Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “measurement errors”

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 739 records · Page 41
All sourcesNASA NTRSDOE OSTI
DOE OSTI2025

LABQ3: Bayesian method for quantification of mineral compositions and nano-scale elemental mapping of 3D synchrotron XCT data

Quantitative analysis of mineral compositions is essential in understanding geochemical, mineralogical and environmental processes. Fine-resolution 3D imaging is widely done using synchrotron X-ray computed tomography (XCT), but existing analyses are limited to visualization and segmentation. This paper presents a new method, Linear Attenuation Bayesian Quantitative 3D-mapper (LABQ3), based on the linearity of X-ray attenuation with respect to elemental concentrations. To address the random variability in attenuation measurements, LABQ3 employs Bayesian decision theory to minimize classification error, using reference attenuation distributions from scans of pure mineral standards. To demonstrate LABQ3 and test its performance, we studied precipitated carbonate samples. XCT scans were done at multiple energies using the transmission X-ray microscope (TXM) at beamline 32-ID-C of the Advanced Photon Source at Argonne National Laboratory. The reconstructed 3D images have a voxel size of 20 nm. Analyses revealed rich nano-scale compositional heterogeneity within individual particles. A mixture of calcium and cadmium produced an overall stoichiometric composition of (Ca 0.78 ,Cd 0.22 )CO 3 , with some voxels containing nearly pure CdCO 3 . The addition of zinc led to an overall stoichiometric composition of 33% Ca, 28% Cd, 39% Zn, with a nearly pure CaCO 3 core and compositional zonation through the rim. These compositional gradients are related to temporal sequences of carbonate mineral formation where Cd precipitated at the beginning in (Ca,Cd)CO 3 , while Cd and Zn precipitated at the end in (Ca, Cd,Zn)CO 3 . Results differ from bulk analyses using Inductively Coupled Plasma-Mass Spectrometry (ICP-MS), showing that LABQ3 provides particle-specific insights. LABQ3 distinguishes itself by quantifying chemical compositions along a continuum, making it different from XCT analyses based on segmentation. LABQ3 allows simultaneous acquisition of morphology and chemical composition in 3D, facilitating the interpretation of chemical gradients of trace elements, quantification of solid solution compositions, inferences about temporal sequences of mineral precipitation, and addressing other concerns about solid-phase chemistry.

58 GEOSCIENCES↗
DOE OSTI2021

Comprehensive review of photophysical parameters (ε, Φ f , τ s ) of tetraphenylporphyrin (H 2 TPP) and zinc tetraphenylporphyrin (ZnTPP) – Critical benchmark molecules in photochemistry and photosynthesis

Tetraphenylporphyrin (H 2 TPP) and zinc tetraphenylporphyrin (ZnTPP) are widely used benchmark molecules in diverse photochemical studies given facile synthetic access, rich visible-region spectra, and broad structural analogy to chlorophylls. Yet the literature values for each key photophysical parameter – the molar absorption coefficient (ε), fluorescence quantum yield (Φ f ), and also singlet excited-state lifetime (τ S ) – vary over an astonishing range. Here, a comprehensive literature review (~1940–September 2020) encompassing 871 publications is reported for these essential parameters. Each parameter is determined by measurement with distinct instrumentation and suffers idiosyncratic sources of error. The best values for H 2 TPP are ε = 460,000 cm -1 ·M -1 , Φ f = 0.090, and τ S = 12.8 ns in Ar- purged toluene (Φf = 0.070, τS = 9.9 ns in toluene in air); the best values for ZnTPP are ε = 560,000 cm -1 ·M -1 , Φf = 0.030, and τ S = 2.1 ns in Ar-purged toluene (Φ f = 0.029, τ S = 2.0 ns in toluene in air). The choice of values for such parameters has far-reaching consequences in photochemistry ranging from fluorescence (or Förster) resonance energy transfer (FRET) processes to assessments of molecular brightness.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2021

Studying drought-induced forest mortality using high spatiotemporal resolution evapotranspiration data from thermal satellite imaging

