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NASA NTRS2020

Using XRD to Characterize Sediment Sorting in a Mars Analog Glacio-Fluvio-Eolian Basaltic Sedimentary System in Iceland

The martian surface has a primarily basaltic composition and is dominated by sedimentary deposits. Ancient layered sedimentary rocks have been identified across the planet from orbit, have been studied in situ by the Mars Exploration Rovers and the Mars Science Laboratory rover, and will be studied by the Mars 2020 rover. These ancient sedimentary rocks were deposited in fluvial, lacustrine, and eolian environments during a warmer and wetter era on Mars. It is important to study the composition of sediments in Mars analog environments to characterize how minerals in basaltic sedimentary systems are sorted and/or aqueously altered. This information can help us better interpret sedimentary processes from similar deposits on Mars and derive information about the igneous source rocks. Sediment sorting has been studied extensively on Earth, but not typically in basaltic environments. Previous work has addressed sorting of basaltic sediments through experimental techniques and in modern eolian basaltic systems and aqueous alteration in subglacial and proglacial environments. We add to this body of research by studying sediment sorting and aqueous alteration in a glacio-fluvio-eolian basaltic system in southwest Iceland.

Rampe, E. B.↗
NASA NTRSDate not supplied

Overview of Mars Sample Return – Earth Entry System Woven Roughness Heating Augmentation Test in NASA Langley’s Mach 6 Wind Tunnel

The Mars Sample Return Mission (MSR) is a planned NASA flagship mission in which a sample retrieval lander (SRL) with a rover will be flown to Mars to obtain sample tubes on the surface that were dropped by the Mars 2020 rover [1]. After obtaining the sam-ples, the rover will return and ascend back to Martian orbit onboard the Mars Ascent Vehicle (MAV). Upon return to Earth orbit, the samples will perform Entry, Descent, and Landing (EDL) with the Earth Entry Sys-tem (EES) architecture, and land in Utah. The EES vehicle will utilize a HEEET-variant as its TPS, which will be the first time a woven TPS will be used on a flagship NASA mission [2]. This TPS offers a unique challenge for Computational Fluid Dynamics (CFD) modeling of the aerothermal envi-ronment of the vehicle, as woven roughness heating augmentation has not been extensively investigated experimentally. As a result, in order to validate com-putational models for woven roughness heating aug-mentation, a wind tunnel test campaign at NASA Langley Research Center’s Mach 6 wind tunnel was performed in April of 2023. This test campaign consisted of over a hundred runs with Reynolds numbers spanning from 1-7 mil-lion 1/ft and with six separate wind tunnel models used. A second campaign with a suite of new models will be conducted in Summer 2023 as well as a cam-paign with a flat plate model, both of which are of great interest to the MSR-EES project. The data obtained from this test are extremely vital for the MSR mission, as they will validate CFD roughness heating models which will be directly used to design the TPS of the EES portion of MSR and characterize the heating environment that the entry ve-hicle will experience. Further extensions of the MSR-EES test campaign will continue to provide validation data for developing more effective computational tools.

Jonathan Cheatwood↗
NASA NTRSDate not supplied

Hybrid Flush and Synthetic Air Data Filter for Entry Vehicle Atmospheric State Estimation

A hybrid flush/synthetic air data sensing filter for entry vehicle atmosphere estimation is developed. The approach makes use of a Kalman-Schmidt and Rauch-Tung-Streibel smoother. The filter/smoother blends information from pressure sensors distributed on the heatshield with pseudo-measurements of the vehicle aerodynamic forces and moments computed from mass properties and inertial measurement unit data, and prior estimates of the atmosphere. The filter produces estimates of the atmospheric conditions along the entry trajectory, and systematic error estimates to reconcile differences between the pressure and aerodynamic data sources. The filter is applied to data acquired during the Mars 2020 entry, descent, and landing at Jezero crater on February 18th, 2021. The final paper will also include results from the Mars Science Laboratory entry, descent, and landing.

