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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.

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At least 883 records · Page 49
All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

ROS Hexapod

As an intern project for NASA Johnson Space Center (JSC), my job was to familiarize myself and operate a Robotics Operating System (ROS). The project outcome converted existing software assets into ROS using nodes, enabling a robotic Hexapod to communicate to be functional and controlled by an existing PlayStation 3 (PS3) controller. Existing control algorithms and current libraries have no ROS capabilities within the Hexapod C++ source code when the internship started, but that has changed throughout my internship. Conversion of C++ codes to ROS enabled existing code to be compatible with ROS, and is now controlled using an existing PS3 controller. Furthermore, my job description was to design ROS messages and script programs that enabled assets to participate in the ROS ecosystem by subscribing and publishing messages. Software programming source code is written in directories using C++. Testing of software assets included compiling code within the Linux environment using a terminal. The terminal ran the code from a directory. Several problems occurred while compiling code and the code would not compile. So modifying code to where C++ can read the source code were made. Once the code was compiled and ran, the code was uploaded to Hexapod and then controlled by a PS3 controller. The project outcome has the Hexapod fully functional and compatible with ROS and operates using the PlayStation 3 controller. In addition, an open source software (IDE) Arduino board will be integrated into the ecosystem with designing circuitry on a breadboard to add additional behavior with push buttons, potentiometers and other simple elements in the electrical circuitry. Other projects with the Arduino will be a GPS module, digital clock that will run off 22 satellites to show accurate real time using a GPS signal and an internal patch antenna to communicate with satellites. In addition, this internship experience has led me to pursue myself to learn coding more efficiently and effectively to write, subscribe and publish my own source code in different programming languages. With some familiarity with software programming, it will enhance my skills in the electrical engineering field. In contrast, my experience here at JSC with the Simulation and Graphics Branch (ER7) has led me to take my coding skill to be more proficient to increase my knowledge in software programming, and also enhancing my skills in ROS. This knowledge will be taken back to my university to implement coding in a school project that will use source coding and ROS to work on the PR2 robot which is controlled by ROS software. My skills learned here will be used to integrate messages to subscribe and publish ROS messages to a PR2 robot. The PR2 robot will be controlled by an existing PS3 controller by changing C++ coding to subscribe and publish messages to ROS. Overall the skills that were obtained here will not be lost, but increased.

Davis, Kirsch↗
DOE OSTI2020

“Mirror” magnet experiment for quench studies, quench analysis techniques development and in support of superconducting magnet modeling

In order to progress on various research points related to superconducting magnets, we suggest performing series of tests with induced and natural quenches on a mirror magnet, probably using a “11 T” coil. The “mirror” is to have voltage taps instrumented on half the strands, on both coil ends. It is to be instrumented with multiple spot-heaters, of the order of ten, in designated pole-turn areas. Instrumentation is to include quench antenna array facing the inner coil surface, as well as acoustic sensors on the inner layer pole. Further, acoustic sensors at the magnet ends and an acoustic calibration transducer are to be installed. Thus, we are to test sensitivity and precision of acoustic and quench antenna (QA) array sensors, both at close proximity to the coil, and we are to test and commission acoustic on-magnet real-time “calibration”. New or extended DAQ will be tested as well. In addition to diagnostic development, the purpose of the magnet experiment is to investigate current redistribution in the coil, both during quenching and in operating conditions; to assess voltage build up across strands and in the coil segments during quenching, to explore voltage signature differentiation between different type of quenches; to improve modeling of processes during quenching and for magnet design purposes. In this experiment, we expect to be able to characterize the processes during a quench in unprecedented details.

43 PARTICLE ACCELERATORS↗
NASA NTRS1977

Assess 2: Spacelab simulation. Executive summary

An Airborne Science/Spacelab Experiments System Simulation (ASSESS II) mission, was conducted with the CV-990 airborne laboratory in May 1977. The project studied the full range of Spacelab-type activities including management interactions, experiment selection and funding, hardware development, payload integration and checkout, mission specialist and payload specialist selection and training, mission control center payload operations control center arrangements and interactions, real time interaction during flight between principal investigators and the flight crew, and retrieval of scientific flight data. ESA established an integration and coordination center for the ESA portion of the payload as planned for Spacelab. A strongly realistic Spacelab mission was conducted on the CV-990 aircraft. U.S. and ESA scientific experiments were integrated into a payload and flown over a 10 day period, with the payload flight crew fully-confined to represent a Spacelab mission. Specific conclusions for Spacelab planning are presented along with a brief explanation of each.

