SEARCH · Engineering Papers

Results for “NaS”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 937 records · Page 52

All sources NASA NTRS DOE OSTI

NASA NTRS2019

New Features in the SPOC Pipeline Release 4.0

The Science Processing Operations Center is in the process of testing and deploying Release 4.0 of the codebase in the March 2019 timeframe. This paper describes the new features of the software and their likely impact on the quality of the TESS science data products. The major goals of Release 4.0 are to improve the extraction of photometry from the pixels in light of the non-uniform pointing performance and the identification of instrumental signatures from the light curves. We also describe modifications to the FFI pipeline to allow the generation of FFI light curves, correction of the instrumental systematics therein, and planet searches, primarily for the purpose of validating the 2-min pipeline against the FFI pipeline, but also to be able to provide cotrending basis vectors (CBVs) derived directly from the FFIs to the public to aid them in their extraction and correction of photometry. We also discuss the improvements in photometric performance of the pipeline and its various components.The lapse in funding experienced between 22 December 2018 and 27 January 2019 significantly delayed our ability to conduct integration testing as planned for late December/early January, delaying the start of V&V by one month to the end of February 2019.The TESS Mission is funded by NASA's Science Mission Directorate as an Astrophysics Explorer Mission.The Science Processing Operations Center is in the process of testing and deplo!"ing Release 4.0 of thecodebase In the March 2019 tlmeframe. This paper describes the new features or the software and theirlikely impact on the quality of the TESS science data products. The major goals or Release 4.0 are to Imtheidentification of instrumental signatures from the light cuNes. We also describe modifications tothe FFI pipeline to allow the generation of FFI light curves, correction of the instrumental systematicstherein, and planet searches, primarily for the purpose of validating the 2-min pipelineagainst the FFI pipeline, but also to be able to provide cotrending basis vectors (C3Vs) ,,.~,.;.derived directly from the FFls to the public to aid them in their extractbn and correction , :-; ~'-'\'.'.of photometry. We also discuss the Improvements In photometric performance• of ~~\":;:•the pipeline and its various components. :,;.-.;The lapse In funding experienced between 22 December 2018 and 27January 2019 significantly delayed our ability to conduct Integrationtesting as planned for late December/early January, delaying thestart of V&V by one month to the end of February 2019.The TESS Mission is funded by NASA's Science Mission Directorateas an Astrophysics Explorer Mission.o.iu.c...,.....~~New Features in SPOC 4.01. Use of quatemions In photometry and centroiding.2. Use of quaternions to Identify high-motion cadences and exclude same.3. Use of the TPS detections to deemphasize pathological cadences ("skyline flattenlng"I.4. Improved CAL calculations for black and smear correction.5. PA brightness metric calculation improvements (induo'e crowding in calrulation)./ • 6. Improved POC spike goodness metric.•~• 7. Improved handling of gaps and momentum duni:>S in POC.8. Improved tuning of POC., 9. Improved attitude tweak correction in PDC.10. Improvements in PDC introduced noise and correlation goodness metrics11. Using the improved spike goodness metric to minimize overlitting in the spikeremover ' • :,''l./ 12. Enable FFI processing through planet search.,,. ,• • "« ,;,,,•.~'A , 13.1 D4.V S mtreinaim-relipnoinrgts d aartcah irveetrdie tvoa Ml aAnSdT p ersistence to database 15. Improved management of jobs on the NAS Pleiadss supercomputer

Jenkins, Jon M.↗

NASA NTRS2018

Evaluating the Suitability of Commercial Clouds for NASA's High Performance Computing Applications: A Trade Study

NASA’s High-End Computing Capability (HECC) Project is periodically asked if it could be more cost effective through the use of commercial cloud resources. To answer the question, HECC’s Application Performance and Productivity (APP) team undertook a performance and cost evaluation comparing three domains: two commercial cloud providers, Amazon and Penguin, and HECC’s in-house resources—the Pleiades and Electra systems. In the study, the APP team used a combination of the NAS Parallel Benchmarks (NPB) and six full applications from NASA’s workload on Pleiades and Electra to compare performance of nodes based on three different generations of Intel Xeon processors—Haswell, Broadwell, and Skylake. Because of export control limitations, the most heavily used applications on Pleiades and Electra could not be used in the cloud; therefore, only one of the applications, OpenFOAM, represents work from the Aeronautics Research Mission Directorate and the Human and Exploration Mission Directorate. The other five applications are from the Science Mission Directorate.