Chris D. Karlgaard↗
NASA NTRS2020

Thermal system and environmental testing of the Mars Helicopter

The Mars Helicopter will be a technology demonstration conducted during the Mars 2020 mission. The primary mission objective is to achieve several 90-second flights demonstrating the feasibility of heavier than air flight on Mars and capture visible light images via forward and nadir mounted cameras. These flights could possibly provide reconnaissance data for sampling site selection for other Mars surface missions. A solar array and batteries for flight operations, imaging, communications, and survival heating power the Helicopter. The thermal design is driven by minimizing survival heater energy while maintaining compliance with allowable flight temperatures in a variable thermal environment. Due to the small size of the Helicopter and its complex geometries, along with the fact that it operates with very low power and small margins in the extreme Mars environment, additional care had to be paid while planning thermal tests and designing the thermal system. The first section of the paper describes the evolution of the thermal system of the Mars Helicopter. After the first thermal vacuum test of the engineering model, the thermal team has conducted a partial effect analysis on the thermal design components that had a major impact on the system performance. Several design choices derived by analysis and test have been made to meet the energy allocation and the temperature requirements. These changes included increased gas gaps to reduce gas conduction, low emissivity coatings for internal components, blanket implementation, optimization of wire routing and fine-tuning of surface operations to optimize waste heat recovery. The second part of the paper describes the flight model thermal vacuum test and the subsequent thermal model correlation necessary to confirm the fidelity of the analysis results.

Pauken, Michael↗
NASA NTRS2020

Optimization of Low Reynolds Number Airfoils for Martian Rotor Applications Using an Evolutionary Algorithm

The Mars Helicopter (MH) will be flying on the NASA Mars 2020 rover mission scheduled to launch in July of 2020. Research is being performed at the Jet Propulsion Laboratory (JPL) and NASA Ames Research Center to extend the current capabilities and develop the Mars Science Helicopter (MSH) as the next possible step for Martian rotorcraft. The low atmospheric density and the relatively small-scale rotors result in very low chord-based Reynolds number flows over the rotor airfoils. The low Reynolds number regime results in rapid performance degradation for conventional airfoils due to laminar separation without reattachment. Unconventional airfoil shapes with sharp leading edges are explored and optimized for aerodynamic performance at representative Reynolds-Mach combinations for a concept rotor. Sharp leading edges initiate immediate flow separation, and the occurrence of large-scale vortex shedding is found to contribute to the relative performance increase of the optimized airfoils, compared to conventional airfoil shapes. The oscillations are shown to occur independent from laminar-turbulent transition and therefore result in sustainable performance at lower Reynolds numbers. Comparisons are presented to conventional airfoil shapes and peak lift-to-drag ratio increases between 17% and 41% are observed for similar section lift.

Koning, Witold J.↗
NASA NTRS2020

Thermal Architecture of A Conceptual Mars Sample Return Lander during Cruise and on Mars

A Pre-Project team is currently studying a conceptual Mars Sample Return (MSR) architecture that would return samples collected by Mars 2020 to Earth. The basic architecture comprises of acquisition of these samples using a sample retrieval lander (SRL), which also would also house the Mars Ascent Vehicle (MAV) and Sample Fetch Rover (SFR). The MAV would put the orbiting sample container (OS) in a Martian orbit, which would then rendezvous with an Earth return orbiter (ERO) and be sent to Earth. This paper focuses on the SRL portion of the potential MSR campaign. The thermal architecture of this mission during cruise to Mars presents several challenges that pertain to the thermal control of the spacecraft and the lander/MAV/rover throughout cruise under varying thermal environments & operating conditions. Additionally, the control of these systems within their allowable operating temperature limits on the Martian surface is very challenging because of the large fluctuations in the environment, operating conditions and limited electrical power and energy availability. This paper will describe the thermal architecture for a potential SRL mission, the key thermal requirements and interfaces.It should be noted that the decision to implement MSR will not be finalized until NASA’s completion of the National Environmental Policy Act (NEPA) process. This document is being made available for information purposes only.

Nicholas, Austin↗
NASA NTRS2019

Planetary Mapping for Landing Sites Selection: The Mars Case Study

The selection of a landing site on a planetary body is a multistep process that involves both the fulfillment of several engineering constraints and the accomplishment of scientific requirements. In this chapter, we will show how the simultaneous production and exploitation of different GIS maps depicting these criteria are pivotal in the landing site selection. Indeed, all of such constraints are presently evaluated through the use of GIS-based software. To show this, we will focus on the Martian site identification outline, providing multiple real examples taken from two ongoing study cases, i.e., the Simud Vallis landing site proposed by Pajola et al. (Icarus 268:355–381, 2016a) for the ESA ExoMars rover and the Eridania landing site proposed by Pajola et al. (Icarus 275:163–182, 2016b) for the NASA Mars 2020 landing site selection.