Source record↗
NASA NTRS1992

Summary: Experimental validation of real-time fault-tolerant systems

Testing and validation of real-time systems is always difficult to perform since neither the error generation process nor the fault propagation problem is easy to comprehend. There is no better substitute to results based on actual measurements and experimentation. Such results are essential for developing a rational basis for evaluation and validation of real-time systems. However, with physical experimentation, controllability and observability are limited to external instrumentation that can be hooked-up to the system under test. And this process is quite a difficult, if not impossible, task for a complex system. Also, to set up such experiments for measurements, physical hardware must exist. On the other hand, a simulation approach allows flexibility that is unequaled by any other existing method for system evaluation. A simulation methodology for system evaluation was successfully developed and implemented and the environment was demonstrated using existing real-time avionic systems. The research was oriented toward evaluating the impact of permanent and transient faults in aircraft control computers. Results were obtained for the Bendix BDX 930 system and Hamilton Standard EEC131 jet engine controller. The studies showed that simulated fault injection is valuable, in the design stage, to evaluate the susceptibility of computing sytems to different types of failures.

Iyer, R. K.↗
NASA NTRS2012

A Systematic Approach for Real-Time Operator Functional State Assessment

A task overload condition often leads to high stress for an operator, causing performance degradation and possibly disastrous consequences. Just as dangerous, with automated flight systems, an operator may experience a task underload condition (during the en-route flight phase, for example), becoming easily bored and finding it difficult to maintain sustained attention. When an unexpected event occurs, either internal or external to the automated system, the disengaged operator may neglect, misunderstand, or respond slowly/inappropriately to the situation. In this paper, we discuss an approach for Operator Functional State (OFS) monitoring in a typical aviation environment. A systematic ground truth finding procedure has been designed based on subjective evaluations, performance measures, and strong physiological indicators. The derived OFS ground truth is continuous in time compared to a very sparse estimation of OFS based on an expert review or subjective evaluations. It can capture the variations of OFS during a mission to better guide through the training process of the OFS assessment model. Furthermore, an OFS assessment model framework based on advanced machine learning techniques was designed and the systematic approach was then verified and validated with experimental data collected in a high fidelity Boeing 737 simulator. Preliminary results show highly accurate engagement/disengagement detection making it suitable for real-time applications to assess pilot engagement.

Zhang, Guangfan↗
NASA NTRS1994

Results From The First Interactive Scientific Expert System In Space

We describe recent work on automation and support of science experiments on the Space Shuttle. PI-in-a-Box, the first interactive expert system for scientific support, was flown onboard STS-58 in October 1993. It was designed to help astronauts perform better science in space by providing expert-level advice in real-time. The system provides help with 'technician' tasks such as data acquisition, data quality monitoring, and diagnostic, troubleshooting and repair. The system also performs 'expert' reasoning on the scientific model and experiment steps scheduling. It can make scheduling recommendations based on hardware status, time available, and agreement between predictions and flight data. The system was successfully deployed and used throughout the mission. Most of the 'technician' skills of the system were used with success. The scientific model study performed correctly, but we believe the results were not exploited by the astronauts because of Spacelab operational pressures. Also, portions of the system were designed around rigid schedule constraints that were essentially relaxed during the mission. This version was tailored to a specific vestibular experiment known as the 'rotating dome'. We are currently expanding our effort in various scientific (other life and microgravity sciences experiments) and technological directions (integrated telescience, astronaut science advisor, and autonomous control).

