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At least 235 records · Page 13

From Simulation to Reality With Random Noise

The challenging environment of autonomous vehicle (AV) navigation necessitates certain functions be performed by deep neural networks. Optimizing these models involves collecting vast quantities of domain-specific training data and ensuring that the dataset is representative of expected conditions. High-fidelity simulation plays a vital role in making this process feasible, allowing a wide range of scenarios to be explored at low cost. However, learning from simulation introduces subtle biases into models, which can degrade real-world performance in unpredictable ways. This effect can be mitigated with learning schemes specialized to bridge distributional shifts (transfer learning). Given the complex nature of these methods, the underlying models, and their environments, meaningfully evaluating performance is notstraight forward. Many unrelated factors can effect an improvement in generalization accuracy, but a full ablation analysis is often difficult. To tease out signal from noise, it is necessary to understand how transfer learning performance is affected by noise itself. The goals of this paper are (i) to establish a domain randomization baseline for a simple classification transfer learning task and (ii) to validate the RRAV testbed as a platform for further research in sim-to-real learning. We generate imagery from a simulation of NASA Ames Research Center and train a small convolutional neural network (ConvNet) to classify position relative to a centerline. Further models are trained with different types of noise progressively added to the data. The models are deployed aboard the on-site test vehicle to test real-world performance. In our experiments, we find that such naive domain randomization raises sim-to-real accuracy from 64% to 79%, while training directly on real data yields an 89% accuracy ceiling. These results suggest that the isolated mechanism of domain randomization can significantly improve generalization.

simulation↗

Interactions between Artificial Gravity, Affected Physiological Systems, and Nutrition

Malnutrition, either by insufficient supply of some nutrients or by overfeeding has a profound effect on the health of an organism. Therefore, optimal nutrition is mandatory on Earth (1 g), in microgravity and also when applying artificial gravity to the human system. Immobilization like in microgravity or bed rest also has a profound effect on different physiological systems, like body fluid regulation, the cardiovascular, the musculoskeletal, the immunological system and others. Up to now there is no countermeasure available which is effective to counteract cardiovascular deconditioning (rf. Chapter 5) together with maintenance of the musculoskeletal system in a rather short period of time. Gravity seems therefore to be one of the main stimuli to keep these systems and application of certain duration of artificial gravity per day by centrifugation has often been proposed as a very potential countermeasure against the weakening of the physiological systems. Up to now, neither optimal intensity nor optimal length of application of artificial gravity has been studied sufficiently to recommend a certain, effective and efficient protocol. However, as shown in chapter 5 on cardiovascular system, in chapter 6 on the neuromuscular system and chapter 7 (bone and connective system) artificial gravity has a very high potential to counteract any degradation caused by immobilization. But, nutrient supply -which ideally should match the actual needs- will interact with these changes and therefore has also to be taken into account. It is well known that astronauts beside the Skylab missions- were and are still not optimally nourished during their stay in space (Bourland et al. 2000;Heer et al. 1995;Heer et al. 2000b;Smith et al. 1997;Smith & Lane 1999;Smith et al. 2001;Smith et al. 2005). It has also been described anecdotally that astronauts have lower appetites. One possible explanation could be altered taste and smell sensations during space flight, although in some early space flights no significant changes were found (Heidelbaugh et al. 1968;Watt et al. 1985). However, data from a recent head-down bed rest study showed significant decrease in smell sensation (Enck et al. unpublished data) suggesting that fluid shifts might have an impact. If this holds true and which has to be validated in further studies, this seems to play an important role for lowered food intake causing insufficient energy intake and subsequently insufficient supply of most of the macro- and micronutrients. Other nutrients are taken in excess, for example sodium. As it is very well known from daily food consumption especially premanufactured food with high salt content seems to be more palatable than that with low salt content. Salt also functions as preservation which is very important taking into account the space food system limitations (i.e., lack of refrigerators and freezers). The preference for food with high salt intake by astronauts might therefore very likely be caused by altered smell and taste sensations in microgravity.

