Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “cloud platform”

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 37 records · Page 2

Cloud-Computing and Machine Learning in Support of Country-Level Land Cover and Ecosystem Extent Mapping in Liberia and Gabon

Liberia and Gabon joined the Gaborone Declaration for Sustainability in Africa (GDSA), established in 2012, with the goal of incorporating the value of nature intonational decision making by estimating the multiple services obtained from ecosystems using the natural capital accounting framework. In this study, we produced 30-m resolution 10 classes land cover maps for the 2015 epoch for Liberia and Gabon using the Google Earth Engine (GEE) cloud platform to support the ongoing natural capital accounting efforts in these nations. We pro-pose an integrated method of pixel-based classification using Landsat 8 data, the Random Forest(RF) classifier and ancillary data to produce high quality land cover products to fit abroad range of applications, including natural capital accounting. Our approach focuses on a pre-classification filtering (Masking Phase) based on spectral signature and ancillary data to reduce the number of pixels prone to be misclassified; therefore, increasing the quality of the final product. The proposed approach yields an overall accuracy of 83% and 81% for Liberia and Gabon, respectively, out performing prior land cover products for these countries in both thematic content and accuracy. Our approach, while relatively simple and highly replicable, was able to produce high quality land cover products to fill an observational gap in up to date land cover data at national scale for Liberia and Gabon.

Celio de Sousa↗

Applying the Cognitive Space Gateway to Swarm Topologies

NASA's future vision for interplanetary networking includes a lunar network, Cube Satellite (CubeSat) constellations, and deep space robotic missions, comprising what could be viewed as a network of networks. Delay-tolerant networking (DTN) architecture and protocols provide a standard network layer among these varying scenarios and mitigate many challenges of the space environment, such as long delays, unplanned service interruptions, and asymmetric links. The Cognitive Space Gateway (CSG) is a routing method in a DTN architecture that uses spiking neural networks as the learning element to optimize routing decisions in a complex environment. This work aims to further develop cognitive networking technologies in several critical areas, including DTN, the CSG algorithm, CubeSat swarm topologies, and cloud services. To test the algorithm in a realistic scenario, the emulated network topology is based on a CubeSat swarm. The swarm may function as a mesh of nodes or as a hub-and-spoke network. An emulation environment will be built upon a commercial cloud service, such as Amazon Web Services (AWS) Elastic Compute Cloud. The cloud environment may enable a flexible, lower maintenance approach versus a multi-hop network based in a physical laboratory. The cloud platform will provide a secure environment allowing for collaboration among government and academic entities.

Ricardo Lent↗

A Dynamic Landslide Hazard Monitoring Framework for the Lower Mekong Region

The Lower Mekong region is one of the most landslide-prone areas of the world. Despite the need for dynamic characterization of landslide hazard zones within the region, it is largely understudied for several reasons. Dynamic and integrated understanding of landslide processes requires landslide inventories across the region, which have not been available previously. Computational limitations also hamper regional landslide hazard assessment, including accessing and processing remotely sensed information. Finally, open-source software and modelling packages are required to address regional landslide hazard analysis. Leveraging an open-source data-driven global Landslide Hazard Assessment for Situational Awareness model framework, this study develops a region-specific dynamic landslide hazard system leveraging satellite-based Earth observation data to assess landslide hazards across the lower Mekong region. A set of landslide inventories were prepared from high-resolution optical imagery using advanced image-processing techniques. Several static and dynamic explanatory variables (i.e., rainfall, soil moisture, slope, relief, distance to roads, distance to faults, distance to rivers) were considered during the model development phase. An extreme gradient boosting decision tree model was trained for the monsoon period of 2015–2019 and the model was evaluated with independent inventory information for the 2020 monsoon period. The model performance demonstrated considerable skill using receiver operating characteristic curve statistics, with Area Under the Curve values exceeding 0.95. The model architecture was designed to use near-real-time data, and it can be implemented in a cloud computing environment (i.e., Google Cloud Platform) for the routine assessment of landslide hazards in the Lower Mekong region. This work was developed in collaboration with scientists at the Asian Disaster Preparedness Center as part of the NASA SERVIR Program’s Mekong hub. The goal of this work is to develop a suite of tools and services on accessible open-source platforms that support and enable stakeholder communities to better assess landslide hazard and exposure at local to regional scales for decision making and planning.