Planetary mapping↗
NASA NTRS2014

Calculation of Operations Efficiency Factors for Mars Surface Missions

The duration of a mission--and subsequently, the minimum spacecraft lifetime--is a key component in designing the capabilities of a spacecraft during mission formulation. However, determining the duration is not simply a function of how long it will take the spacecraft to execute the activities needed to achieve mission objectives. Instead, the effects of the interaction between the spacecraft and ground operators must also be taken into account. This paper describes a method, using "operations efficiency factors", to account for these effects for Mars surface missions. Typically, this level of analysis has not been performed until much later in the mission development cycle, and has not been able to influence mission or spacecraft design. Further, the notion of moving to sustainable operations during Prime Mission--and the effect that change would have on operations productivity and mission objective choices--has not been encountered until the most recent rover missions (MSL, the (now-cancelled) joint NASA-ESA 2018 Mars rover, and the proposed rover for Mars 2020). Since MSL had a single control center and sun-synchronous relay assets (like MER), estimates of productivity derived from MER prime and extended missions were used. However, Mars 2018's anticipated complexity (there would have been control centers in California and Italy, and a non-sun-synchronous relay asset) required the development of an explicit model of operations efficiency that could handle these complexities. In the case of the proposed Mars 2018 mission, the model was employed to assess the mission return of competing operations concepts, and as an input to component lifetime requirements. In this paper we provide examples of how to calculate the operations efficiency factor for a given operational configuration, and how to apply the factors to surface mission scenarios. This model can be applied to future missions to enable early effective trades between operations design, science mission planning, and spacecraft design.

Laubach, Sharon↗
NASA NTRS2023

The Planetary Protection Strategy of Mars Sample Return’s Earth Return Orbiter Mission

The Mars Sample Return campaign aims to use three flight missions and one ground element to safely bring rock cores, regolith and atmospheric samples from the surface of Mars to Earth to answer key questions about the geologic and climate history of Mars, including the potential for ancient life. Since its landing in Jezero Crater in 2021, the first mission, NASA’s Mars 2020, has collected a number of samples on the crater floor and on the delta using the Perseverance rover. Subsequent missions would recover the sealed sample tubes, launch them into Mars orbit, and transport them back to Earth. The ground element would be a high-containment facility that would isolate and protect the samples during initial sample characterization, which would include sample safety assessments and time-sensitive scientific investigations. These elements are currently in the planning and design stages of development, and represent an international effort of NASA, the European Space Agency (ESA), and many industry partners. The work presented here provides an overview of the planetary protection strategy of the third flight mission, the ESA-led Earth Return Orbiter (ERO), which hosts the NASA-provided Capture, Containment, and Return System (CCRS). ERO-CCRS would capture the container with up to 30 sealed tubes previously put in Martian orbit, contain them in redundant containers to ensure that no potentially hazardous Mars particles are released, and return them to Earth through an entry vehicle. Both NASA and ESA policies comply with the United Nations’ Outer Space Treaty by planning to protect Earth’s biosphere from any potential adverse effects from material returned from solar system bodies beyond the Earth-Moon system. In the conduct of Mars Sample Return, the two agencies have agreed to apply approaches consistent with their own planetary protection standards to the campaign elements each provides.

Mars Sample Return↗
NASA NTRSDate not supplied

The Planetary Protection Strategy of Mars Sample Return Earth Return Orbiter Mission

