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All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Lunar rovers and local positioning system

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Avery, James↗
NASA NTRS2019

Maturation of Dynamic Power Convertors for Radioisotope Power Systems

Dynamic Radioisotope Power Systems (DRPS) are being developed by NASA’s Radioisotope Power Systems (RPS) Program in collaboration with the U.S. Department of Energy (DOE) for space science and exploration missions. A development effort is currently underway to mature dynamic power convertors for infusion into a potential future flight generator. This convertor maturation effort was formulated by the RPS Program at NASA Headquarters based on successful maturation models and utilizes expertise from agency’s technology and mission centers to support requirements development and technology assessments. The effort is being executed by Glenn Research Center’s (GRC) DRPS Project and the Thermal Energy Conversion Branch. The Dynamic Power Convertor (DPC) contracts consist of three phases to enable design, fabrication, and independent assessment of prototypes after delivery to the government. The contracts are intended to gather data on candidate dynamic conversion technologies to fill knowledge gaps, support assessments of dynamic conversion technologies, and elicit generator requirements. The 110-watt Stirling Radioisotope Generator (SRG-110) and Advanced Stirling Radioisotope Generator (ASRG) flight development projects provided Stirling convertor demonstration units and engineering models to verify and validate convertors against performance specifications and mission requirements. These units utilize temperature resistant materials and non-contacting bearings to demonstrate wear-free, long-life operation. This maturation effort builds on past lessons-learned and new requirements focused on demonstrating convertor robustness to critical environments meant to stress key aspects of each convertor within the margins of the design. This effort seeks to realize the full potential of dynamic power conversion technologies for NASA’s space science and exploration missions.

Wilson, Scott↗
DOE OSTI2025

Empowering Lineworkers: The Case for Active Exoskeletons in Utility Work

Exoskeletons have evolved from early medical prototypes to advanced systems capable of addressing physical demands in various industries. This report explores the potential of active exoskeleton technology within the utility sector, focusing on its application for linemen who face significant risks of work-related musculoskeletal disorders (WMSDs). By analyzing existing literature on exoskeletons across industries such as construction, manufacturing, and military, the study identifies a gap in utility-specific applications. Task-specific design features like gravity compensation, limb support, and advanced safety measures, improve exoskeletons’ potential to alleviate physical strain, reduce workplace injuries, and enhance productivity. This review emphasizes the need for targeted research and development to optimize exoskeleton designs for the utility sector to provide benefits for workers, companies, and the broader community.

60 APPLIED LIFE SCIENCES↗
NASA NTRS1998

Rapid Prototyping of Composite Structures

This progress report for the project Rapid Production of Composite Structures covers the period from July 14, 1997 to June 30, 1998. It will present a short overview of the project, followed by the results to date and plans for the future. The goal of this research is to provide a minimum 100x reduction in the time required to produce arbitrary, laminated products without the need for a separate mold or an autoclave. It will accomplish this by developing the science underlying the rapid production of composite structures, specifically those of carbon fiber-epoxy materials. This scientific understanding will be reduced to practice in a demonstration device that will produce a part on the order of 12" by 12" by 6". Work in the past year has focussed on developing an understanding of the materials issues and of the machine design issues. Our initial goal was to use UV cureable resins to accomplish full cure on the machine. Therefore, we have centered our materials work around whether or not UV cureable resins will work. Currently, the answer seems to be that they will not work, because UV light cannot penetrate the carbon fibers, and because no "shadow" curing seems to occur. As a result, non-UV cureable resins are being investigated. This has resulted in a change in the machine design focus. We are now looking into a "dip and place" machine design, whereby a prepreg layer would have one side coated with a curing agent, and then would be placed onto the previous layer. This would lead to cure at the interface, but not to the top of the layer. The formulation of the resins to accomplish this task at room or slightly elevated temperatures is being investigated, as is the machine design needed to apply the curing agent and then cure or partially cure the part. A final, out-of-autoclave, post-cure may be needed with this strategy, as final cure on the machine may not be possible, as it was for the initial UV cure strategy. The remainder of this report details the progress in the materials and machine design areas. Materials Development The material system must be designed to fulfill the following requirements: to reduce the time and labor requirements of typical cure cycles; to reduce the thermal stresses developed during conventional heat curing; and to develop a structure that the build sequence requires. In order to accomplish these goals, there have been parallel tracks of investigation. One area has tested photopolymerizable (ultraviolet (UV) curable) materials and combinations of these materials with standard heat curing resins. The second area has investigated resins that cure rapidly at room or low heat temperatures. The main goal of these investigations has been to identify a system that will rapidly set or cure at room temperature during a tape lay-up process and hold its structure during a post-cure cycle.