Drought can have pervasive and wide-spread impacts to forest health, as evidenced in several severe events occurring over the recent decades. Extensive forest die-off due to drought can impair the ecological functioning of forests, impacting habitat, water yield and quality from forested lands, and altering forest fire dynamics and intensity. Satellite remote sensing provides an effective means for detecting and monitoring spatial patterns of forest mortality over large areas, exploiting free and open long-term image archives available at a range in spatial and temporal resolutions. While remotely sensed surface reflectances and vegetation indices have been widely used to study optical response of forest canopies to drought events, retrievals of evapotranspiration (ET) derived from thermal satellite imagery – particularly at resolutions approaching crown scale - can provide insights into cumulative tree stresses that can incite disease and trigger mortality. In this study, we applied a multi-sensor satellite data fusion approach to estimate daily 30-m resolution ET and an associated Evaporative Stress Index (ESI) to study drought-induced mortality in a temperate forest at the Missouri Ozark AmeriFlux (MOFLUX) site, located in the central United States. The study covered the period from 2010 to 2014, including an exceptional drought year of 2012. Modeled ET agreed well with eddy flux measurements from the MOFLUX tower, with average monthly relative errors of 15%. Plot-scale ESI, describing temporal anomalies in the ratio of actual-to-reference ET, was used as an index of relative forest health to investigate relationships between forest mortality and drought severity. ESI showed good agreement with observed predawn leaf water potential, especially during the drought year. Furthermore, plot-scale ESI was also correlated with the subsequent year's tree mortality, suggesting the importance of considering the forest health condition prior to drought when studying drought-induced forest impacts. This study demonstrates the utility of multi-year ET remote sensing data at the stand or plot scale as an indicator of forest health and as a predictor of future mortality due to drought.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Wide bandwidth frequency-domain thermoreflectance: Volumetric heat capacity, anisotropic thermal conductivity, and thickness measurements

A frequency-domain thermoreflectance (FDTR) system with a frequency range of 1 Hz to 75 MHz is presented. The wide bandwidth of pump modulation frequency enables enhanced simultaneous thermophysical property characterization of bulk and thin-film materials. The wide bandwidth FDTR system is demonstrated with simultaneous measurements of in-plane and cross-plane thermal conductivities of sapphire and muscovite mica, thickness and thermal conductivity of gold/titanium thin films, and isotropic thermal conductivity and volumetric heat capacity of lithium niobate and silicon. Thermophysical properties measured with FDTR are compared to literature values or independent measurements for verification. Finally, at low frequencies, a negligible error was achieved in the numerical integration of the heat diffusion equation with a Gauss–Legendre quadrature method solved with 400 integration points and an upper integration limit of 16weff, where weff is the effective pump–probe 1/e2 radius.

Ziade, Elbara (ORCID:0000000249020497)↗
DOE OSTI2021

Free space Thomson scattering to study high energy density shocks

A free space collective Thomson scattering system has been developed to study pulsed power produced plasmas. While most Thomson scattering diagnostics on pulsed power machines use a bundle of fibers to couple scattered light from the plasma to the spectrometer, this system used free space coupling of the light, which enabled a spatially continuous image of the plasma. Initial experiments with this diagnostic were performed on an inverse wire array generated by a 200 kA, 1100 ns rise time pulse power generator. The capabilities of this diagnostic were demonstrated by using the low frequency ion acoustic wave feature of the Thomson scattering spectra to measure the plasma flow velocity. The diagnostic was demonstrated to measure velocities between 20 and 40 km/s with an error of 4.7 km/s when fitting with a 600 μm spatial resolution or 8.9 km/s when fitting with a 150 μm spatial resolution. In some experiments, the diagnostic observed a bow shock in the plasma flow as the scattering intensity increased and flow velocity decreased.