The Mars Sample Return campaign aims to use three flight missions and one ground element to safely bring rock cores, regolith and atmospheric samples from the surface of Mars to Earth to answer key questions about the geologic and climate history of Mars, including the potential for ancient life. Since its landing in Jezero Crater in 2021, the first mission, NASA’s Mars 2020, has collected a number of samples on the crater floor and on the delta using the Perseverance rover. Subsequent missions would recover the sealed sample tubes, launch them into Mars orbit, and transport them back to Earth. The ground element would be a high-containment facility that would isolate and protect the samples during initial sample characterization, which would include sample safety assessments and time-sensitive scientific investigations. These elements are currently in the planning and design stages of development, and represent an international effort of NASA, the European Space Agency (ESA), and many industry partners. The work presented here provides an overview of the Planetary Protection strategy of the third flight mission, the ESA-led Earth Return Orbiter (ERO), which hosts the NASA-provided Capture, Containment, and Return System (CCRS). ERO-CCRS would detect and capture the container with up to 30 sealed tubes previously put in Martian orbit, contain them in redundant containers to ensure that no potentially hazardous Mars particles are released, and return them to Earth through an entry vehicle. Both NASA and ESA policies comply with the United Nations’ Outer Space Treaty by planning to protect Earth’s biosphere from any potential adverse effects from material returned from solar system bodies beyond the Earth-Moon system. In the conduct of Mars Sample Return, the two agencies have mutually agreed to apply approaches consistent with their own planetary protection standards to the campaign elements they each provides.

mars sample return↗
NASA NTRS2024

The Planetary Protection Strategy of Mars Sample Return’s Earth Return Orbiter Mission

The Mars Sample Return campaign aims to use three flight missions and one ground element to safely bring rock cores, regolith and atmospheric samples from the surface of Mars to Earth to answer key questions about the geologic and climate history of Mars, including the potential for ancient life. Since its landing in Jezero Crater in 2021, the first mission, NASA’s Mars 2020, has collected a number of samples on the crater floor and on the delta using the Perseverance rover. Subsequent missions would recover the sealed sample tubes, launch them into Mars orbit, and transport them back to Earth. The ground element would be a high-containment facility that would isolate and protect the samples during initial sample characterization, which would include sample safety assessments and time-sensitive scientific investigations. These elements are currently in the planning and design stages of development, and represent an international effort of NASA, the European Space Agency (ESA), and many industry partners. The work presented here provides an overview of the planetary protection strategy of the third flight mission, the ESA-led Earth Return Orbiter, which hosts the NASA-provided Capture, Containment, and Return System. The orbiter would detect and capture the container with up to 30 sealed tubes previously put in Martian orbit, contain them in redundant containers to ensure that no potentially hazardous Mars particles are released, and return them to Earth through an entry vehicle. Both NASA and ESA policies comply with the United Nations’ Outer Space Treaty by planning to protect Earth’s biosphere from any potential adverse effects from material returned from solar system bodies beyond the Earth-Moon system. In the conduct of Mars Sample Return, the two agencies have mutually agreed to apply approaches consistent with their own planetary protection standards to the campaign elements they each provide.

Mars Sample Return↗
NASA NTRS2019

Sustaining Phenolic Impregnated Carbon Ablator (PICA) for Future NASA Missions Including Discovery and New Frontiers

Phenolic Impregnated Carbon Ablator (PICA) was invented in the mid 1990's and due to its relatively low density and efficient performance has been the heat shield TPS of choice for a range of missions includ-ing, Stardust, OSIRIS-Rex, Mars Science Laboratry (MSL) and Mars 2020. PICA has also been the TPS solution on numerous Discovery and New Frontiers proposals, as both the heat shield and back shell TPS and is under consideration as both for the Mars Sample Return Earth Entry Vehicle (EEV) and the heat shield on the Sample Retrieval Lander (SRL). Recently NASA's Science Mission Directorate (SMD) has funded an activity to develop a more sus-tainable version of PICA and to expand the demon-strated capabilities of PICA both in manufacturing and aerothermal performance.

Thermal Protection Material↗
NASA NTRS2020

ASPIRE Parachute Modeling and Comparison to Post-Flight Reconstruction

The Advanced Supersonic Parachute Inflation Research and Experiment (ASPIRE) was a series of sounding rocket flights aimed at understanding the dynamics of supersonic parachutes that are used for Mars robotic applications. Three flights for ASPIRE occurred off the coast of Wallops Island, VA in Oct. 2017, Mar. 2018, and Sept. 2018 and successfully demonstrated deployment and inflation of the Mars Science Laboratory and Mars 2020 mission parachute. Prior to all three flights, a multi-body flight dynamics simulation was developed to predict the parachute dynamics and was used, in conjunction with other tools, to target Mars-relevant flight conditions. After each flight, the reconstructed trajectory was used to validate the preflight dynamics simulation and recommend changes to improve predictions for future flights in the ASPIRE program. This paper describes the parachute models and flight mechanics simulation used to target conditions for the three flights and the post-flight comparison of the tools.