Groleau, Nicolas↗
NASA NTRS1994

Results from the First Interactive Scientific Expert System in Space

We describe recent work on automation and support of science experiments on the Space Shuttle. PI-in-a-Box, the first interactive expert system for scientific support, was flown onboard STS-58 in October 1993. It was designed to help astronauts perform better science in space by providing expert-level advice in real-time. The system provides help with "technician" tasks such as data acquisition, data quality monitoring, and diagnostic, troubleshooting and repair. The system also performs "expert" reasoning on the scientific model and experiment steps scheduling. It can make scheduling recommendations based on hardware status, time available, and agreement between predictions and flight data. The system was successfully deployed and used throughout the mission. Most of the "technician" skills of the system were used with success. The scientific model study performed correctly, but we believe the results were not exploited by the astronauts because of Spacelab operational pressures. Also, portions of the system were designed around rigid schedule constraints that were essentially relaxed during the mission. This version was tailored to a specific vestibular experiment known as the "rotating dome". We are currently expanding our effort in various scientific (other life and microgravity sciences experiments) and technological directions (integrated telescience, astronaut science advisor, and autonomous control).

Groleau, Nicolas↗
DOE OSTI2020

A thermally-limited bubble growth model for the relaxation time of superheated fuels

Here, we propose a novel approach to evaluate the relaxation time of vapor bubble growth in the context of the flash boiling of a superheated liquid. In alternative to the empirical correlation derived from superheated water experiments almost fifty years ago, the new model describes the thermally-dominated growth of vapor bubbles in terms that are dependent on the local Jakob number (the ratio of sensible heat to latent heat during phase change) and the number density of vapor bubbles. The model is tested by plugging the resulting relaxation time into the Homogenous Relaxation Model (HRM). Flash-boiling simulations carried out with HRM are compared with n-pentane (C 5 H 12 ) injection and boil-off experiments conducted with a real-size, axial-hole, transparent gasoline injector discharging into a constant-pressure vessel. The long-distance microscopy images from the experiments, processed to derive the projected liquid volume (PLV) of the spray, provide a unique set of time-resolved validation data for direct fuel injection simulations. At conditions ranging from flaring to mild and minimal flash boiling, we show that switching to the new relaxation time improves the agreement with the measured PLV profiles with respect to the standard empirical model. Particularly at flaring conditions, the predicted increase in gas cooling caused by rapid vapor production is shown to be more consistent with the observed boil-off.

42 ENGINEERING↗
DOE OSTI2025

Designing a Framework for Solving Multiobjective Simulation Optimization Problems

Multiobjective simulation optimization (MOSO) problems are optimization problems with multiple conflicting objectives, where evaluation of at least one of the objectives depends on a black-box numerical code or real-world experiment, which we refer to as a simulation. Whereas an extensive body of research is dedicated to developing new algorithms and methods for solving these and related problems, it is challenging and time-consuming to integrate these techniques into real-world production-ready solvers. This is partly because of the diversity and complexity of modern state-of-the-art MOSO algorithms and methods and partly because of the complexity and specificity of many real-world problems and their corresponding computing environments. The complexity of this problem is only compounded when introducing potentially complex and/or domain-specific surrogate-modeling techniques, problem formulations, design spaces, and data acquisition functions. Here, this paper carefully surveys the current state of the art in MOSO algorithms, techniques, and solvers, as well as problem types and computational environments where MOSO is commonly applied. We then present several key challenges in the design of a parallel multiobjective simulation optimization framework (ParMOO) and how they have been addressed. Finally, we provide two case studies demonstrating how customized ParMOO solvers can be quickly built and deployed to solve real-world MOSO problems.

engineering design optimization↗
DOE OSTI2024

Securing Grid-interactive Efficient Buildings (GEB) through Cyber Defense and Resilient System (CYDRES)