47 OTHER INSTRUMENTATION↗
DOE OSTI2022

Measurement of laser absorption in underdense plasmas using near-field imaging of the incident and transmitted beams

Measurements of laser absorption in high-temperature, underdense plasmas produced at the Omega Laser Facility are made using two near-field imaging detectors that diagnose the spatial profile and energy of the port P9 beam before and after it transmits through the plasma. The incident beam is sampled using a partial reflection from a full-aperture, (30 cm-diam) uncoated wedge pickoff located before the target chamber vacuum window and final focus lens assembly. A concave mirror reduces the reflected beam size, allowing it to be recorded directly using a charged-coupled device (CCD) camera. The P9 transmitted beam diagnostic (P9TBD) characterizes the transmitted light by terminating the expanded beam on a semi-transparent diffuser and imaging the illuminated surface using a lens and CCD camera. The P9TBD samples a numerical aperture twice as large as the input beam, allowing the energy of transmitted beams with moderate levels of beam spray to be measured accurately. Calibration shots with no plasma provide a path to infer absorption without absolute photometric calibration of either detector. Lastly, the cross-calibration between the two detectors was measured to remain stable at ±200 ppm, enabling measurements of total beam absorption below 1% with ±0.07% error.

47 OTHER INSTRUMENTATION↗
DOE OSTI2023

Investigating boosted decision trees as a guide for inertial confinement fusion design

Inertial confined fusion experiments at the National Ignition Facility have recently entered a new regime approaching ignition. Improved modeling and exploration of the experimental parameter space were essential to deepening our understanding of the mechanisms that degrade and amplify the neutron yield. The growing prevalence of machine learning in fusion studies opens a new avenue for investigation. Here in this paper, we have applied the Gradient-Boosted Decision Tree machine-learning architecture to further explore the parameter space and find correlations with the neutron yield, a key performance indicator. We find reasonable agreement between the measured and predicted yield, with a mean absolute percentage error on a randomly assigned test set of 35.5%. This model finds the characteristics of the laser pulse to be the most influential in prediction, as well as the hohlraum laser entrance hole diameter and an enhanced capsule fabrication technique. We used the trained model to scan over the design space of experiments from three different campaigns to evaluate the potential of this technique to provide design changes that could improve the resulting neutron yield. While these data-driven model cannot predict ignition without examples of ignited shots in the training set, it can be used to indicate that an unseen shot design will at least be in the upper range of previously observed neutron yields.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2024

In-situ relative calibration of Bragg crystals with Monte Carlo line ratio analysis

X-ray line emission spectra can thoroughly characterize hot plasmas, especially when line shapes and ratios convey distinct aspects of plasma conditions. However, the high spectral resolution required for observing line shapes is often at odds with the large bandwidth required to observe many line ratios across a wide spectral range. One strategy to obtain high spectral resolution over a wide bandwidth is to use multiple crystals with calibrated reflectivity so that line intensities across different crystals can be compared. Here, we explore the use of a low-resolution, wide-bandwidth mica survey spectrometer to infer relative reflectivity of two high-resolution, narrow-bandwidth quartz crystals. Finally, a Monte Carlo error analysis determines comparable x-ray line ratios measured from both spectrometers, resulting in an in situ calibration factor and associated uncertainty for the relative reflectivity of the high-resolution crystals.

47 OTHER INSTRUMENTATION↗
DOE OSTI2026

Radiation asymmetry during shattered pellet and massive gas injection in DIII-D

Infrared thermography of the first wall in DIII-D is used to show the toroidal peaking of plasma radiation during mitigated disruptions with shattered pellet injection (SPI) and with massive gas injection (MGI). During MGI, the radiation peak location is shown to be due to the n = 1 magnetohydrodynamic (MHD) activity and continuously variable in toroidal phase based on externally applied error fields, consistent with previous experimental results. Furthermore, the measured toroidal peaking factor (TPF) is in agreement with the previous estimates based on radiometry, with a total TPF of 1.07 ± 0.05 when integrated over the entire duration of the disruption, and a value of 1.3 ± 0.1 during the thermal quench (TQ). For SPI, the location of the radiation peak is found to be determined predominantly by the particle source location, and thus can be varied on DIII-D by injecting from either of two toroidally separated injectors. 3D non-linear MHD simulations with the NIMROD code support this picture. The localized SPI particle source leads to higher peaking than for MGI, with a total TPF of 1.3 ± 0.1 over the full disruption and a TQ TPF of 1.9 +0.5/−0.3, a value also consistent with the NIMROD simulations. This TQ value is close to or potentially exceeding the allowable limit for the previously planned Be first wall in ITER, pointing to the importance of radiation asymmetries depending on the choice of first wall material.