Nishan Kumar Biswas↗

Virtual Assistant for First Responders Using Natural Language Understanding and Optical Character Recognition

Commercial deep learning capabilities are available for many applications such as computer vision processing and intelligent chat bots. The Google Cloud Platform product Google Dialogflow provides lifelike conversational artificial intelligence (AI) using machine learning (ML) to generate natural conversations between computers and humans. This ML utilizes natural language understanding (NLU) to recognize a user’s intent and extracts key information into a form of entities. We have developed a user-friendly application through understanding the hazardous material database, first aid safety guidelines and observing the process of first responders who access this information in the field. We created the Trusted and Explainable Artificial Intelligence for Saving Lives (TruePAL) virtual assistant using Dialogflow1 and TensorFlow2 paired with EasyOCR.3 The chatbot supports first responders by providing voice interaction which helps limit additional steps such as browsing through multiple categories when searching for information. Using feedback from our field interviews, the voice interface has been developed to enable the first responder to focus on the immediate emergency. With less distractions, the first responder is able to engage the incident more effectively. The partial hands-free TruePAL chatbot assistant improves the accessibility to the correct guidance by an average of 1.9 seconds compared to the widely used application, NIH WISER, which requires full attention to operate. We combined this intelligent chatbot with a separate visual processing capability to produce hazardous signage analysis and generate the proper guidance for first responders. With the evolving functionality of AI tools, the use of virtual assistants in first responder technology will be an advancement, benefiting the safety of both first responders and civilians.

Chow, Edward↗

The International Space Station, Optical Communications, and Delay Tolerant Networking: Towards A Solar System Internet Architecture

As Delay Tolerant Networking (DTN) matures as a software product its use cases have extended to infrastructural and architectural studies, bringing DTN closer to a widespread, operational technology. While it is known that a DTN can be configured, given complete information about a system of nodes, to provision a system with a complete network capability, what remains is to tackle practical considerations such as scalability, networking best practices, and how to establish service providers. In this paper, we document progress towards a scalable DTN architecture that was tested across multiple organizational and project boundaries; our approach was tested across nodes flying on the International Space Station (ISS) connected to a ground network. The network consists of four main network areas: the ISS, the White Sands Complex (WSC), the Mission Cloud Platform (MCP), and NASA’s Huntsville Operations Support Center (HOSC). The connections on the ground (WSC, MCP, and HOSC) are straightforward technically, but represent administrative and non-technical challenges that had to be overcome. The connection from the ISS to WSC was realized through a hybrid optical/RF means. In particular, NASA’s Integrated Laser Communications Relay Demonstration (LCRD) can form a relay from lowEarth-orbit (LEO) to the Earth, and was used in conjunction with the LCRD LEO User Modem and Amplifier Terminal (ILLUMA-T) on the ISS to form a link to one of three geographically diverse ground stations. A major goal was to achieve communications while keeping the ISS nodes unaware of ground station choices and scheduling. These disparate links were networked using High-rate DTN (HDTN), which enabled the desired architecture. The network architecture, tests, HDTN performance metrics, and general observations made are all discussed in detail, including a discussion on the successful utilization of the DTN security standard known as DTN Bundle Protocol Security (BPSec). We conclude with suggestions for next steps, and in particular focus on extending this architecture to the Near Space Network (NSN) and the upcoming LunaNet.

Alan Hylton↗

Investigation into Cloud Computing for More Robust Automated Bulk Image Geoprocessing