Soumyo Dutta↗
NASA NTRSDate not supplied

The Chemistry and Mineralogy of Mars Soils: A Tour of Landed Mission Results from the Last 45 years

Eight landed missions demonstrated that martian soils (defined as loose, unconsolidated surface material) consist of basaltic mineralogy, iron (hydr)oxides, amorphous material, sulfate, chloride, (per)chlorate, nitrate, carbonate, and possible organic C. The Viking Lander 1 and 2 (1976), Mars Pathfinder (1997), and Mars Exploration Rover (MER-A,B) (2004) missions determined that martian soil was similar at all landing sites by having mafic chemistry, high S (~ 7 wt.% SO3) and Cl (0.7 wt.%), and spectral detections of poorly crystalline and crystalline Fe-(hydr)oxide phases. The MER Mössbauer spectrometers detected Fe-bearing olivine and pyroxene along with magnetite, nano-phase Fe-oxides (npOx), hematite, and ferric sulfate. The 2008 Phoenix Lander instrumentation measured a soil pH of 7.7 and detected ~0.6 wt.% perchlorate, 3-5 wt.% Ca-rich carbonate and carbon (500 gC/g) consistent with oxidized organics and Fe-rich carbonate. The 2012 Mars Science Laboratory (MSL) rover (Gale Crater) through X-ray diffraction detected plagioclase feldspar, pyroxene, magnetite, hematite, anhydrite, and quartz, with the balance being composed of Si/Fe-containing amorphous (30 to 40 wt.%) material. MSL evolved gas analysis detected (per)chlorate (0.4 wt.% ClO4), nitrate (0.23 wt.%), along with minor Fe/Mg sulfate and oxidized organic C (~2000 gC/g). Limited pedogenesis may have occurred at the 2018 InSight landing site and in one Gusev Crater soil (MER-B) which have 3 to 10 cm-thick duricrust horizons consistent with atmospheric water vapor interactions with soil salts. Martian soil primary mineralogy was derived mostly from local rock (volcanic, sedimentary) that is largely basaltic planet wide. Secondary minerals [e.g., sulfate, chloride, perchlorate, nitrate, carbonate, Fe-(hydr)oxides] in martian soils formed from oxidative aqueous alteration processes and were likely derived from a combination of local sedimentary rock sources and the global bright dust. The Mars 2020 mission will collect soil for Earth return to enable a thorough assessment of the nature and origin of martian soil.

Mars↗
NASA NTRS2017

X-Ray Computed Tomography: The First Step in Mars Sample Return Processing

The Mars 2020 rover mission will collect and cache samples from the martian surface for possible retrieval and subsequent return to Earth. If the samples are returned, that mission would likely present an opportunity to analyze returned Mars samples within a geologic context on Mars. In addition, it may provide definitive information about the existence of past or present life on Mars. Mars sample return presents unique challenges for the collection, containment, transport, curation and processing of samples [1] Foremost in the processing of returned samples are the closely paired considerations of life detection and Planetary Protection. In order to achieve Mars Sample Return (MSR) science goals, reliable analyses will depend on overcoming some challenging signal/noise-related issues where sparse martian organic compounds must be reliably analyzed against the contamination background. While reliable analyses will depend on initial clean acquisition and robust documentation of all aspects of developing and managing the cache [2], there needs to be a reliable sample handling and analysis procedure that accounts for a variety of materials which may or may not contain evidence of past or present martian life. A recent report [3] suggests that a defined set of measurements should be made to effectively inform both science and Planetary Protection, when applied in the context of the two competing null hypotheses: 1) that there is no detectable life in the samples; or 2) that there is martian life in the samples. The defined measurements would include a phased approach that would be accepted by the community to preserve the bulk of the material, but provide unambiguous science data that can be used and interpreted by various disciplines. Fore-most is the concern that the initial steps would ensure the pristine nature of the samples. Preliminary, non-invasive techniques such as computed X-ray tomography (XCT) have been suggested as the first method to interrogate and characterize the cached samples without altering the materials [1,2]. A recent report [4] indicates that XCT may minimally alter samples for some techniques, and work is needed to quantify these effects, maximizing science return from XCT initial analysis while minimizing effects.