High Performance↗

NASA NTRS2019

Automatic Execution of Collision Avoidance and Return to Course Analysis (D.6.20) Experiment Review

This presentation details the experimental design for an upcoming engineering analysis of a mock version of the Airborne Collision Avoidance System (ACAS), specifically the 'Xu' variant, which is designed for unmanned aircraft platforms. As a component of the Unmanned Aircraft System (UAS) Integration into the National Airspace System (NAS) project, this engineering analysis intends to study aspects of ACAS Xu in two parts. In the first phase of the study, the display and alerting guidance for collision avoidance (CA) resolution advisories (RA) shown to pilots at a ground control station will be manipulated, varying in level of RA transparency and presentation of safe maneuver parameters. The second phase of the engineering analysis will examine pilots' response to increasing levels of automation in the tasks of collision avoidance and return-to-course (RTC).

Sadler, Garrett↗

NASA NTRS2016

Overview of Sense and Avoid/Separation Assurance Interoperability (SSI)

The UAS in the NAS project is studying the minimum operational performance standards for unmanned aerial systems (UAS's) detect-and-avoid (DAA) system in order to operate in the National Airspace System. The project is executing a series of fast-time simulation, human-in-the-loop experiments, and flight test in support of this effort. Officials of the Swiss Government (Peter Winter, Director of Aeronautical Systems, and Michel Godinat, Head of the Certification Office) are visiting NASA to become more familiar with the advances being made to integrate UAS into civilian airspace. This briefing will review the activities and results over the past 3 years within the Separation AssuranceSense-and-Avoid Interoperability team.

Santiago, Confesor↗

NASA NTRS2015

Understanding Community Needs and Desires

This panel exchange is focused on the Integration Test phase within the development lifecycle with special emphasis and dedicated discussion on integration and testing of complex systems. Layout and scheduling of integration tasks come from the verification of interface and performance requirements. However, planning for integration activities of complex systems is inherently different from traditional systems engineering integration planning activities. Decisions about the systems under development have to consider not only the technical and programmatic viewpoints but also the political, societal, operational, and economic viewpoints. Definition of performance measures, found intrinsic in the plan, with trans-disciplinary implications will be discussed. A scenario of integration of UAS in the NAS will be used as a benchmark of current views and lifecycle challenges.

Murphy, James R.↗

NASA NTRS2014

ACES Preliminary Results Supporting Selection of SARP Well-Clear Definitions

The UAS in the NAS project is studying the minimum operational performance standards for unmanned aerial systems (UAS's) detect-and-avoid (DAA) system in order to operate in the National Airspace System. The DoD's Science and research Panel Well-Clear Workshop is investigating the time and spatial boundary at which an UAS violates well-clear. NASA is supporting this effort through use of its Airspace Concept Evaluation System (ACES) simulation platform. This presentation reviews how the simulation was used to support this work, lessons learned during the experiment, and introduces preliminary results.

well-clear↗

NASA NTRS2014

Investigating the Impacts of a Separation Standard for UAS Operations in Enroute and Transition Airspace

Unmanned aircraft systems will be required to equip with a detect and avoid system in order to satisfy the federal aviation regulations to remain well clear of other aircraft. To comply with regulations in today’s operations manned aircraft must “see and avoid” other aircraft and use subjective judgment to determine whether those aircraft are well clear. For a detect-and- avoid (DAA) system to satisfy the requirement to stay well clear, a quantitative definition of well clear needs to be defined and evaluated. Definitions for the boundary of well clear have been proposed by the Unmanned Aircraft System (UAS) Executive Committee Science and Research Panel (SaRP) and the Radio Technical Commission for Aeronautics (RTCA) Special Committee 228 on Detect and Avoid Systems. This study investigates the interoperability implications of UAS using proposed well clear definitions as a separation standard for conducting operations in the national airspace system. The first analysis in the study focuses on the effect of variations in well clear definition parameters on the rate of losses of well clear per flight hour. The second analysis considers three well clear definitions and presents the relative state conditions of intruder aircraft as they encroach upon the well clear boundary. The third analysis focuses on the definition of the alerting criteria needed to inform the UAS operator of a potential loss of well clear. All three analyses are conducted in a NAS-wide fast-time simulation environment using UAS aircraft models, proposed UAS missions, and historical air defense radar data to populate the background traffic operating under visual flight rules. The results from the three analyses presented in this study inform the safety case, requirements development, and the operational environment for the DAA minimum operational performance standards.