Colton, Jonathan S.↗
NASA NTRS1998

Rapid Prototyping of Composite Structures

This final report for the project Rapid Production of Composite Structures covers the period from July 14, 1997 to September 30, 1998. It will present a short overview of the project, followed by the results to date and plans for the future. The goal of this research is to provide a minimum 100x reduction in the time required to produce arbitrary, laminated products without the need for a separate mold or an autoclave. It will accomplish this by developing the science underlying the rapid production of composite structures, specifically those of carbon fiber-epoxy materials. This scientific understanding will be reduced to practice in a demonstration device that will produce a part on the order of 12in. by 12in. by 6in. Work in the past year has focussed on developing an understanding of the materials issues and of the machine design issues. Our initial goal was to use UV cureable resins to accomplish full cure on the machine. Therefore, we have centered our materials work around whether or not UV cureable resins will work. Currently, the answer seems to be that they will not work, because UV light cannot penetrate the carbon fibers, and because no "shadow" curing seems to occur. As a result, non-UV cureable resins are being investigated. This has resulted in a change in the machine design focus. We are now looking into a "dip and place" machine design, whereby a prepreg layer would have one side coated with a curing agent, and then would be placed onto the previous layer. This would lead to cure at the interface, but not to the top of the layer. The formulation of the resins to accomplish this task at room or slightly elevated temperatures is being investigated, as is the machine design needed to apply the curing agent and then cure or partially cure the part. A final, out-of-autoclave, post-cure may be needed with this strategy, as final cure on the machine may not be possible, as it was for the initial UV cure strategy. The remainder of this report details the progress in the materials and machine design areas.

Colton, Jonathan S.↗
DOE OSTI2022

Mechanistic Investigations of Gas-Phase Catalytic Hydrogenation in Metal–Organic Frameworks: Cooperative Activity of the Metal and Linker Sites in Cu x Rh 3– x (BTC) 2

We report the Cu x Rh 3–x (BTC) 2 catalyst (abbreviated CuRhBTC, BTC 3– = benzene tricarboxylate) provides excellent dispersion of active metal sites coupled with well-defined, robust structures for propylene hydrogenation reactions. This material therefore serves as a unique prototype for understanding catalytic activity in metal organic frameworks (MOFs). The mechanism of gas-phase hydrogenation at the bimetallic metal nodes of a MOF has been investigated in detail for the first time using in situ spectroscopy and diffraction experiments combined with density functional theory (DFT) calculations. The reaction occurs via a cooperative process in which the metal and linker sites play complementary roles; specifically, H 2 is dissociated at a Rh 2+ site with a missing Rh–O bond, while protonation of the decoordinated carboxylate linker stabilizes the active sites and promotes H 2 dissociation. In situ X-ray diffraction experiments show that the crystalline structure of the MOF is retained under reaction conditions at 20–100 °C. In situ Raman spectroscopy and diffuse reflectance infrared Fourier transform spectroscopy (DRIFTS) experiments demonstrate that propylene adsorbs at both Rh 2+ and Cu 2+ sites via π bonding. Cu 2+ is catalytically inactive, but at Rh 2+ sites, a propyl intermediate is observed when H 2 is introduced into the propylene feed. Furthermore, the appearance of the O–H stretch of COOH at ~3690 cm –1 in the DRIFT spectra is characteristic of defects consisting of missing Rh–O bonds. These experimental results are in general agreement with a reaction mechanism proposed by DFT, in which the decoordinated carboxylate linker is protonated, and the active Rh 2+ site remains available for readsorption of reactants in the subsequent catalytic cycle.

