job accessibility via public transportation significantly enhances public transportation use among night commuters. In conclusion, this research provides actionable insights for public transportation agencies and urban planners to support night commuters, improving access and encouraging nighttime employment.

Job accessibility↗