UAS Seperation Standard↗

NASA NTRS2015

NASA ACES V&V Alignment Briefing

Santiago, Confesor↗

NASA NTRS2015

Proposal for a Sample Pilot Response Model

Regulations to establish operational and performance requirements for unmanned aircraft systems (UAS) are being developed by a consortium of government, industry and academic institutions. Those requirements will apply to the new detect and avoid (DAA) systems and other equipment necessary to integrate UAS with the National Airspace System (NAS) and are determined according to their contribution to the overall safety case for such an integration. In order to perform end-to-end verification and validation of DAA requirements, a committee accepted pilot response model is needed to emulate UAS pilots in closed-loop Monte Carlo fast-time simulations. This briefing focuses on background of the pilot model used in previous Airspace Concept Evaluation System studies, identification of strengths and weaknesses in that model, and proposals on model improvements. The briefing also looks to build consensus around a common architecture and assumptions for modeling the pilot for UAS DAA systems.

Santiago, Confesor↗

NASA NTRS2016

Simulation and Flight Test Data Collection Review for Supporting Phase 1 Detect and Avoid MOPS

RTCA Special Committee 228 is a consortium of government, industry, and academic organizations tasked to develop minimum operational performance standards for UAS detect and avoid systems. The UAS in the NAS (National Airspace System) project is studying the minimum operational performance standards for unmanned aerial systems (UAS's) detect-and-avoid (DAA) system in order to operate in the National Airspace System. Over the past 3 years, the project has executed a series of fast-time simulation, human-in-the-loop experiments, and flight tests in support of this effort. The purpose of this briefing is to summarize the models developed and data collected to overcome UAS integration barriers, so UAS can remain well clear of all traffic.

Santiago, Confesor↗

NASA NTRS2017

Validation of Minimum Display Requirements for a UAS Detect and Avoid System

The full integration of Unmanned Aircraft Systems (UAS) into the National Airspace System (NAS), a prerequisite for enabling a broad range of public and commercial UAS operations, presents several technical challenges to UAS developers, operators and regulators. A primary barrier is the inability for UAS pilots (situated at a ground control station, or GCS) to comply with Title 14 Code of Federal Regulations sections 91.111 and 91.113, which require pilots to “see and avoid” other aircraft in order to maintain well clear. UAS pilots’ removal from the flight deck of the aircraft necessitates the development of a UAS-specific system for detecting nearby traffic and displaying traffic information to the pilot to support their ability to maintain an objectively defined “DAA well clear” threshold from other aircraft. This new UAS-specific function of remaining DAA well clear is called traffic avoidance. The resulting Detect and Avoid (DAA) system, however, will be subject to a collection of requirements that manufacturers will be obligated to meet in order to certify their equipment. RTCA Special Committee 228 (SC-228), a consortium of representatives from government, industry and academia, is responsible for developing and documenting the Minimum Operational Performance Standards (MOPS) for UAS DAA systems. The present study is the final in a series of human-in-the-loop (HITL) experiments designed to explore and test the various display and alerting requirements being incorporated into the DAA MOPS. Whereas the prior DAA HITLs examined a wide variety of DAA display features and concepts, the current experiment aims to validate the latest minimum display requirements for Phase 1 of the DAA MOPS. Rather than test different display concepts, this study tests two configurations of a MOPS-compatible DAA display: a version that is integrated into the primary navigation and control display of the GCS and a version that is physically separated from the primary display. This manipulation tests the draft minimum requirement that allows the DAA traffic display to be a separate, or standalone, configuration. This type of configuration is a more achievable near-term technology solution since it does not stipulate additional certification or integration requirements on UAS manufacturers. However, a standalone display configuration has the potential to result in pilot performance issues resulting from the cognitive costs of switching between the primary DAA display and the primary navigation and control display. This configuration is also particularly susceptible to errors if the displays are in different orientations (e.g., north-up versus track-up). Both the integrated and standalone display configurations were presented to 16 active UAS pilots in a medium-fidelity simulation, which included confederate air traffic controllers and pseudo pilots operating simulated manned traffic. Pilots were tasked with navigating two different mission routes while maintaining DAA well clear with scripted conflicts. Pilot response times (i.e., measured response) and ability to remain DAA well clear are reported. Primary results indicate that both display configurations resulted in favorable response times and well clear rates. While there were clear trends of pilots objectively performing better in the integrated display condition, with several measured response metrics reaching statistical significance, the differences between the two displays were typically moderate. While the primary variable of DAA display location did not have an especially large impact on pilot performance on its own, when examined alongside the type of DAA threat the pilot was facing (a caution-level versus a warning-level alert), the response time benefits associated with the integrated display were amplified. The implications of these American Institute of Aeronautics and Astronautics 2 results on the Phase 1 DAA MOPS and the connection of this data to previous studies is also discussed.