36 MATERIALS SCIENCE↗
NASA NTRS1989

Solar Concentrator Advanced Development Program

The Solar Concentrator Advanced Development Project has successfully designed, fabricated, and tested a full scale prototypical solar dynamic concentrator for space station applications. A Truss Hexagonal Panel reflector was selected as a viable solar concentrator concept to be used for space station applications. This concentrator utilizes a modular design approach and is flexible in attainable flux profiles and assembly techniques. The detailed design of the concentrator, which included structural, thermal and optical analysis, identified the feasibility of the design and specific technologies that were required to fabricate it. The needed surface accuracy of the reflectors surface was found to be very tight, within 5 mrad RMS slope error, and results in very close tolerances for fabrication. To meet the design requirements, a modular structure composed of hexagonal panels was used. The panels, made up of graphite epoxy box beams provided the strength, stiffness and dimensional stability needed. All initial project requirements were met or exceeded by hardware demonstration. Initial testing of structural repeatability of a seven panel portion of the concentrator was followed by assembly and testing of the full nineteen panel structure. The testing, which consisted of theodolite and optical measurements over an assembly-disassembly-reassembly cycle, demonstrated that the concentrator maintained the as-built contour and optical characteristics. The facet development effort within the project, which included developing the vapor deposited reflective facet, produced a viable design with demonstrated optical characteristics that are within the project goals.

Knasel, Don↗
NASA NTRS1993

Risk-Assessment Computer Program

RISK D/C is prototype computer program assisting in attempts to do program risk modeling for Space Exploration Initiative (SEI) architectures proposed in Synthesis Group Report. Risk assessment performed with respect to risk events, probabilities, and severities of potential results. Enables ranking, with respect to effectiveness, of risk-mitigation strategies proposed for exploration program architecture. Allows for fact that risk assessment in early phases of planning subjective. Although specific to SEI in present form, also used as software framework for development of risk-assessment programs for other specific uses. Developed for Macintosh(TM) series computer. Requires HyperCard(TM) 2.0 or later, as well as 2 Mb of random-access memory and System 6.0.8 or later.

Dias, William C.↗
NASA NTRS1993

Fabrication of composite propfan blades for a cruise missile wind tunnel model

This report outlines the procedures that were employed in fabricating prototype graphite-epoxy composite prop fan blades. These blades were used in wind tunnel tests that investigated prop fan propulsion system interactions with a missile airframe in order to study the feasibility of an advanced-technology-propfan-propelled missile. Major phases of the blade fabrication presented include machining of the master blade, mold fabrication, ply cutting and assembly, blade curing, and quality assurance. Specifically, four separate designs were fabricated, 18 blades of each geometry, using the same fabrication technique for each design.