Welzenbach, L. C.↗
NASA NTRSDate not supplied

Mars Sample Return – An Overview of the Capture, Containment and Return System

The Mars Sample Return campaign aims at bringing back soil, rock and atmospheric samples from Mars to Earth to answer key questions about Mars’ biological evolution by means of four missions. The first one, Mars 2020, landed on the red planet on February 18, 2021 and has to date collected a number of samples through the Perseverance rover. The three subsequent missions will recover the sample tubes, launch them into Mars orbit and transport them back to Earth. These missions are currently in the planning and design stages of development and represent an international effort comprising NASA, ESA and many industry partners. The work presented here provides an overview of the current design and concept of operations of the NASA-provided Capture, Containment, and Return System (CCRS), which is the payload of the ESA-provided Earth Return Orbiter (ERO). ERO will rendezvous with the orbiting samples and CCRS will capture them, contain them and robotically insert them into a capsule that will return the samples to Earth, the Earth Entry System (EES). Three days before arrival on Earth, CCRS will release the EES, which will fly through space, enter Earth’s atmosphere, descend on a well-defined trajectory and safely land at the Utah Test and Training Range. The decision to implement Mars Sample Return will not be finalized until NASA’s completion of the National Environmental Policy Act process. This document is being made available for information purposes only.

Mars Sample Return↗
NASA NTRS2018

Assessment of the Mars Helicopter Thermal Design Sensitivities Using the Veritrek Software

The Mars Helicopter will be a technology demonstration conducted during the Mars 2020 mission. The primary mission objective is to achieve several 90-second flights and capture visible light images via forward and nadir mounted cameras. These flights could possibly provide reconnaissance data for sampling site selection for other Mars surface missions. The helicopter is powered by a solar array, which stores energy in secondary batteries for flight operations, imaging, communications, and survival heating. The helicopter thermal design is driven by minimizing survival heater energy while maintaining compliance with allowable flight temperatures in a variable thermal environment. Due to the small size of the helicopter and its complex geometries, along with the fact that it operates with very low power and small margins, additional care had to be paid while planning thermal tests and designing the thermal system. A Thermal Desktop® model has been developed to predict the thermal system’s performance. A reduced-order model (ROM) created with the Veritrek software has been utilized to explore the sensitivities of the thermal system’s drivers, such as electronics dissipations, gas gaps, heat transfer coefficients, etc., as well as to assess and verify the final thermal design. This paper presents the performance of the Veritrek software products and the details of the ROM creation process. The results produced by Veritrek were utilized to study the effect of the major thermal design drivers and Mars environment on the Mars Helicopter in as little as 10 days, an effort that would have taken over 4 months using traditional thermal analysis techniques.

Hengeveld, Derek W.↗
NASA NTRS2019

Performance Optimization of Plate Airfoils for Martian Rotor Applications Using a Genetic Algorithm

The Mars Helicopter Technology Demonstrator will be flying on the NASA Mars 2020 rover mission scheduled to launch in July of 2020. The goal is to demonstrate the viability and potential of heavier-than-air vehicles in the Martian atmosphere. Research is performed at the Jet Propulsion Laboratory and NASA Ames Research Center to extend these capabilities and develop the Mars Science Helicopter as the next possible step for Martian rotorcraft. The Mars Science Helicopter mass is scaled up to the 5 to 20 kg range, allowing a greater payload (approximately 0.5 to 2.0 kg), and greater range (approximately 3 km). Key to achieving these targets is careful aerodynamic rotor design. The Martian atmosphere’s low density and the small helicopter rotors result in very low chord-based Reynolds number flows, which reduces rotor performance. A continuous genetic algorithm is developed to optimize airfoil shapes at representative conditions for the Martian atmosphere. Previous research indicates that sharp leading edges and plate-like airfoils can out-perform conventional airfoil shapes. The present optimization allows for camber and thickness variation of curved and polygonal thin airfoils with sharp leading edges. The airfoil performance is evaluated at the highest attainable liftto- drag ratio near a moderate lift coefficient at compressible Mach numbers, as expected for Martian rotor application. Increases between 16% and 29% in airfoil lift-to-drag ratio at fixed lift coefficients are observed when compared with the Mars Helicopter Technology Demonstrator airfoils. Improvements in hover figure of merit are estimated to be between 4% and 10%, when applied to the Mars Helicopter Technology Demonstrator.

Koning, Witold J. F.↗