detect and avoid↗

NASA NTRS2019

Indoor Ground Testing of a Small UAS Sense and Avoid Airborne Doppler Radar

The National Aeronautics and Space Administration’s Unmanned Aircraft System (UAS) Traffic Management (UTM) project is researching prototype technologies needed to ensure safe integration of UAS operations into the National Airspace System (NAS). Within the UTM Concept of Operations, UAS would be equipped with on-board Sense and Avoid (SAA) technology to continually monitor for manned and unmanned aircraft in its vicinity while operating beyond visual line of sight in uncontrolled airspace. To support this effort, a candidate commercially available 24.5 GHz Doppler radar was selected and evaluated to determine if the technology could reliably support minimum requirements for SAA applications of small UAS (sUAS). Indoor ground tests were conducted inside the NASA Langley Research Center’s Experimental Test Range (ETR) from a stationary platform to evaluate the Doppler radar performance characteristics and gain operational proficiency before the radar was authorized to transmit outdoors. A high speed linear rail system was developed for the radar evaluation and was shown to be an effective method to generate Doppler radar targets of known radar cross section. The accuracy of the range and velocity reported by the radar was shown to be dependent on the Kalman filter state variance parameter settings. Antenna measurements were collected with the radar installed both on and off a sUAS to quantify the relative antenna gain, beam width and side lobe levels of the radar’s Metamaterial Electronically Scanning Array (MESA) antennas at boresight and extreme field of view pointing vectors. The relative antenna gain measured 2.6 dB lower at extreme field view angles compared to the boresight radiation pattern.

Szatkowski, George N.↗

NASA NTRS2019

In-Flight Evaluation of the Traffic Aware Planner on the NASA HU-25A Guardian Aircraft