Physics - Plasma physics↗
DOE OSTI2024

Toroidal injection angle dependence of EC assisted plasma initiation at DIII-D

An experimental scan of the electron cyclotron waves (EC) toroidal injection angle in plasma breakdown is performed at the DIII-D tokamak. The second harmonic, extraordinary mode EC is used for the study. The dependence of n e and T e on the EC injection angle cannot be conclusively drawn from this study due to the large error bars in the n e and T e measurements. On the other hand, high T e data points are observed in some discharges which can be explained by nonlinear heating. The D α emission measurement shows a clear relation between the breakdown time and the injection angle. An experimental investigation of the cause of the dependence of breakdown delay on the EC injection angle suggests that when the injection angle is oblique, the EC heating after the reflection at the inboard wall may become ineffective and cause the breakdown delay even when the EC heating before and directly upon injection remains effective. A preliminary run of the heat and transport balance code DYON indicates that the obtained dataset is suitable for a quantitative validation of EC absorption models.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
DOE OSTI2023

Convex Q-Learning in Continuous Time with Application to Dispatch of Distributed Energy Resources

Convex Q-learning is a recent approach to reinforcement learning, motivated by the possibility of a firmer theory for convergence, and the possibility of making use of greater a priori knowledge regarding policy or value function structure. This paper explores algorithm design in the continuous time domain, with a finite-horizon optimal control objective. The main contributions are (i) The new Q-ODE: a model-free characterization of the Hamilton-Jacobi-Bellman equation. (ii) A formulation of Convex Q-learning that avoids approximations appearing in prior work. The Bellman error used in the algorithm is defined by filtered measurements, which is necessary in the presence of measurement noise. (iii) Convex Q-learning with linear function approximation is a convex program. It is shown that the constraint region is bounded, subject to an exploration condition on the training input. (iv) The theory is illustrated in application to resource allocation for distributed energy resources, for which the theory is ideally suited.

Lu, Fan↗
DOE OSTI2023

An Adaptive Virtual Oscillator Control Structure for Grid-Forming Inverters

The electrical grid is facing unprecedented challenges due to the increasing penetration of inverter-based resources. Grid forming inverters (GFMIs) are a promising technology to address these challenges. Recently, the virtual oscillator based GFMI control is attracting more attention due to its superior performance over other control strategies. In this article, an adaptive control strategy is proposed to provide flexible operation and transition between grid-connected and islanded modes. The controller adapts the virtual oscillator's parameter values depending on the operation mode. It also provides a feedback signal using a measured frequency to account for any steady-state errors and to allow a seamless transition from grid-connected to islanded mode. Finally, to show the feasibility of the proposed controller, this article discusses the simulation results from the implementation of the controller on a single inverter system and on a group of inverters on a large practical utility feeder, the IEEE 13 node feeder, using the DIgSILENT simulation environment.

adaptive control↗
DOE OSTI2026

Development and implementation of high-throughput proteomic and metabolomics assays by using advanced chromatographic and mass spectrometric systems (CRADA Final Report)

The mission of this CRADA with Agilent was to couple powerful MS platforms (QQQ, IM-QTOFMS) with Agilent’s novel Ultra-High-Performance Liquid Chromatography (UHPLC) fast metabolomic workflows and perform ABF Machine Learning (ML) to generated datasets. Agilent transferred UHPLC methods to PNNL and LBNL and methods were implemented and demonstrated in both labs, achieving total acquisition times of < 10 min. Metabolites analyzed using Agilent’s shared methods included metabolites from central carbon metabolism, common across hosts, and metabolites unique to engineered strains. Standards were acquired in an UHPLC-Drift Tube Ion Mobility Mass Spectrometer (DTIMS) system for the first time within the context of ABF and methods were optimized based on Agilent’s protocols. Samples from ABF hosts Pseudomonas putida, Aspergillus pseudoterreus, Aspergillus niger and Rhodosporidium toruloides were analyzed using the UHPLC-DTIMS platform for a total of 276 runs. A data analysis workflow compatible with the Experimental Data Depot (EDD) and completely shareable was developed for the acquired UHPLC-DTIMS data. Samples were analyzed using a Data Independent Acquisition Approach (DIA), which for most of the standards provided more transitions therefore increasing detection confidence. Using the data acquired by PNNL, LBNL, and Agilent’s specifications from previous ML projects, SNL applied an ensemble ML strategy to pick the best performing model for automated LC-method selection. Finally, with the contribution of the participant labs and Agilent, SNL developed an Automated Method Selection (AMS) software tool to predict the best liquid chromatography method for analysis of any new molecules of interest. Samples with novel pathways and new metabolite targets of interest are generated at a high pace in the ABF. Overall, the project advanced rapid metabolomics by combining liquid chromatography, ion mobility spectrometry, and data-independent mass spectrometry with machine learning. This multidimensional approach uses retention time, collision cross-section, precursor mass, and fragment-ion information to distinguish chemically similar metabolites that can be difficult to resolve using conventional liquid- or gas-chromatography methods. The resulting workflow also provided automated metabolite-identification error estimates, addressing a recognized need for statistical confidence measures in metabolomics.