Heer, Martina↗

Using A Model-Based Systems Engineering Approach For Exploration Medical System Development

NASA's Human Research Program's Exploration Medical Capabilities (ExMC) element is defining the medical system needs for exploration class missions. ExMC's Systems Engineering (SE) team will play a critical role in successful design and implementation of the medical system into exploration vehicles. The team's mission is to "Define, develop, validate, and manage the technical system design needed to implement exploration medical capabilities for Mars and test the design in a progression of proving grounds." Development of the medical system is being conducted in parallel with exploration mission architecture and vehicle design development. Successful implementation of the medical system in this environment will require a robust systems engineering approach to enable technical communication across communities to create a common mental model of the emergent engineering and medical systems. Model-Based Systems Engineering (MBSE) improves shared understanding of system needs and constraints between stakeholders and offers a common language for analysis. The ExMC SE team is using MBSE techniques to define operational needs, decompose requirements and architecture, and identify medical capabilities needed to support human exploration. Systems Modeling Language (SysML) is the specific language the SE team is utilizing, within an MBSE approach, to model the medical system functional needs, requirements, and architecture. Modeling methods are being developed through the practice of MBSE within the team, and tools are being selected to support meta-data exchange as integration points to other system models are identified. Use of MBSE is supporting the development of relationships across disciplines and NASA Centers to build trust and enable teamwork, enhance visibility of team goals, foster a culture of unbiased learning and serving, and be responsive to customer needs. The MBSE approach to medical system design offers a paradigm shift toward greater integration between vehicle and the medical system and directly supports the transition of Earth-reliant ISS operations to the Earth-independent operations envisioned for Mars. Here, we describe the methods and approach to building this integrated model.

Hanson, A.↗

Refraction and scattering of sound by a shear layer

The angle and amplitude changes for acoustic waves refracted by a circular open jet shear layer were determined. The generalized refraction theory was assessed experimentally for on axis and off axis acoustic source locations as source frequency varied from 1 kHz to 10 kHz and free stream Mach number varied from 0.1 to 0.4. Angle and amplitude changes across the shear layer show good agreement with theory. Experiments confirm that the refraction theory is independent of shear layer thickness, acoustic source frequency, and source type. A generalized theory is, thus, available for correcting far field noise data acquired in open jet test facilities. The effect of discrete tone scattering by the open jet turbulent shear layer was also studied. Scattering effects were investigated over the same Mach number range as frequency varied from 5 kHz to 15 kHz. Attenuation of discrete tone amplitude and tone broadening were measured as a function of acoustic source position and radiation angle. Scattering was found to be stronger at angles close to the open jet axis than at 90 deg, and becomes stronger as the acoustic source position shifts downstream. A scattering analysis provided an estimate of the onset of discrete tone scattering.

Schlinker, R. H.↗

Geologic Investigations Spurred by Analog Testing at the 7504 Cone-SP Mountain Area of the San Francisco Volcanic Field

The SP Mountain area of the San Francisco Volcanic Field, AZ, has been used as an analog mission development site for NASA since 1998. This area consists of basaltic cinder cones, lava flows and maar craters that have been active since mid-Miocene, with the youngest events occurring within the last 10,000 years. The area has been used because its geologic and topographic resemblance to lunar and Martian terrains provides an ideal venue for testing hardware and science operations practices that might be employed on planetary surfaces, as well as training astronauts in field geology. Analog operations have often led to insights that spurred new scientific investigations. Most recently, an investigation of the 7504 cone was initiated due to perceptions that Apollo-style traverse plans executed during the Desert RATS 2010 mission had characterized the area incorrectly, leading to concerns that the Apollo traverse planning process was scientifically flawed. This investigation revealed a complex history of fissure eruptions of lava and cinders, cinder cone development, a cone-fill-and-spill episode, extensive rheomorphic lava flow initiation and emplacement, and cone sector collapse that led to a final lava flow. This history was not discernible on pre-RATS mission photogeology, although independent analysis of RATS 2010 data and samples develped a "75% complete solution" that validated the pre-RATS mission planning and Apollo traverse planning and execution. The study also pointed out that the development of scientific knowledge with time in a given field area is not linear, but may follow a functional form that rises steeply in the early period of an investigation but flattens out in the later period, asymptotically approaching a theoretical "complete knowledge" point that probably cannot be achieved. This implies that future human missions must be prepared to shift geographic areas of investigation regularly if significant science returns are to be forthcoming.