The DOE CYDRES project is driven by the urgent need to address critical research gaps in the domain of cyber-physical security of smart buildings, including Grid-interactive Efficient Buildings (GEBs). CYDRES, a real-time advanced building resilient platform, aims to enhance the cyber-attack-immune capabilities of buildings through multi-layered prevention, detection, and adaptation mechanisms. CYDRES consists of five key modules: a multi-layer network analyzer, an Automatic Fault Detection, Diagnosis, and Prognosis (AFDDP) framework, an intelligent mode selector, a cyber-resilient control framework, and a situation awareness platform. The Network Analyzer employs a data-driven framework that includes a protocol state learning tool and a CRF (Conditional Random Field) command validator. In Hardware-In-the-Loop (HIL) testbeds, it achieved 100% detection accuracy with a false alarm rate of 3%, validating its efficacy in identifying selected cyber-attacks. The AFDDP framework leverages pattern matching, PCA (Principal Component Analysis)-based strategies, and a DBN (Dynamic Bayesian Network)-based fault diagnosis approach to pinpoint the causes of physical system abnormalities using Building Automation System (BAS) data. In HIL experiments, the AFDDP module attained a detection accuracy of over 95% with a false alarm rate below 7%. Additionally, the fault detector utilized machine learning (Random Forest) and deep learning (Multi-Layer Perceptron) methods with acoustic sensor data to achieve a 100% fault detection accuracy in Heating, Ventilation, and Air-Conditioning (HVAC) equipment. The Mode Selector offered real-time impact analysis, allowing immediate actions to protect BASs in the face of emerging threats. The cyber-resilient control framework included an adaptive Model Predictive Control (MPC) and a measurement compensator, reducing temperature violations by up to 94% and improving the total demand flexibility by up to 70% in HIL experiments. Such HIL experiments covered a cyber-attack case and a physical fault case, showcasing CYDRES’ efficiency in maintaining operational continuity during threats. The situation awareness platform in Grafana enhanced real-time threat detection and response visualization, augmenting the operational awareness for building operators. CYDRES demonstrated high technical effectiveness in various test scenarios, particularly in HIL environments. The project's phased development approach ensured efficient use of resources, highlighting its practical feasibility and readiness for commercialization. By enhancing the security and resilience of building operations, CYDRES represents a significant advance in mitigating risks associated with cyber-physical systems, thereby enhancing public confidence in the safety of modern building infrastructure. Future directions for the project include expanding testing protocols, refining AFDDP methodologies, exploring more comprehensive resilient control strategies, and testing in real commercial buildings.

42 ENGINEERING↗
NASA NTRS2001

Real-time three-dimensional color Doppler echocardiography for characterizing the spatial velocity distribution and quantifying the peak flow rate in the left ventricular outflow tract

Quantification of flow with pulsed-wave Doppler assumes a "flat" velocity profile in the left ventricular outflow tract (LVOT), which observation refutes. Recent development of real-time, three-dimensional (3-D) color Doppler allows one to obtain an entire cross-sectional velocity distribution of the LVOT, which is not possible using conventional 2-D echo. In an animal experiment, the cross-sectional color Doppler images of the LVOT at peak systole were derived and digitally transferred to a computer to visualize and quantify spatial velocity distributions and peak flow rates. Markedly skewed profiles, with higher velocities toward the septum, were consistently observed. Reference peak flow rates by electromagnetic flow meter correlated well with 3-D peak flow rates (r = 0.94), but with an anticipated underestimation. Real-time 3-D color Doppler echocardiography was capable of determining cross-sectional velocity distributions and peak flow rates, demonstrating the utility of this new method for better understanding and quantifying blood flow phenomena.

NASA Discipline Cardiopulmonary↗
NASA NTRSDate not supplied

Insights and Observations From Operating A Laser Communication Terminal on the International Space Station (ISS)

The Integrated Laser Communication Relay Demonstration (LCRD) Low Earth Orbit User Modem and Amplifier Terminal (ILLUMA-T) is the first user platform for NASA’s first laser communication relay, LCRD. ILLUMA-T is hosted on the International Space Station (ISS) as an external payload of the Japanese Experiment Module – Exposed Facility (JEM-EF) situated in slot 3. The LCRD payload is hosted on the STPSat-6 spacecraft, which orbits Earth in a geostationary orbit at position 112 W. The ILLUMA-T-to-LCRD system provides a bidirectional, space-to-ground laser communication relay link transferring data up to 1.2 Gbps utilizing two optical ground stations (OGS), OGS-1 in California and OGS-2 in Hawai’i. This paper describes lessons learned from operating the ILLUMA-T system and examines topics such as the end-to-end system availability, predictive versus actual ephemeris, acquisition adjustments, modem timing and handshaking, the terminal’s physical placement and accommodations, and experiment development, execution, and analysis. The authors of this paper operate both the LCRD and ILLUMA-T laser terminals on a daily basis including pass planning, procedure execution, acquisition analysis, and real-time terminal commanding and telemetry monitoring. LCRD is a joint project involving NASA Goddard Space Flight Center (GSFC), the California Institute of Technology Jet Propulsion Laboratory (JPL), and Massachusetts Institute of Technology Lincoln Laboratory (MIT LL). The ILLUMA-T payload is managed by NASA GSFC in Greenbelt, Maryland whose partners include the ISS program office at NASA’s Johnson Space Center (JSC) in Houston, Texas; the Huntsville Operations Support Center (HOSC) at Marshall Space Flight Center (MSFC) in Huntsville, Alabama; the Glenn Research Center (GRC) in Cleveland, Ohio; and the MIT LL in Lexington, Massachusetts. ILLUMA-T is funded by the Space Communications and Navigation (SCaN) Program at NASA Headquarters in Washington, D.C.