NASA’s Traffic Aware Planner (TAP) software is a research-prototype decision support tool that provides pilots with time- and fuel-saving route recommendations that optimize their current trajectory. The software runs on a first-of-a-kind system architecture onboard three aircraft in revenue service conducting operational evaluations with a major domestic airline. Therefore, significant NASA-internal testing is required prior to releasing the software to the partner airline. This paper describes a flight test plan that exercises the functionality of the TAP software in a representative operational environment, describes the system architecture developed and implemented for the NASA Langley HU-25A Guardian aircraft to support the test objectives, presents outcomes of the flight test campaign, and discusses use cases that demonstrate the value of flight testing for this activity.Research into flight path optimization of transport aircraft conducted by the National Aeronautics and SpaceAdministration (NASA) has produced an operational concept known as Traffic Aware Strategic Aircrew Requests(TASAR) [1, 2]. This near-term concept [3] provides the aircrew with a flight deck decision support tool known asthe Traffic Aware Planner (TAP). The TAP software leverages a growing number of information sources on the flightdeck to make time- and fuel-saving route optimization recommendations to the aircrew while en route. The aircrewcan then use the suggestions provided by the tool to make route change requests with a greater likelihood of acceptanceby air traffic control (ATC). Since TASAR is a concept intended for the current operational environment, it isintentionally designed to have no safety-critical impact or require any changes to current Federal AviationAdministration (FAA) rules and procedures [4, 5].The research prototype TAP system [6–8], explained further in Section III.C, continually incorporates up-to-dateaircraft state data from onboard avionics, as well as the latest position of surrounding traffic, the most recent windforecast, and the most recent convective weather forecast, in order to calculate candidate trajectory modifications thatimprove upon the current active route. These trajectories account for user-selectable objective functions [3] of reducedfuel burn, reduced flight time, or an airline-derived combination of factors known as trip cost. Previous analyses andsimulations have estimated substantial savings for airlines employing this technique within the U.S. National AirspaceSystem (NAS) [9–11]. Operational evaluations with Alaska Airlines seek to validate these projected benefits usingmeasured data while simultaneously providing benefits to the airline [12, 13].The TAP software has undergone a number of human-in-the-loop simulations [14] and flight test activities[15–17] in order to validate the operational concept, evaluate human factors considerations (e.g., workload, usability,distraction, etc.), and to assess the ability of the software to function in a representative operational environment (e.g.,connected to live avionics data, using in-flight internet connectivity, etc.). However, these simulations and flight testcampaigns did not account for the hardware architecture implemented on the three aircraft for Alaska Airlines’operational evaluations of the TAP software. Therefore, a need was identified to thoroughly test the functionality ofthe software in a similar hardware architecture to that of the partner airline’s aircraft. Information regarding testapparatus and environments used to evaluate TAP prior to testing on the HU-25A can be found in reference [18].A campaign of flight trials on a NASA aircraft, the HU-25A Guardian, was conducted to ensure that the researchprototype TAP system functions well in a configuration similar to the Alaska Airlines aircraft prior to deployment.This airborne, networked environment enables an assessment of the operational factors unique to the flight environment. Additionally, this activity evaluated the effectiveness and benefit of new TAP functionality andoperation in a relevant flight environment while allowing the rapid prototyping of new concepts and features.This paper is organized as follows: Section II discusses the details of the flight test plan, flight profiles, and theduties of personnel involved with conducting flight operations. Section III describes the test platform, avionicsequipage, and system architecture. Section IV presents a discussion of results, and Section V contains concludingremarks.

Underwood, Matthew C.↗

NASA NTRS2015

A Researcher's Perspective on Function Allocation and Its Application to Air Traffic Management

Functional Allocation is an important research area for NASA going forward, and aims at exploring a range of potential options for future ATM (Air Traffic Management) operation concepts. The goal of this work is to gain some insight into the relative strengths and limitations of a range of different concepts, and to identify the important variables as well as any critical or threshold values for those variables for each of those concepts. This information will be captured in a form that can be easily referenced, and can then be used by decision makers to chose which concept or concepts best suit the needs of the US NAS (National Airspace System). The work presented here is one researcher's perspective on this process. A brief overview of Functional Allocation will be followed by more detailed discussion about two of the topics being currently investigated, as well as why and how this work differs from the way we have done ATM research in the past. More specifically, the goal of the analysis work is to understand the reasons for any differences in our metrics (such as delay) when adjusting input variables rather than trying to analyze the raw numbers themselves. In other words, finding which variables different concepts are sensitive to is important for this work, while finding a best or recommended operational concept is not. This will be followed by some examples of this process using results from our current studies. Finally, there will be a discussion on where we are in the process as well as our next steps.

Air-Ground Studies↗

NASA NTRS2019

Alternative Surveillance Fast Time Simulation with Sensor Uncertainties and Mitigation

This presentation describes a simulation plan for the fast time simulation 3 for the modeling and simulation team in the UAS (Unmanned Aircraft Systems) in the NAS (National Airspace System)project. Objectives: Investigate the effect of limited surveillance volume and realistic radar noise on DAA (Detect and Avoid) performance; Evaluate the ability of the sensor uncertainty mitigation (SUM) feature of the DAIDALUS [Dectect and Avoid...] algorithm to improve DAA alerting and guidance [Includes content on SWaP-C (size, weight, power, and cost) of unmanned aircraft; and Near-mid-air-collision (NMAC).]