Eppler, Dean B.↗

Shuttle ku-band communications/radar technical concepts

Technical data on the Shuttle Orbiter K sub u-band communications/radar system are presented. The more challenging aspects of the system design and development are emphasized. The technical problems encountered and the advancements made in solving them are discussed. The radar functions are presented first. Requirements and design/implementation approaches are discussed. Advanced features are explained, including Doppler measurement, frequency diversity, multiple pulse repetition frequencies and pulse widths, and multiple modes. The communications functions that are presented include advances made because of the requirements for multiple communications modes. Spread spectrum, quadrature phase shift keying (QPSK), variable bit rates, and other advanced techniques are discussed. Performance results and conclusions reached are outlined.

Griffin, J. W.↗

Heterodyne spectroscopy of carbon monoxide lines perturbed by hydrogen and helium

Infrared heterodyne spectroscopy has been used for the first time to measure the widths and shifts of CO rovibrational spectra perturbed by H2 and He. A spectral resolution of 20 MHz was achieved. The CO-He line-broadening measurements were accurate enough to distinguish between two proposed intermolecular potential models of this system. Also, a measured increase in the broadening coefficient as a function of rotational quantum number j was observed for CO-He at temperatures of 80 K. This is not easy to explain in the context of so-called 'sudden approximations' which have been used to interpret pressure broadening data for this system.

Mannucci, Anthony J.↗

Comparison of field-aligned currents at ionospheric and magnetospheric altitudes

Using the empirical terrestrial magnetospheric magnetic field models of Tsyganenko and Usmanov (1982) and Tsyganenko (1987) the average field-aligned currents (FACs) in the magnetosphere were determined as a function of the Kp index. Three major model FAC systems were identified, namely, the dayside region 1, the nightside region 1, and the nightside polar cap. The models provide information about the sources of the current systems. Mapped ionospheric model FACs are compared with low-altitude measurements obtained by the spacecraft. It is found that low-altitude data can reveal either classic region 1/2 or more highly structured FAC patterns. Therefore, statistical results either obtained from observations or inferred from models are expected to be averages over temporally and spatially shifting patterns.

Spence, H. E.↗

Automated electroencephalography system and electroencephalographic correlates of space motion sickness, part 3

Computer quantification methods were used to analyze the Skylab electroencephalographic data obtained during the course of the M133 series of experiments. This undertaking was prompted by initial observations made during visual analysis of the tape-recorded sleep records where there appeared to be an increase of the alpha-rhythm frequency during some inflight recording sessions, as compared to preflight baseline observations. A number of potential etiological factors are identified and their various possible influences discussed. The presence of the zero-g state is thought to be an important factor, possibly influencing EEG through alteration of vestibular function and/or by producing fluid shifts secondary to loss of hydrostatic pressure.

Frost, J. D., Jr.↗

Aperture plane potential control for thermal ion measurements

The effects produced by the addition of an aperture plane to control the bias around an instrument for low-energy ion measurements on satellites collecting data in the plasmasphere and over the polar cap are analyzed. The analysis is based on the design and functions of the retarding ion mass spectrometer (RIMS) on the DE 1 satellite. The NASA Charging Analyzer Program, which treats the spacecraft as a cylinder, was used to generate one set of predictions. A second model involves solution of the Laplace equation with the spacecraft treated as a sphere. Both models were used to predict the barrier height expected at the aperture in response to the bias induced to offset the potential. Comparisons with plasma data show that in the thin sheath regime of the plasmasphere the detectors act as if the potential is shifted, thereby lowering the energy resolution of the instrument. Outside the plasmasphere the barrier height dominates the spin curve variations more than the potential. Partial potential control is available from induced bias apertures if control is active and guided by electron detectors with sensitivities in the 0.5-50.0 eV energy range.