Laser Communications↗
NASA NTRS1989

Conference on Real-Time Computer Applications in Nuclear, Particle and Plasma Physics, 6th, Williamsburg, VA, May 15-19, 1989, Proceedings

Papers on real-time computer applications in nuclear, particle, and plasma physics are presented, covering topics such as expert systems tactics in testing FASTBUS segment interconnect modules, trigger control in a high energy physcis experiment, the FASTBUS read-out system for the Aleph time projection chamber, a multiprocessor data acquisition systems, DAQ software architecture for Aleph, a VME multiprocessor system for plasma control at the JT-60 upgrade, and a multiasking, multisinked, multiprocessor data acquisition front end. Other topics include real-time data reduction using a microVAX processor, a transputer based coprocessor for VEDAS, simulation of a macropipelined multi-CPU event processor for use in FASTBUS, a distributed VME control system for the LISA superconducting Linac, a distributed system for laboratory process automation, and a distributed system for laboratory process automation. Additional topics include a structure macro assembler for the event handler, a data acquisition and control system for Thomson scattering on ATF, remote procedure execution software for distributed systems, and a PC-based graphic display real-time particle beam uniformity.

Pordes, Ruth↗
NASA NTRS1986

Computer-aided analysis for the Mechanics of Granular Materials (MGM) experiment

The Mechanics of Granular Materials (MGM) program is planned to provide experimental determinations of the mechanics of granular materials under very low gravity conditions. The initial experiments will use small glass beads as the granular material, and a precise tracking of individual beads during the test is desired. Real-time video images of the experimental specimen were taken with a television camera, and subsequently digitized by a frame grabber installed in a microcomputer. Easily identified red tracer beads were randomly scattered throughout the test specimen. A set of Pascal programs was written for processing and analyzing the digitized images. Filtering the image with Laplacian, dilation, and blurring filters when using a threshold function produced a binary (black on white) image which clearly identified the red beads. The centroids and areas for each bead were then determined. Analyzing a series of the images determined individual red bead displacements throughout the experiment. The system can provide displacement accuracies on the order of 0.5 to 1 pixel is the image is taken directly from the video camera. Digitizing an image from a video cassette recorder introduces an additional repeatability error of 0.5 to 1 pixel. Other programs were written to provide hardcopy prints of the digitized images on a dot-matrix printer.

Parker, Joey K.↗
DOE OSTI2022

Fast and flexible analysis of direct dark matter search data with machine learning

We present the results from combining machine learning with the profile likelihood fit procedure, using data from the Large Underground Xenon (LUX) dark matter experiment. This approach demonstrates reduction in computation time by a factor of 30 when compared with the previous approach, without loss of performance on real data. We establish its flexibility to capture non-linear correlations between variables (such as smearing in light and charge signals due to position variation) by achieving equal performance using pulse areas with and without position-corrections applied. Its efficiency and scalability furthermore enables searching for dark matter using additional variables without significant computational burden. We demonstrate this by including a light signal pulse shape variable alongside more traditional inputs such as light and charge signal strengths. Furthermore, this technique can be exploited by future dark matter experiments to make use of additional information, reduce computational resources needed for signal searches and simulations, and make inclusion of physical nuisance parameters in fits tractable.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
NASA NTRS2002