Geospatial resource assessments frequently require timely geospatial data processing that involves large multivariate remote sensing data sets. In particular, for disasters, response requires rapid access to large data volumes, substantial storage space and high performance processing capability. The processing and distribution of this data into usable information products requires a processing pipeline that can efficiently manage the required storage, computing utilities, and data handling requirements. In recent years, with the availability of cloud computing technology, cloud processing platforms have made available a powerful new computing infrastructure resource that can meet this need. To assess the utility of this resource, this project investigates cloud computing platforms for bulk, automated geoprocessing capabilities with respect to data handling and application development requirements. This presentation is of work being conducted by Applied Sciences Program Office at NASA-Stennis Space Center. A prototypical set of image manipulation and transformation processes that incorporate sample Unmanned Airborne System data were developed to create value-added products and tested for implementation on the "cloud". This project outlines the steps involved in creating and testing of open source software developed process code on a local prototype platform, and then transitioning this code with associated environment requirements into an analogous, but memory and processor enhanced cloud platform. A data processing cloud was used to store both standard digital camera panchromatic and multi-band image data, which were subsequently subjected to standard image processing functions such as NDVI (Normalized Difference Vegetation Index), NDMI (Normalized Difference Moisture Index), band stacking, reprojection, and other similar type data processes. Cloud infrastructure service providers were evaluated by taking these locally tested processing functions, and then applying them to a given cloud-enabled infrastructure to assesses and compare environment setup options and enabled technologies. This project reviews findings that were observed when cloud platforms were evaluated for bulk geoprocessing capabilities based on data handling and application development requirements.

Brown, Richard B.↗

Facilitating NASA Earth Science Data Processing Using Nebula Cloud Computing

Cloud Computing has been implemented in several commercial arenas. The NASA Nebula Cloud Computing platform is an Infrastructure as a Service (IaaS) built in 2008 at NASA Ames Research Center and 2010 at GSFC. Nebula is an open source Cloud platform intended to: a) Make NASA realize significant cost savings through efficient resource utilization, reduced energy consumption, and reduced labor costs. b) Provide an easier way for NASA scientists and researchers to efficiently explore and share large and complex data sets. c) Allow customers to provision, manage, and decommission computing capabilities on an as-needed bases

Pham, Long↗

Development of a Consistent Cross-Platform GEO-Satellite Cloud Mask to Support CERES

Geostationary satellites provide continuous cloud and meteorological observations over a fixed portion of the Earth’s surface, allowing them to monitor the movement of storm systems and their diurnal variation. For climate studies, geostationary observations provide valuable insight of cloud formation and evolution and how they influence the Earth’s radiation budget. The Geo-Satellite Edition 4 cloud mask (GEO Ed4) is used operationally in NASA’s Cloud and Earth’s Radiant Energy System (CERES) project to help account for diurnal variations in cloudiness on Earth’s radiation budget. The Ed4 cloud mask was applied to imager data on MSG (MeteoSat Second Generation), Himawari, GOES-West, and GOES-East satellites using as much spectral information as possible. That approach led to some discontinuities when a more modern satellite replaced an older satellite with less spectral information. A different strategy is being investigated for the CERES GEO Ed5 cloud mask that only uses spectral channels common on every satellite. Thus, a 3-channel (0.6, 3.9, 11 µm) algorithm for daytime cloud detection, and a 2-channels (3.9 and 11 µm) algorithm for nighttime cloud detection have been implemented and tested for Ed5. The goal of Ed5 cloud mask is to achieve global cloud amount consistency across five geo-satellites, and a smooth transition from an old satellite to a new satellite over each geo-location. This paper compares cloud mask results between Ed4 and a preliminary Ed5 version over the GOES-East region, using GOES-8, GOES-13, and GOES-16 satellites, each with a different spectral channel complement. Instantaneous and monthly regional mean inter-comparisons are performed and evaluated with CALIPSO cloud products to assess the accuracy and consistency of the Ed5 approach relative to that taken in Ed4. Results will be presented and discussed at the conference.

clouds↗

Lidar Measurements of Wind and Cloud Around Venus from an Orbiting or Floating/flying Platform

Given the presence of clouds and haze in the upper portion of the Venus atmosphere, it is reasonable to consider a Doppler wind lidar (DWL) for making remote measurements of the 3-dimensional winds within the tops of clouds and the overlying haze layer. Assuming an orbit altitude of 250 kilometers and cloud tops at 60 kilometers (within the upper cloud layer), an initial performance assessment of an orbiting DWL was made using a numerical instrument and atmospheres model developed for both Earth and Mars. It is reasonable to expect vertical profiles of the 3-dimensional wind speed with 1 kilometer vertical resolution and horizontal spacing of 25 kilometers to several 100 kilometers depending upon the desired integration times. These profiles would begin somewhere just below the tops of the highest clouds and extend into the overlying haze layer to some to-be-determined height. Getting multiple layers of cloud returns is also possible with no negative impact on velocity measurement accuracy. The knowledge and expertise for developing coherent Doppler wind lidar technologies and techniques, for Earth related mission at NASA Langley Research Center is being leveraged to develop an appropriate system suitable for wind measurement around Venus. We are considering a fiber-laser-based lidar system of high efficiency and smaller size and advancing the technology level to meet the requirements for DWL system for Venus from an orbiting or floating/flying platform. This presentation will describe the concept, simulation and technology development plan for wind and cloud measurements on Venus.