Fite, E. Brian↗
NASA NTRS2005

Auxiliary Propulsion Activities in Support of NASA's Exploration Initiative

The Space Launch Initiative (SLI) procurement mechanism NRA8-30 initiated the Auxiliary Propulsion System/Main Propulsion System (APS/MPS) Project in 2001 to address technology gaps and development risks for non-toxic and cryogenic propellants for auxiliary propulsion applications. These applications include reaction control and orbital maneuvering engines, and storage, pressure control, and transfer technologies associated with on-orbit maintenance of cryogens. The project has successfully evolved over several years in response to changing requirements for re-usable launch vehicle technologies, general launch technology improvements, and, most recently, exploration technologies. Lessons learned based on actual hardware performance have also played a part in the project evolution to focus now on those technologies deemed specifically relevant to the Exploration Initiative. Formal relevance reviews held in the spring of 2004 resulted in authority for continuation of the Auxiliary Propulsion Project through Fiscal Year 2005 (FY05), and provided for a direct reporting path to the Exploration Systems Mission Directorate. The tasks determined to be relevant under the project were: continuation of the development, fabrication, and delivery of three 870 lbf thrust prototype LOX/ethanol reaction control engines; the fabrication, assembly, engine integration and testing of the Auxiliary Propulsion Test Bed at White Sands Test Facility; and the completion of FY04 cryogenic fluid management component and subsystem development tasks (mass gauging, pressure control, and liquid acquisition elements). This paper presents an overview of those tasks, their scope, expectations, and results to-date as carried forward into the Exploration Initiative.

Best, Philip J.↗
NASA NTRS2001

Packaging Technology Developed for High-Temperature Silicon Carbide Microsystems

High-temperature electronics and sensors are necessary for harsh-environment space and aeronautical applications, such as sensors and electronics for space missions to the inner solar system, sensors for in situ combustion and emission monitoring, and electronics for combustion control for aeronautical and automotive engines. However, these devices cannot be used until they can be packaged in appropriate forms for specific applications. Suitable packaging technology for operation temperatures up to 500 C and beyond is not commercially available. Thus, the development of a systematic high-temperature packaging technology for SiC-based microsystems is essential for both in situ testing and commercializing high-temperature SiC sensors and electronics. In response to these needs, researchers at Glenn innovatively designed, fabricated, and assembled a new prototype electronic package for high-temperature electronic microsystems using ceramic substrates (aluminum nitride and aluminum oxide) and gold (Au) thick-film metallization. Packaging components include a ceramic packaging frame, thick-film metallization-based interconnection system, and a low electrical resistance SiC die-attachment scheme. Both the materials and fabrication process of the basic packaging components have been tested with an in-house-fabricated SiC semiconductor test chip in an oxidizing environment at temperatures from room temperature to 500 C for more than 1000 hr. These test results set lifetime records for both high-temperature electronic packaging and high-temperature electronic device testing. As required, the thick-film-based interconnection system demonstrated low (2.5 times of the room-temperature resistance of the Au conductor) and stable (decreased 3 percent in 1500 hr of continuous testing) electrical resistance at 500 C in an oxidizing environment. Also as required, the electrical isolation impedance between printed wires that were not electrically joined by a wire bond remained high (greater than 0.4 GW) at 500 C in air. The attached SiC diode demonstrated low (less than 3.8 W/mm2) and relatively consistent dynamic resistance from room temperature to 500 C. These results indicate that the prototype package and the compatible die-attach scheme meet the initial design standards for high-temperature, low-power, and long-term operation. This technology will be further developed and evaluated, especially with more mechanical tests of each packaging element for operation at higher temperatures and longer lifetimes.

Chen, Liang-Yu↗
NASA NTRS1998

A Dual-Band Dual-Polarized Array for Spaceborne SAR

Future synthetic aperture radar antennas will be significantly more sophisticated than their earlier counterparts, requiring enhanced electrical capabilities such as operation at multiple frequencies with multiple polarization ability, as well as desirable non-electrical features such as light weight, easy and reliable deployability, and low cost. The present paper describes the results of a prototype SAR array developed with these considerations in mind. This paper will describe the development of a dual-frequency array operating at L and C bands, with dual linear polarization capability at both bands. Unlike most earlier dual-band arrays, this array shares the same radiating aperture for both bands and both polarizations, resulting the smallest possible aperture area for a given gain specification. A critical constraint in this project was a requirement for an extremely light weight package, leading to the use of foam substrates with thin dielectric membranes for metalizations of the radiating elements and feed networks.