Olsen, R. C.↗

Measurement of CPAS Main Parachute Rate of Descent

The Crew Exploration Vehicle Parachute Assembly System (CPAS) is being designed to land the Orion Crew Module (CM) at a safe rate of descent at splashdown. Flight test performance must be measured to a high degree of accuracy to ensure this requirement is met with the most efficient design possible. Although the design includes three CPAS Main parachutes, the requirement is that the system must not exceed 33 ft/s under two Main parachutes, should one of the Main parachutes fail. Therefore, several tests were conducted with clusters of two Mains. All of the steady-state rate of descent data are normalized to standard sea level conditions and checked against the limit. As the Orion design gains weight, the system is approaching this limit to within measurement precision. Parachute "breathing," cluster interactions, and atmospheric anomalies can cause the rate of descent to vary widely and lead to challenges in characterizing parachute terminal performance. An early test had contradictory rate of descent results from optical trajectory and Differential Global Positioning Systems (DGPS). A thorough analysis of the data sources and error propagation was conducted to determine the uncertainty in the trajectory. It was discovered that the Time Space Position Information (TSPI) from the optical tracking provided accurate position data. However, the velocity from TPSI must be computed via numerical differentiation, which is prone to large error. DGPS obtains position through pseudo-range calculations from multiple satellites and velocity through Doppler shift of the carrier frequency. Because the velocity from DGPS is a direct measurement, it is more accurate than TSPI velocity. To remedy the situation, a commercial off-the-shelf product that combines GPS and an Inertial Measurement Unit (IMU) was purchased to significantly improve rate of descent measurements. This had the added benefit of solving GPS dropouts during aircraft extraction. Statistical probability distributions for CPAS Main parachute rate of descent and drag coefficient were computed and plotted. Using test data, a terminal rate of descent at splashdown can be estimated as a function of canopy loading.

Ray, Eric S.↗

Phase-Shifting Liquid Crystal Point-Diffraction Interferometry

Microgravity fluid physics experiments frequently measure concentration and temperature. Interferometers such as the Twyman Green illustrated have performed full-field measurement of these quantities. As with most such devices, this interferometer uses a reference path that is not common with the path through the test section. Recombination of the test and reference wavefronts produces interference fringes. Unfortunately, in order to obtain stable fringes, the alignment of both the test and reference paths must be maintained to within a fraction of the wavelength of the light being used for the measurement. Otherwise, the fringes will shift and may disappear. Because these interferometers are extremely sensitive to bumping, jarring and transmitted vibration, they are typically mounted on optical isolation tables. Schlieren deflectometers or the more recent Shack-Hartmann wavefront sensors also measure concentration and temperature in laboratory fluid flows. Ray optics describe the operation of both devices. In a schlieren system, an expanded, collimated beam passes through a test section where refractive index gradients deflect rays. A lens focuses the beam to a filter placed in the rear focal plane of the decollimating lens. In a quantitative color schlieren system, gradients in the index of refraction appear as colors in the field of view due to the action of the color filter. Since sensitivity is a function of the focal length of the decollimating lens, these systems are rather long and filter fabrication and calibration is rather difficult. A Shack-Hartmann wavefront sensor is an array of small lenslets. Typical diameters are on the order of a few hundred microns. Since these lenslets divide the test section into resolution elements, the spatial resolution can be no smaller than an individual lenslet. Such a device was recently used to perform high-speed tomography of heated air exiting a 1.27 cm diameter nozzle. While these wavefront sensors are very compact, the limited spatial resolution and the methods required for data reduction suggest that a more useful instrument needs to be developed. The category of interferometers known as common path interferometers can eliminate much of the vibration sensitivity associated with traditional interferometry as described above. In these devices, division of the amplitude of the wavefront following the test section produces the reference beam. Examples of these instruments include shearing and point diffraction interferometers. In the latter case, shown schematically, a lens focuses light passing through the test section onto a small diffracting object. Such objects are typically either a circle of material on a high quality glass plate or a small sphere in a glass cell. The size of the focused spot is several times larger than the object so that the light not intercepted by the diffracting object forms the test beam while the diffracted light generates a spherical reference beam. While this configuration is mechanically stable, phase shifting one beam with respect to the other is difficult due to the common path. Phase shifting enables extremely accurate measurements of the phase of the interferogram using only gray scale intensity measurements and is the de facto standard of industry. Mercer and Creath 2 demonstrated phase shifting in a point diffraction interferometer using a spherical spacer in a liquid crystal cell as the diffracting object. By changing the voltage across the cell, they were able to shift the phase of the undiffracted beam relative to the reference beam generated by diffraction from the sphere. While they applied this technology to fluid measurements, the device shifted phase so slowly that it was not useful for studying transient phenomena. We have identified several technical problems that precluded operation of the device at video frame rates and intend to solve them to produce a phase-shifting liquid crystal point-diffraction interferometer operating at video frame rates. The first task is to produce high contrast fringes. Since the diffracted beam is much weaker than the transmitted beam, interferograms have poor contrast unless a dye is added to the liquid crystal to reduce the intensity of the undiffracted light. Dyes previously used were not rigorously characterized and suffered from hysteresis in both the initial alignment state of the device and the electro-optic switching characteristics. Hence, our initial effort will identify and characterize dyes that do not suffer from these difficulties and are readily soluble in the liquid crystal host. Since the ultimate goal of this research is to produce interferometers capable of phase shifting at video frame rates, we will quantify the difference in switching times between ferroelectric and nematic liquid crystals. While we have more experience with nematic crystals, they typically switch more slowly than ferroelectric cells. As part of that effort, we will investigate the difference in the modulation of the interferograms as a function of the type of liquid crystal in the cell. Because the temporal switching response of a liquid crystal cell is directly related its thickness, we intend to explore techniques required to produce cells that are as thin as possible. However, the cells must still produce a total phase shift of two pi radians.