Onboard Processor for Compressing HSI Data

With EO-1 Hyperion and MightySat in orbit NASA and the DoD are showing their continued commitment to hyperspectral imaging (HSI). As HSI sensor technology continues to mature, the ever-increasing amounts of sensor data generated will result in a need for more cost effective communication and data handling systems. Lockheed Martin, with considerable experience in spacecraft design and developing special purpose onboard processors, has teamed with Applied Signal & Image Technology (ASIT), who has an extensive heritage in HSI, to develop a real-time and intelligent onboard processing (OBP) system to reduce HSI sensor downlink requirements. Our goal is to reduce the downlink requirement by a factor greater than 100, while retaining the necessary spectral fidelity of the sensor data needed to satisfy the many science, military, and intelligence goals of these systems. Our initial spectral compression experiments leverage commercial-off-the-shelf (COTS) spectral exploitation algorithms for segmentation, material identification and spectral compression that ASIT has developed. ASIT will also support the modification and integration of this COTS software into the OBP. Other commercially available COTS software for spatial compression will also be employed as part of the overall compression processing sequence. Over the next year elements of a high-performance reconfigurable OBP will be developed to implement proven preprocessing steps that distill the HSI data stream in both spectral and spatial dimensions. The system will intelligently reduce the volume of data that must be stored, transmitted to the ground, and processed while minimizing the loss of information.

Cook, Sid↗
DOE OSTI2026

Safe Deep Reinforcement Learning for Active Distribution System Model Predictive Control with EVs and DERs

The temporal and spatial mismatch between PV generation and electric vehicle (EV) charging and discharging may cause voltage violations in active distribution networks. Despite the widespread use of deep reinforcement learning (DRL) in power system optimization and control, it lacks guarantees on constraint satisfaction during both training and deployment. This paper proposes a Lagrangian-based safe DRL approach for model predictive control (MPC) of active distribution systems with large-scale integration of PVs, EVs, and energy storage systems (ESSs). A Transformer-LSTM time-series model is proposed to forecast EV charging demand, which is then formulated as a constraint to ensure charging requirements are met. Using this prediction, a Lagrangian-based safe soft actor-critic (SAC) framework is developed for real-time control in a three-phase unbalanced distribution system, enforcing voltage safety constraints while optimizing the cumulative net reward. By integrating the forecasting model with multi-period constraints, the proposed framework jointly coordinates PV systems, EV charging and discharging, and ESS scheduling within the MPC horizon. Numerical experiments on a modified IEEE 123-bus system with real-world data show that, under a high PV penetration scenario, the proposed method increases the net reward by 30.74% and reduces average voltage violations from 0.0011 p.u. to 0.0002 p.u. compared with standard SAC. Compared with the optimal power flow (OPF) approach, it achieves similar voltage security while yielding lower line losses. It also maintains real-time control capability, reducing operation latency to 53.21 ms per 15-minute control interval. The proposed method remains effective under varying PV/EV penetrations and load conditions.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2026

Robust Rapid Cellular Metabolite Sensing Using Benchtop NMR and SABRE-Hyperpolarized [1- 13 C]Pyruvate

Hyperpolarized NMR has emerged as a powerful analytical technique to significantly enhance targeted NMR signals, improving the sensitivity for investigations of unique chemical and biological dynamics. Here, we demonstrate the use of a hyperpolarization strategy based on Signal Amplification By Reversible Exchange (SABRE) to generate highly reproducible doses of a hyperpolarized [1- 13 C]pyruvate probe for benchtop characterization of yeast metabolism. This method allows rapid, scalable, and benchtop preparation of biocompatible hyperpolarized solutions suitable for live-cell experiments. We show that this production can be dove-tailed into a modular, compact workflow to characterize real-time metabolism in cell cultures, using Saccharomyces cerevisiae (Baker’s yeast) as a model organism. With high temporal resolution, we show that this method can resolve the conversion of hyperpolarized [1- 13 C]pyruvate into oxidative decarboxylation products CO 2 and bicarbonate. This conversion exhibits sustained and detectable metabolic activity for over 300 s after introduction of the agent to the cells. We model the metabolite kinetics to show decarboxylation activity and derive estimates of the pH over time from the CO 2 and bicarbonate (carbonic acid buffer system) equilibrium to probe changes in the cellular environment during active metabolism. These results highlight the utility of benchtop SABRE-hyperpolarized [1- 13 C]pyruvate as a scalable, specific probe for metabolic phenotyping of living cells using compact, low-cost instrumentation well-suited for future high-throughput applications across microbial engineering, drug response profiling, and dynamic metabolic screening.

fungi↗