Pozar, David M.↗
NASA NTRS2005

Equipping an FPGA-Based Mars Rover With an LN-200 IMU

The Mars Exploration Rovers (MER) currently navigating the surface of Mars are outfitted with an advanced stereovision correlation algorithm which allows them to "see" three-dimensionally and autonomously avoid obstac'les in their path. A bottleneck of this system is that it is computationally intense and requires 3 minutes of processing for every correlated image and path choice. Taking advantage of the optimization and reprogrammability of FPGAs, the Mobility Avionics lab has reduced this process to under a second. The lab is demonstrating the advancement with a prototype rover, complete with an LN-200 inertial measurement unit (IMU), which is a flight spare from MER. The LN-200 is a space-grade, six degrees-of-freedom IMU using three fiber-optic gyroscopes and three silicon accelerometers and no moving parts. It has particular power-sequencing needs and communicates with a specialized serial protocol (SDLC over RS-422), requiring specific hardware and software for proper functionality and interfacing with an FPGA. The process of incorporating the LN-200 into the system is described herein.

Zola, Nicholas J.↗
NASA NTRS2004

Two-Armed, Mobile, Sensate Research Robot

The Anthropomorphic Robotic Testbed (ART) is an experimental prototype of a partly anthropomorphic, humanoid-size, mobile robot. The basic ART design concept provides for a combination of two-armed coordination, tactility, stereoscopic vision, mobility with navigation and avoidance of obstacles, and natural-language communication, so that the ART could emulate humans in many activities. The ART could be developed into a variety of highly capable robotic assistants for general or specific applications. There is especially great potential for the development of ART-based robots as substitutes for live-in health-care aides for home-bound persons who are aged, infirm, or physically handicapped; these robots could greatly reduce the cost of home health care and extend the term of independent living. The ART is a fully autonomous and untethered system. It includes a mobile base on which is mounted an extensible torso topped by a head, shoulders, and two arms. All subsystems of the ART are powered by a rechargeable, removable battery pack. The mobile base is a differentially- driven, nonholonomic vehicle capable of a speed >1 m/s and can handle a payload >100 kg. The base can be controlled manually, in forward/backward and/or simultaneous rotational motion, by use of a joystick. Alternatively, the motion of the base can be controlled autonomously by an onboard navigational computer. By retraction or extension of the torso, the head height of the ART can be adjusted from 5 ft (1.5 m) to 6 1/2 ft (2 m), so that the arms can reach either the floor or high shelves, or some ceilings. The arms are symmetrical. Each arm (including the wrist) has a total of six rotary axes like those of the human shoulder, elbow, and wrist joints. The arms are actuated by electric motors in combination with brakes and gas-spring assists on the shoulder and elbow joints. The arms are operated under closed-loop digital control. A receptacle for an end effector is mounted on the tip of the wrist and contains a force-and-torque sensor that provides feedback for force (compliance) control of the arm. The end effector could be a tool or a robot hand, depending on the application.

Engelberger, J. F.↗
NASA NTRS2011

Aeronautical Mobile Airport Communications System (AeroMACS)

To help increase the capacity and efficiency of the nation s airports, a secure wideband wireless communications system is proposed for use on the airport surface. This paper provides an overview of the research and development process for the Aeronautical Mobile Airport Communications System (AeroMACS). AeroMACS is based on a specific commercial profile of the Institute of Electrical and Electronics Engineers (IEEE) 802.16 standard known as Wireless Worldwide Interoperability for Microwave Access or WiMAX (WiMax Forum). The paper includes background on the need for global interoperability in air/ground data communications, describes potential AeroMACS applications, addresses allocated frequency spectrum constraints, summarizes the international standardization process, and provides findings and recommendations from the world s first AeroMACS prototype implemented in Cleveland, Ohio, USA.