Griffin, DeVon W.↗

Numerical Modeling of Ocular Dysfunction in Space

Upon introduction to microgravity, the near-loss of hydrostatic pressure causes a marked cephalic (headward) shift of fluid in an astronaut's body. The fluid shift, along with other factors of spaceflight, induces a cascade of interdependent physiological responses which occur at varying time scales. Long-duration missions carry an increased risk for the development of the Visual Impairment and Intracranial Pressure (VIIP) syndrome, a spectrum of ophthalmic changes including posterior globe flattening, choroidal folds, distension of the optic nerve sheath, kinking of the optic nerve and potentially permanent degradation of visual function. In the cases of VIIP found to date, the initial onset of symptoms occurred after several weeks to several months of spaceflight, by which time the gross bodily fluid distribution is well established. We are developing a suite of numerical models to simulate the effects of fluid shift on the cardiovascular, central nervous and ocular systems. These models calculate the modified mean volumes, flow rates and pressures that are characteristic of the altered quasi-homeostatic state in microgravity, including intracranial and intraocular pressures. The results of the lumped models provide initial and boundary data to a 3D finite element biomechanics simulation of the globe, optic nerve head and retrobulbar subarachnoid space. The integrated set of models will be used to investigate the evolution of the biomechanical stress state in the ocular tissues due to long-term exposure to microgravity.

intraocular pressure↗

Detection of Extremes with AIRS and CrIS

Climate change is expected to be detected first as changes in extreme values rather than in mean values. The availability of data of from two instruments in the same orbit, AIRS data for the past eleven years and AIRS and CrIS data from the past year, provides an opportunity to evaluate this using examples of climate relevance: Desertification, seen as changes in hot extremes, severe storm, seen as a change in extremely cold clouds and the warming of the polar zone. We use AIRS to establish trends for the 1%tile, the mean and 99%tile brightness temperatures measured with the 900 cm(exp -1) channel from AIRS for the past 11 years. This channel is in the clearest part of the 11 micron atmospheric window. Substantial trends are seen for land and ocean, which in the case of the 1%tile (cold) extremes are related to the current shift of deep convection from ocean to land. Changes are also seen in the 99%tile for day tropical land, but their interpretation is at present unclear. We also see dramatic changes for the mean and 99%tile of the North Polar area. The trends are an order of magnitude larger than the instrument trend of about 3 mK/year. We use the statistical distribution from the past year derived from AIRS to evaluate the accuracy of continuing the trends established with AIRS with CrIS data. We minimize the concern about differences in the spectral response functions by limiting the analysis to the channel at 900 cm(exp -1).While the two instruments agree within 100 mK for the global day/night land/ocean mean values, there are significant differences when evaluating the1% and 99%tiles. We see a consistent warm bias in the CrIS data relative to AIRS for the 1%tile (extremely cold, cloudy) data in the tropical zone, particularly for tropical land, but the bias is not day/night land/ocean consistent. At this point the difference appears to be due to differences in the radiometric response of AIRS and CrIS to differences in the day/night land/ocean cloud types. Unless the effect can be mitigated by a future reprocessing the CrIS data, it will significantly complicate the concatenation of the AIRS and CrIS data records for the continuation of trends in extreme values.

sampling bias↗

The compositional structure and the effects of exothermicity in a nonpremixed planar jet flame