UAS↗

NASA NTRS2019

Evaluation of Ultem 1000, 1010, and 9085 for Radome Applications at 24.5 GHz

The UAS in the NAS project Flight Test 6 (FT6) campaign scheduled for FY19Q3 will evaluate the proficiency of a Honeywell DAPA-Lite Radar installed on a Tiger Shark unmanned vehicle to detect the presence of air traffic operating in its vicinity. A 3D printed radome will be manufactured for the front of the Tiger Shark to enclose the radar during FT6 operations. The DAPA-Lite radar operates in the 24.5 GHz frequency band. Material properties of 3D printer filaments are widely available for the mechanical and thermal properties, but limited knowledge exists on the electrical properties for radome applications and no data was found to correspond at the 24.5 Ghz frequency band. To minimize project risk associated with the radome performance, transmissivity and reflectivity measurements were conducted on two candidate 3D printed dielectric material filaments (Ultem 1010 Natural and Ultem 9085 Black) and two thicknesses of a solid laminate (Ultem 1000) material. The 3D printed Ultem coupons were tested shortly after being printed and again 8 months later to examine ageing effects of the open cell structure. This paper presents the transmissivity and reflectivity measurement results collected on the Ultem coupons and concludes the 3D printed 1010 Natural coupon is a suitable candidate filament for radome applications at 24.5 GHz. The design of the structure’s open cell matrix has a significant impact on the material’s surface reflectivity.

Szatkowski, George N.↗

NASA NTRS2014

Airspace Safety Threshold Study: Status Update to SC-228 DAA Safety Sub-Group

Realization of the expected proliferation of Unmanned Aircraft System (UAS) operations in the National Airspace System (NAS) depends on the development and validation of performance standards for UAS Detect and Avoid (DAA) Systems. The RTCA Special Committee 228 is charged with leading the development of draft Minimum Operational Performance Standards (MOPS) for UAS DAA Systems. NASA, as a participating member of RTCA SC-228, is committed to supporting the development and validation of draft requirements as well as the safety substantiation and end-to-end assessment of DAA system performance. A recent study conducted using NASA's ACES (Airspace Concept Evaluation System) simulation capability begins to address questions surrounding the development of draft MOPS for DAA systems. ACES analyses were conducted to determine: 1) the rate at which IFR aircraft encounter other IFR and VFR aircraft, and 2) the rate at which UAS aircraft encounter VFR aircraft. Five different separation thresholds were used (two for encounter and one each for well-clear, near mid-air collision, and closest point of approach). The results will be used by SC228 to inform decisions about the safety aspect of UAS DAA systems and future requirements development and validation efforts.

Risk ratio↗

NASA NTRS2015

Terminal Sequencing and Spacing (TSS)

The Federal Aviation Administration's (FAA) Next Generation Air Transportation System (or NextGen) is being designed to support the predicted increases in traffic volume and to increase the capacity, efficiency and safety of the National Airspace System (NAS). The Federal Aviation Administration (FAA) identifies Performance-Based Navigation (PBN) as a key enabling capability of NextGen and is actively publishing PBN procedures at major airports throughout the United States. Standard Terminal Arrival Routes (STARs), procedures, and approaches are designed to facilitate fuel-efficient continuous descent operations. However, their use is limited during periods of high traffic demand due to the complexity of merging multiple streams of aircraft to the same airport. As a result, most arrivals in the Terminal Radar Approach Control (TRACON) area continue to be controlled using radar vectoring and step-down descents, resulting in high workload for controllers and diverting aircraft from efficient PBN trajectories. To address this issue, NASA developed the Terminal Sequencing and Spacing (TSS) system, an advanced arrival management technology that combines time-based scheduling and controller-based precision spacing tools. TSS is a ground-based controller automation tool that facilitates sequencing and merging arrivals on Performance-Based Navigation (PBN) routes, especially during highly congested demand periods. The two main components of TSS are: 1) a scheduler that de-conflicts merging arrivals in the terminal area by computing appropriate arrival times to the runway threshold and upstream terminal merge points, and 2) a set of Controller-Managed Spacing (CMS) decision support tools to efficiently assist schedule conformance. Sixteen high-fidelity human-in-the-loop simulations involving more than five hundred hours of evaluation time, were conducted to mature TSS from proof-of-concept design to a fully functional prototype. Results indicate high controller use and acceptability of the CMS tools as well as improved PBN route conformance (Figure 2). The TSS technology was transferred to the FAA in 2014, and it is targeted for deployment to several busy airports in the U.S. starting in 2018. Potential enhancements to TSS using DataComm will also be presented.

controller-managed spacing↗