Singh, Upendra N.↗

NGAP: A (Brief) Update PaaS, IaaS, Onbording, and the Future

NASA ESDIS has charged the EED2 program with delivering a NASA-compliant, secure, cloud-based platform for application hosting. More than just a move to the cloud, this has forced us to examine all aspects of application hosting, from resource management to system administration, patching to monitoring, deployment to multiple environments. The result of this mandate is NGAP, the NASA General Application Platform. In this presentation, we will also discuss the various applications we are supporting and targeting, and their architectures including NGAPs move to support both PaaS and IaaS architectures.

PaaS↗

Precipitable Water Vapor Variation in the Clear-Cloud Transition Zone From the ARM Shortwave Spectrometer

A new technique to retrieve precipitable water vapor (PWV)amount in the clear-cloud transition zone using ground-based zenith spectral radiance is developed. The method uses zenith radiances at the water vapor band at 720 nm and adjacent non-absorbing band at 750 nm.Radiative transfer calculations show that the relative difference in zenith radiance between the two bands depends on PWV and the variations in cloud optical depth introduce a small change in the relative difference which is independent of PWV amount. This allows us to retrieve PWV variations in the cloud-clear transition zone for clouds over dark ocean surface. We applied this method to a Cu cloud case with zenith radiance observations by the Shortwave Array Spectroradiometer-Zenith (SASZe) during the Marine ARM GPCI Investigation of Clouds (MAGIC) field campaign. We found that there is about 10% change in PWV amount from known-cloudy region to known-clear sky in cloud edges.

Atmosphere↗

First Transmitted Hyperspectral Light Measurements and Cloud Properties from Recent Field Campaign Sampling Clouds Under Biomass Burning Aerosol

We present a first view of data collected during a recent field campaign aimed at measuring biomass burning aerosol above clouds from airborne platforms. The NASA ObseRvations of CLouds above Aerosols and their intEractionS (ORACLES) field campaign recently concluded its first deployment sampling clouds and overlying aerosol layer from the airborne platform NASA P3. We present results from the Spectrometer for Sky-Scanning, Sun-Tracking Atmospheric Research (4STAR), in conjunction with the Solar Spectral Flux Radiometers (SSFR). During this deployment, 4STAR sampled transmitted solar light either via direct solar beam measurements and scattered light measurements, enabling the measurement of aerosol optical thickness and the retrieval of information on aerosol particles in addition to overlying cloud properties. We focus on the zenith-viewing scattered light measurements, which are used to retrieve cloud optical thickness, effective radius, and thermodynamic phase of clouds under a biomass burning layer. The biomass burning aerosol layer present above the clouds is the cause of potential bias in retrieved cloud optical depth and effective radius from satellites. We contrast the typical reflection based approach used by satellites to the transmission based approach used by 4STAR during ORACLES for retrieving cloud properties. It is suspected that these differing approaches will yield a change in retrieved properties since light transmitted through clouds is sensitive to a different cloud volume than reflected light at cloud top. We offer a preliminary view of the implications of these differences in sampling volumes to the calculation of cloud radiative effects (CRE).

airborne↗

Multi-Spectral Cloud Retrievals from Moderate Image Spectrometer (MODIS)

MODIS observations from the NASA EOS Terra spacecraft (1030 local time equatorial sun-synchronous crossing) launched in December 1999 have provided a unique set of Earth observation data. With the launch of the NASA EOS Aqua spacecraft (1330 local time crossing! in May 2002: two MODIS daytime (sunlit) and nighttime observations are now available in a 24-hour period allowing some measure of diurnal variability. A comprehensive set of remote sensing algorithms for cloud masking and the retrieval of cloud physical and optical properties has been developed by members of the MODIS atmosphere science team. The archived products from these algorithms have applications in climate modeling, climate change studies, numerical weather prediction, as well as fundamental atmospheric research. In addition to an extensive cloud mask, products include cloud-top properties (temperature, pressure, effective emissivity), cloud thermodynamic phase, cloud optical and microphysical parameters (optical thickness, effective particle radius, water path), as well as derived statistics. An overview of the instrument and cloud algorithms will be presented along with various examples, including an initial analysis of several operational global gridded (Level-3) cloud products from the two platforms. Statistics of cloud optical and microphysical properties as a function of latitude for land and Ocean regions will be shown. Current algorithm research efforts will also be discussed.