Petzold, Christopher [Lawrence Berkeley National L↗
DOE OSTI2022

Ancilla-free continuous-variable SWAP test

We propose a continuous-variable (CV) SWAP test that requires no ancilla register, thereby generalizing the ancilla-free SWAP test for qubits. In this ancilla-free CV SWAP test, the computational basis measurement is replaced by photon number-resolving measurement, and we calculate an upper bound on the error of the overlap estimate obtained from a finite Fock cutoff in the detector. As an example, we show that estimation of the overlap of pure, centered, single-mode Gaussian states of energy E and squeezed in opposite quadratures can be obtained to error ϵ using photon statistics below a Fock basis cutoff O(Elnϵ –1 ). This cutoff is greatly reduced to E + O(√ Elnϵ –1 ) when the states have rapidly decaying Fock tails, such as coherent states. We show how the ancilla-free CV SWAP test can be extended to many modes and applied to quantum algorithms such as variational compiling and entanglement spectroscopy in the CV setting. For the latter we also provide a new algorithm which does not have an analog in qubit systems. The ancilla-free CV SWAP test is implemented on Xanadu's 8-mode photonic processor in order to estimate the vacuum probability of a two-mode squeezed state.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗
DOE OSTI2024

To have value, comparisons of high-throughput phenotyping methods need statistical tests of bias and variance

The gap between genomics and phenomics is narrowing. The rate at which it is narrowing, however, is being slowed by improper statistical comparison of methods. Quantification using Pearson’s correlation coefficient ( r ) is commonly used to assess method quality, but it is an often misleading statistic for this purpose as it is unable to provide information about the relative quality of two methods. Using r can both erroneously discount methods that are inherently more precise and validate methods that are less accurate. These errors occur because of logical flaws inherent in the use of r when comparing methods, not as a problem of limited sample size or the unavoidable possibility of a type I error. A popular alternative to using r is to measure the limits of agreement (LOA). However both r and LOA fail to identify which instrument is more or less variable than the other and can lead to incorrect conclusions about method quality. An alternative approach, comparing variances of methods, requires repeated measurements of the same subject, but avoids incorrect conclusions. Variance comparison is arguably the most important component of method validation and, thus, when repeated measurements are possible, variance comparison provides considerable value to these studies. Statistical tests to compare variances presented here are well established, easy to interpret and ubiquitously available. The widespread use of r has potentially led to numerous incorrect conclusions about method quality, hampering development, and the approach described here would be useful to advance high throughput phenotyping methods but can also extend into any branch of science. The adoption of the statistical techniques outlined in this paper will help speed the adoption of new high throughput phenotyping techniques by indicating when one should reject a new method, outright replace an old method or conditionally use a new method.

