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NASA NTRS2000

Climatological Processing of Radar Data for the TRMM Ground Validation Program

The Tropical Rainfall Measuring Mission (TRMM) satellite was successfully launched in November, 1997. The main purpose of TRMM is to sample tropical rainfall using the first active spaceborne precipitation radar. To validate TRMM satellite observations, a comprehensive Ground Validation (GV) Program has been implemented. The primary goal of TRMM GV is to provide basic validation of satellite-derived precipitation measurements over monthly climatologies for the following primary sites: Melbourne, FL; Houston, TX; Darwin, Australia; and Kwajalein Atoll, RMI. As part of the TRMM GV effort, research analysts at NASA Goddard Space Flight Center (GSFC) generate standardized TRMM GV products using quality-controlled ground-based radar data from the four primary GV sites as input. This presentation will provide an overview of the TRMM GV climatological processing system. A description of the data flow between the primary GV sites, NASA GSFC, and the TRMM Science and Data Information System (TSDIS) will be presented. The radar quality control algorithm, which features eight adjustable height and reflectivity parameters, and its effect on monthly rainfall maps will be described. The methodology used to create monthly, gauge-adjusted rainfall products for each primary site will also be summarized. The standardized monthly rainfall products are developed in discrete, modular steps with distinct intermediate products. These developmental steps include: (1) extracting radar data over the locations of rain gauges, (2) merging rain gauge and radar data in time and space with user-defined options, (3) automated quality control of radar and gauge merged data by tracking accumulations from each instrument, and (4) deriving Z-R relationships from the quality-controlled merged data over monthly time scales. A summary of recently reprocessed official GV rainfall products available for TRMM science users will be presented. Updated basic standardized product results and trends involving monthly accumulation, Z-R relationship, and gauge statistics for each primary GV site will be also displayed.

Kulie, Mark↗

NASA NTRS2001

Lessons from Adaptive Level One Accelerator (ALOA) System Implementation

The Adaptive Level One Accelerator (ALOA) system was developed as part of the Earth Science Data and Information System (ESDIS) project. The reconfigurable computing technologies were investigated for Level 1 satellite telemetry data processing to achieve computing acceleration and cost reduction for the next-generation Level 1 data processing systems. The MODIS instrument calibration algorithm was implemented using reconfigurable a computer. The system development process and the lessons learned throughout the design cycle are summarized in this paper.

Patel, Umesh D.↗

NASA NTRS2003

NASA's Scientific Agenda for GPM Mission

The objectives of the Global Precipitation Measurement (GPM) Mission are to: 1) Understand the horizontal and vertical structure of rainfall, its macro- and micro-physical nature, and its associated latent heating, 2) Train and calibrate retrieval algorithms for constellation radiometers, 3) Provide sufficient global sampling to significantly reduce uncertainties in short-term rainfall accumulations, and 4) Extend scientific and societal applications. The GPM mission design consists of a core satellite, constellation satellties, precipitation validation sites for error characterization, and a precipitation processing center. This viewgraph presentation profiles the science goals of the mission, and its capability for producing climate data and weather predictions.

Smith, Eric A.↗

NASA NTRS2012

Space Weathering Investigations Enabled by NASA's Virtual Heliophysical Observatories

Structural and chemical impact of the heliospheric space environment on exposed planetary surfaces and interplanetary dust grains may be generally defined as space weathering . In the inner solar system, from the asteroid belt inwards towards the Sun, the surface regolith structures of airless bodies are primarily determined by cumulative meteoritic impacts over billions of years, but the molecular composition to meters in depth can be substantially modified by irradiation effects. Plasma ions at eV to keV energies may both erode uppermost surfaces by sputtering, and implant or locally produce exogenic material, e.g. He-3 and H2O, while more energetic ions drive molecular change through electronic ionization. Galactic cosmic ray ions and more energetic solar ions can impact chemistry to meters in depth. High energy cosmic ray interactions produce showers of secondary particles and energetic photons that present hazards for robotic and human exploration missions but also enable detection of potentially useable resources such as water ice, oxygen, and many other elements. Surface sputtering also makes ejected elemental and molecular species accessible for in-situ compositional analysis by spacecraft with ion and neutral mass spectrometers. Modeling of relative impacts for these various space weathering processes requires knowledge of the incident species-resolved ion flux spectra at plasma to cosmic ray energies and as integrated over varying time scales. Although the main drivers for investigations of these processes come from NASA's planetary science and human exploration programs, the NASA heliophysics program provides the requisite data measurement and modeling resources to enable specification of the field & plasma and energetic particle irradiation environments for application to space weather and surface weathering investigations. The Virtual Heliospheric Observatory (VHO), Virtual Energetic Particle Observatory (VEPO), Lunar Solar Origins Exploration (LunaSOX), and Space Physics Data Facility (SPDF) services now provide a wide range of inner heliospheric spacecraft data that can be applied to space weathering of potential exploration destinations including the Moon, asteroids, and the moons of Mars, as well to radiation hazard assessment for the spacecraft and human explorers. For example, the new VEPO service for time-averaging of multi-source ion flux spectra enables the specification of composite flux spectra from a variety of ongoing and legacy missions for applications to surface interaction modeling. Apollo to Artemis data resources of LunaSOX enable specific space weathering investigations for the Moon, while VHO more generally covers the space field and plasma environments of the inner and outer solar system from the sunward-most perihelia of the twin Helios spacecraft to the ongoing heliosheath passages of the twin Voyagers. Composite multi-source spectra from VEPO can also be applied to the continuing compilation of accumulated 1-AU fluence spectra, mostly contributed by solar wind plasma and energetic particle events, for determination of time-averaged particle compositional and kinetic energy output from the Sun and for modeling of long-term irradiation impacts on planetary surfaces.