Platnick, Steven↗

Joint ESA-NASA Multi-Mission Algorithm and Analysis Platform (MAAP)

The scientific community is faced with a need for greatly improved data sharing, analysis, visualization and advanced collaboration based firmly on open science principles. Recent and upcoming launches of new satellite missions with more complex and voluminous data, as well as the ever more urgent need to better understand the global carbon budget and related ecological processes, provided the immediate rational for the ESA-NASA Multi-mission Algorithm and Analysis Platform (MAAP). This highly collaborative joint project of ESA and NASA established a framework between ESA and NASA to share data, science algorithms and compute resources in order to foster and accelerate scientific research conducted by ESA and NASA EO data users. Presented to the public in October 2021, the current version of MAAP provides a common cloud-based platform with computing capabilities co-located with the data, a collaborative coding and analysis environment, and a set of interoperable tools and algorithms developed to support the estimation and visualization of global above-ground biomass. Data from the Global Ecosystem Dynamics Investigation (GEDI) mission on the International Space Station and the Ice, Cloud, and Land Elevation Satellite-2 (ICESat-2) have been instrumental in the first products of MAAP including the first comprehensive map of Boreal above-ground Biomass and a current Global Biomass Harmonization Activity, but the platform is also being specifically designed to support the forthcoming ESA Biomass mission and incorporate data from the upcoming NASA-ISRO SAR (NISAR) mission. While these missions and the corresponding research which includes airborne, field, and calibration/validation data collection and analyses, provide a wealth of data and information relating to global biomass estimation, they also present data storing, processing and sharing challenges. The NISAR mission alone will produce about 80TB/day. These large data volumes present a challenge that would otherwise place accessibility limits on the scientific community and impact scientific progress. Other challenges being addressed by MAAP include: 1) Enabling researchers to easily discover, process, visualize and analyze large volumes of data from both agencies; 2) Providing a wide variety of data in the same coordinate reference frame to enable comparison, analysis, data evaluation, and data generation; 3) Providing a version-controlled science algorithm development environment that supports tools, co-located data and processing resources; and 4) Addressing intellectual property and sharing challenges related to collaborative algorithm development and sharing of data and algorithms. MAAP products can be explored on the MAAP Dashboard at https://earthdata.nasa.gov/maap-biomass or the joint platform entrance at scimaap.net. MAAP also can be accessed through individual NASA (https://maap-project.org) and ESA (https://esa-maap.org/) landing pages.

cloud computing↗

HydroSAR: A Cloud-based SAR Data Analysis Service to Monitor Hydrological Disasters and their Impact on Population and Agriculture

Weather-related hazards are ubiquitous around the world including: 1) hurricane storm surges, 2) rapid snowmelt and heavy rainfall, 3) severe weather leading to flash floods, and 4) seasonal freeze and thaw of rivers that may lead to ice jams. Each of these hazards affects human settlements and has the potential to impact agricultural productivity. In each setting, end-users in disaster management need access to data processing tools helpful in mapping past and current disasters. Analysis of past events supports risk mitigation by understanding what has already occurred and how to alleviate those impacts in the future. Having capabilities to generate the same products in a response setting means that lessons learned from risk analysis will carry forward to event response. Synthetic aperture radar (SAR) data are particularly useful for these activities due to their all-weather 24/7 monitoring capabilities. In this effort we present HydroSAR, a cloud-based SAR data analysis service for the mapping of meteorological and hydrological disasters as well as their impact on population and agriculture. As part of this project we have developed a series of SAR-based value added products for the monitoring of surface hydrology (image time series, change detection, flood extent, flood depth) and the assessment of impacts on population (flood depth) and agriculture (active agriculture, inundated agriculture, flood duration). We also developed a cloud-based platform for generating these products over affected areas and are working with end-users to integrate derived product into decision-making workflows The paper will briefly introduce the SAR-based products that were developed for this effort. We describe the cloud-based production pipeline that was built to automatically generate these products in near-real time over extended regions. The integration of SAR-based information into hazard preparation and response activities is described for a number of recent disasters including the 2019 forest fires in Alaska, 2019 flooding in the U.S. Midwest, the 2020 U.S. severe weather easter outbreak, 2020 tropical storm Christobal, 2020 cyclone Amphan, 2020, Alaska Spring breakup flooding, and the 2020 flood season in Eastern India, Bangladesh, and Nepal.