59 BASIC BIOLOGICAL SCIENCES↗
DOE OSTI2020

OGLE-2017-BLG-0406: Spitzer Microlens Parallax Reveals Saturn-mass Planet Orbiting M-dwarf Host in the Inner Galactic Disk

We report the discovery and analysis of the planetary microlensing event OGLE-2017-BLG-0406, which was observed both from the ground and by the Spitzer satellite in a solar orbit. At high magnification, the anomaly in the light curve was densely observed by ground-based-survey and follow-up groups, and it was found to be explained by a planetary lens with a planet/host mass ratio of q=7.0×10{sup −4} from the light-curve modeling. The ground-only and Spitzer-“only” data each provide very strong one-dimensional (1D) constraints on the 2D microlens parallax vector π{sub E}. When combined, these yield a precise measurement of π{sub E} and of the masses of the host M{sub host}=0.56±0.07 M{sub ⊙} and planet M {sub planet} = 0.41 ± 0.05 M {sub Jup}. The system lies at a distance D {sub L} = 5.2 ± 0.5 kpc from the Sun toward the Galactic bulge, and the host is more likely to be a disk population star according to the kinematics of the lens. The projected separation of the planet from the host is a{sub ⊥}=3.5±0.3 au (i.e., just over twice the snow line). The Galactic-disk kinematics are established in part from a precise measurement of the source proper motion based on OGLE-IV data. By contrast, the Gaia proper-motion measurement of the source suffers from a catastrophic 10σ error.

79 ASTRONOMY AND ASTROPHYSICS↗
DOE OSTI2024

Toward on-demand measurements of greenhouse gas emissions using an uncrewed aircraft AirCore system

This paper evaluates the performance of a multirotor uncrewed aircraft and AirCore system (UAAS) for measuring vertical profiles of wind velocity (speed and direction) and the mole fractions of methane (CH 4 ) and carbon dioxide (CO 2 ), and it presents a use case that combines UAAS measurements and dispersion modeling to quantify CH 4 emissions from a dairy farm. To evaluate the atmospheric sensing performance of the UAAS, four field deployments were performed at three locations in the San Joaquin Valley of California where CH 4 hotspots were observed downwind of dairy farms. A comparison of the observations collected on board the UAAS and an 11 m meteorological tower show that the UAAS can measure wind velocity trends with a root mean squared error varying between 0.4 and 1.1 m s -1 when the wind magnitude is less than 3.5 m s -1 . Findings from UAAS flight deployments and a calibration experiment also show that the UAAS can reliably resolve temporal variations in the mole fractions of CH 4 and CO 2 occurring over periods of 10 s or longer. Results from the UAAS and dispersion modeling use case further demonstrate that UAASs have great potential as low-cost tools for detecting and quantifying CH 4 emissions in near real time.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Comparison of plug flow and multi-node stratified tank modeling approaches regarding computational efficiency and accuracy

Residential water heaters contain water stratified by temperature-driven density differences. This implies that a water tank can reach a state in which the top and bottom sections have different temperatures, unless mixing happens. A high degree of thermal stratification can improve the efficiency of some water heaters, by saving the amount of energy required for the heat-up process. Studies of stratification became popular in the 1970s and it remains an active research topic today. The research has led to the development of different models and techniques to better predict and define a stratified tanks behavior. By comparing these models and techniques used previously to describe thermal stratification, the phenomenon could be better understood, exploited, and used to increase efficiency and thermal energy capacity in modern water tanks. From the existing models, we found the one-dimensional standard plug-flow and a multi node model to be appropriate for analyzing the processes of the heat up and cool-down in a water tank. These two models are based on energy balances. This work involved comparing the accuracy and computational effort needed to implement these models. To assess accuracy, we compared both types of existing models to experimental data (also collected in this work) which included a heat up process using an external heat pump. This external process included a layering process that has an eddy diffusivity at five times the rate of thermal diffusion. For this project, we implemented the models in MATLAB, the multi-paradigm numerical computing environment. We quantified model accuracy using the root mean squared error between modeled data and experimental data for six measured tank temperatures. Comparing the accuracy and the computational time taken to run the simulation provides a method to contrast the performance of each model and a way to rate it. The multi node model was run using from 6 to 96 spatial nodes; the plug flow model was run using 1 to 0.001 º C temperature bin sizes. Additionally, timesteps were varied from 4 to 236 s. The results quantify the tradeoff between accuracy and computational time, providing guidance for simulations to intelligently select the best model type and simulation parameters. This research can be used to validate the pre-existing models and possibly improve the modern water tank.

Bulnes, Fernando Karg↗