Results are presented of direct numerical simulation (DNS) of a randomly perturbed compressible, spatially developing two-dimensional planar jet under the influence of a finite rate chemical reaction of the type F + O yields product. The objectives of the simulations are to assess the compositional structure of the flame and to determine the influence of reaction exothermicity by means of statistical sampling of the DNS generated data. It is shown that even with this idealized kinetics model the simulated results exhibit features in accord with experimental data. These results indicate that the Damkohler number is an important parameter in determining the statistical composition of the reacting field and that the results are not very sensitive to the mechanism by which this parameter is varied. It is demonstrated that as the intensity of mixing is increased and the effect of finite rate chemistry is more pronounced, the magnitudes of the ensemble mean and variance of the product mass fraction decrease and those of the reactants' mass fraction increase. Also, at higher mixing rates the joint probability density functions of the reactants' mass fractions shift towards higher values within the composition domain, indicating a lower reactedness.

Steinberger, C. J.↗

Architecture and Information Requirements to Assess and Predict Flight Safety Risks During Highly Autonomous Urban Flight Operations

As aviation adopts new and increasingly complex operational paradigms, vehicle types, and technologies to broaden airspace capability and efficiency, maintaining a safe system will require recognition and timely mitigation of new safety issues as they emerge and before significant consequences occur. A shift toward a more predictive risk mitigation capability becomes critical to meet this challenge. In-time safety assurance comprises monitoring, assessment, and mitigation functions that proactively reduce risk in complex operational environments where the interplay of hazards may not be known (and therefore not accounted for) during design. These functions can also help to understand and predict emergent effects caused by the increased use of automation or autonomous functions that may exhibit unexpected non-deterministic behaviors. The envisioned monitoring and assessment functions can look for precursors, anomalies, and trends (PATs) by applying model-based and data-driven methods. Outputs would then drive downstream mitigation(s) if needed to reduce risk. These mitigations may be accomplished using traditional design revision processes or via operational (and sometimes automated) mechanisms. The latter refers to the ‘in-time’ aspect of the system concept. This report comprises architecture and information requirements and considerations toward enabling such a capability within the domain of low altitude highly autonomous urban flight operations. This domain may span, for example, public-use surveillance missions flown by small unmanned aircraft (e.g., infrastructure inspection, facility management, emergency response, law enforcement, and/or security) to transportation missions flown by larger aircraft that may carry passengers or deliver products. Caveat: Any stated requirements in this report should be considered initial requirements that are intended to drive research and development (R&D). These initial requirements are likely to evolve based on R&D findings, refinement of operational concepts, industry advances, and new industry or regulatory policies or standards related to safety assurance.

Young, Steven↗

A Closer Look at Automation Behavior During a Human-in-the-Loop Simulation

A 2012 Human-In-The-Loop air traffic control simulation investigated a gradual paradigm-shift in the allocation of functions between operators and automation. Air traffic controllers staffed five adjacent high-altitude en route sectors, and during the course of a two-week experiment, worked traffic under four different function allocation concepts aligned with increasingly mature NextGen operational environments. These NextGen time-frames ranged from near current-day operations to nearly fully-automated control, in which the ground systems automation was responsible for detecting conflicts, issuing strategic and tactical resolutions, and alerting controllers to exceptional circumstances. This paper continues the investigations reported in previous publications. Analyses of data surrounding the conflict-resolution task serve as the context in which we investigate the interactions between controllers and the automation.

Human-Automation Interaction↗

Generalized minimum shift-keying modulation techniques

The simultaneous data demodulation and phase tracking of an MSK signal using the Viterbi algorithm is described and two variations of MSK modulation are studied. The MSK with overlay is a dual rate modulation technique where low-and high-rate data are superimposed on an MSK signal. Here the demodulator uses the Viterbi algorithm to estimate both the low-and high-rate data simultaneously. The MSK with pseudorandom sequence spreading combats intentional or unintentional jamming. A simplified receiver for these spread spectrum MSK signals is found, which takes into consideration the effect of random phase perturbations. The performance of these demodulators is evaluated using transfer function bounds for the bit error probability. It is shown that with a reasonable short overlay period, at a relatively high signal-to-noise ratio (13 dB), there is a small (0.7 dB) loss of performance. For demodulation of the spread spectrum MSK signal, a simplified receiver is derived, and its performance in the presence of continuous jamming is evaluated.

Sadr, Ramin↗