Franz Josef Meyer↗

Cloud Computing Option for Modeling the Debris Environment

NASA’s Digital Transformation Initiative aims to promote the agency’s adoption of current and evolving digital technologies. Through agency-wide collaboration with other NASA teams, the Office of Safety and Mission Assurance (OSMA) has directed the Orbital Debris Program Office and the Meteoroid Environment Office to integrate cloud computing technologies in their publicly released software models: the Orbital Debris Engineering Model (ORDEM) and the Meteoroid Engineering Model (MEM). Decoupling the user interface from the backend processor was key for the software packages to run on a cloud computing framework. Benefits to this design include horizontal scaling of computing resources, user authentication and authorization, and automated deployment. Both models are hosted on a cloud computing platform supported by the NASA authorized IT security and compliance framework. This paper focuses on the new ORDEM web application, which includes the current features of the publicly released ORDEM software with an upgraded frontend design. The underlying ORDEM processor is run on a cloud container, allowing the user to run multiple spacecraft and telescope/radar mode simulations. Featuresexclusive to the ORDEM web application, such as importing multiple TLEs, auto-generated plotting, and the ability to check runtime progress are discussed. Comparisons between the current ORDEM software and the web application are summarized.

Andrew Vavrin↗

Generalizing a Data Analysis Pipeline in the Cloud to Handle Diverse Use Cases in NASA's EOSDIS

NASA's Earth Observing System Data and Information System (EOSDIS) is tasked with archiving and distributing Earth Observation data across a range of disciplines, including atmospheric science, oceanography, land processes, natural hazards, solar radiance and even socioeconomic aspects relating to the environment. Driven by rapidly rising data volumes, EOSDIS is migrating to a cloud computing based archive over the next few years. Although this simplifies data management somewhat, the main aim is to provide the data in an environment where end users can bring their analysis to the data rather than attempting to download and manage ever-increasing volumes. To that end, a cloud-based analysis platform is being constructed to enable data transformations, analyses and visualization without egressing the data from the cloud. In this endeavor, we expect a wide variety of users, algorithms and use cases. Consequently, the architecture of this cloud analytics platform is expressly designed to be based on open services, thus fostering an ecosystem that enables the efficient combination of common components with data-specific or analysis-specific components. Reviewed and approved by Andrew Mitchell, ESDIS project manager.

Cloud computing↗

Cloud Computing Option for Modeling the Debris Environment

NASA’s Digital Transformation Initiative aims to promote the agency’s adoption of current and evolving digital technologies. Through agency-wide collaboration with other NASA teams, the Office of Safety and Mission Assurance (OSMA) has directed the Orbital Debris Program Office and the Meteoroid Environment Office to integrate cloud computing technologies into their publicly released software models: the Orbital Debris Engineering Model (ORDEM) and the Meteoroid Engineering Model (MEM). Decoupling the user interface from the backend processor was key for the software packages to run on a cloud computing framework. Benefits to this design include horizontal scaling of computing resources, user authentication and authorization, and automated deployment. Both models are hosted on a cloud computing platform supported by the NASA authorized IT security and compliance framework. This paper focuses on the new ORDEM web application, which includes the current features of the publicly released ORDEM software with an upgraded frontend design, although parallels between ORDEM and MEM are also discussed. The underlying ORDEM processor is run on a cloud container, allowing the user to run multiple spacecraft and telescope/radar mode simulations. Features exclusive to the ORDEM web application, such as importing multiple TLEs, auto-generated plotting, and the ability to check runtime progress are discussed. Comparisons between the current ORDEM software and the web application are summarized.

Andrew Vavrin↗