Budinger, James M.↗
NASA NTRSDate not supplied

Embedding Differential Dynamic Logic in PVS

Differential dynamic logic (dL) is a formal framework for specifying and reasoning about hybrid systems, i.e., dynamical systems that exhibit both continuous and discrete behaviors. These kinds of systems arise in many safety- and mission-critical applications. This paper presents a formalization of dL in the Prototype Verification System (PVS) that includes the semantics of hybrid programs and dL’s proof calculus. The formalization embeds dL into the PVS logic, resulting in a version of dL whose proof calculus is not only formally verified, but is also available for the verification of hybrid programs within PVS itself. This embedding, called Plaidypvs (Properly Assured Implementation of dL for Hybrid Program Verification and Specification), supports standard dL style proofs, but further leverages the capabilities of PVS to allow reasoning about entire classes of hybrid programs. The embedding also allows the user to import the well-established definitions and mathematical theories available in PVS.

PVS↗
DOE OSTI2025

Solar Neutrino Detection with a Pixelated Liquid-Argon Time Projection Chamber

This thesis presents a study of low-energy solar neutrino detection using large-scale LArTPCs, focussing on novel pixelated readout technologies. Solar neutrinos offer a unique probe of fundamental neutrino properties and solar physics, but their detection in the MeV range is challenged by backgrounds. We investigate two complementary technologies: SoLAr, which integrates LArPix-based pixelated charge collection with Silicon Photomultipliers (SiPMs) in a hybrid anode design for simultaneous charge and light detection; and Q-Pix, a triggerless pixelated readout architecture based on charge integrate-reset circuits with local clocks, where Reset Time Differences encode ionisation waveforms via time-to-charge conversion. Two SoLAr prototypes were developed and operated, demonstrating VUV-sensitive SiPM performance in liquid argon and accurate charge-light signal matching with a charge detection threshold of $\sim 100 \mathrm{keV}$. We also implement a complete simulation and reconstruction framework, incorporating realistic detector geometry, electron transport, readout response, and detailed signal and background models, including intrinsic argon and radon progeny, as well as site-specific $\gamma$-ray and neutron fluxes. For Q-Pix, we demonstrate that with a pixel size of $4\times 4$ mm$^2$ and a reset threshold of 1 fC ($\sim 0.1475$ MeV), full-scale operation produces data volumes below 1 PB per 10 ktonne-year. For SoLAr, assuming a shielded DUNE-like detector and 100 ktonne-year exposure, we project uncertainties of $0.90\times 10^{-5}$ eV$^2$ on $\Delta m^2_{21}$ and 0.033 on $\sin^2\theta_{12}$, improving to $0.46\times 10^{-5}$ eV$^2$ and 0.025 with 400 kilotonne-year. At this higher exposure, we also obtain a day–night flux asymmetry at the level of $( -5.6 \pm 3.6 ) \%$. Combining Monte Carlo modelling, hardware validation, and advanced reconstruction techniques, this work establishes a path toward next-generation ktonne-scale LArTPCs as observatories for precision solar neutrino physics.

Ruiz Ferreira, Guilherme [Manchester U.] (ORCID:00↗
DOE OSTI2022

Identifying topological superconductivity in two-dimensional transition-metal dichalcogenides

Here we study the superconducting pairing instabilities and gap functions for prototypical two-dimensional (2D) transition-metal dichalcogenides (TMDCs) WS 2 , MoTe 2 , and MoS 2 in the 2H phase under both hole and electron doping at 10 K. Our first-principles quantum many-body Green's function approach allows us to treat the full d and p manifold of orbitals with strong spin-orbit coupling, yielding pairing predictions with material-specific detail. The resulting gap functions exhibit a variety of mixed-parity superconducting states, including s, p, d, f, d ± id, and p ± ip pairing modes. In particular, we predict 3% and 4% hole-doped WS 2 to be a chiral p ± ip topological superconductor. For 1% hole-doped MoS 2 , we find a competition between three doubly degenerate chiral and nonchiral instabilities. Overall, the relative pairing strengths are found to follow the Fermi-surface topology, due to nesting between the Fermi-surface sheets. Finally, we discuss our predictions in relation to available experimental data and classify the topology of the predicted superconducting pairing symmetries.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