Cooper, John F.↗

NASA NTRS2012

QuakeSim 2.0

QuakeSim 2.0 improves understanding of earthquake processes by providing modeling tools and integrating model applications and various heterogeneous data sources within a Web services environment. QuakeSim is a multisource, synergistic, data-intensive environment for modeling the behavior of earthquake faults individually, and as part of complex interacting systems. Remotely sensed geodetic data products may be explored, compared with faults and landscape features, mined by pattern analysis applications, and integrated with models and pattern analysis applications in a rich Web-based and visualization environment. Integration of heterogeneous data products with pattern informatics tools enables efficient development of models. Federated database components and visualization tools allow rapid exploration of large datasets, while pattern informatics enables identification of subtle, but important, features in large data sets. QuakeSim is valuable for earthquake investigations and modeling in its current state, and also serves as a prototype and nucleus for broader systems under development. The framework provides access to physics-based simulation tools that model the earthquake cycle and related crustal deformation. Spaceborne GPS and Inter ferometric Synthetic Aperture (InSAR) data provide information on near-term crustal deformation, while paleoseismic geologic data provide longerterm information on earthquake fault processes. These data sources are integrated into QuakeSim's QuakeTables database system, and are accessible by users or various model applications. UAVSAR repeat pass interferometry data products are added to the QuakeTables database, and are available through a browseable map interface or Representational State Transfer (REST) interfaces. Model applications can retrieve data from Quake Tables, or from third-party GPS velocity data services; alternatively, users can manually input parameters into the models. Pattern analysis of GPS and seismicity data has proved useful for mid-term forecasting of earthquakes, and for detecting subtle changes in crustal deformation. The GPS time series analysis has also proved useful as a data-quality tool, enabling the discovery of station anomalies and data processing and distribution errors. Improved visualization tools enable more efficient data exploration and understanding. Tools provide flexibility to science users for exploring data in new ways through download links, but also facilitate standard, intuitive, and routine uses for science users and end users such as emergency responders.

Donnellan, Andrea↗

NASA NTRS2006

An Empirical Comparison between Two Recursive Filters for Attitude and Rate Estimation of Spinning Spacecraft

The advantages of inducing a constant spin rate on a spacecraft are well known. A variety of science missions have used this technique as a relatively low cost method for conducting science. Starting in the late 1970s, NASA focused on building spacecraft using 3-axis control as opposed to the single-axis control mentioned above. Considerable effort was expended toward sensor and control system development, as well as the development of ground systems to independently process the data. As a result, spinning spacecraft development and their resulting ground system development stagnated. In the 1990s, shrinking budgets made spinning spacecraft an attractive option for science. The attitude requirements for recent spinning spacecraft are more stringent and the ground systems must be enhanced in order to provide the necessary attitude estimation accuracy. Since spinning spacecraft (SC) typically have no gyroscopes for measuring attitude rate, any new estimator would need to rely on the spacecraft dynamics equations. One estimation technique that utilized the SC dynamics and has been used successfully in 3-axis gyro-less spacecraft ground systems is the pseudo-linear Kalman filter algorithm. Consequently, a pseudo-linear Kalman filter has been developed which directly estimates the spacecraft attitude quaternion and rate for a spinning SC. Recently, a filter using Markley variables was developed specifically for spinning spacecraft. The pseudo-linear Kalman filter has the advantage of being easier to implement but estimates the quaternion which, due to the relatively high spinning rate, changes rapidly for a spinning spacecraft. The Markley variable filter is more complicated to implement but, being based on the SC angular momentum, estimates parameters which vary slowly. This paper presents a comparison of the performance of these two filters. Monte-Carlo simulation runs will be presented which demonstrate the advantages and disadvantages of both filters.

Harman, Richard R.↗

NASA NTRS2018

Initial Operations Experience and Results from the Juno Gravity Experiment

Radio communications between the Juno spacecraft, in orbit around Jupiter, and the Earth-based observing stations of NASA’s Deep Space Network enable measurements of the Doppler shift induced on the radio signals by Juno’s motion in the Jovian environment. This measurement of the Doppler shift improves the knowledge of Jupiter’s gravitational field. As a radio science instrument, Juno’s gravity science instrument utilizes a ground component at the Deep Space Network’s DSS-25 antenna, equipped with simultaneous dual X- and Ka-band transmitters and receivers, and a spacecraft component, which includes X- and Ka-band transponders to relay the transmitted signal back to Earth. Originally planned to be in 14-day orbits around Jupiter, a risk identified in the propulsion system led to the decision to stay in the 53-day orbit period. Rapid turnaround of observation planning led to successful near-term perijove passes. Although maintaining a 53-day orbit period provides a scientific benefit to the gravity science investigation, the longer orbit period further increases the large dynamic range in Doppler shift and pointing angles induced by the geometry of each perijove. Between entering orbit at Jupiter on July 5, 2016 and September 2017, the Juno spacecraft has executed eight closest approach periods every 53 days where science data was collected. The first five perijove passes were conducted in different telecom configurations, each presenting unique challenges in data collection and processing. Perijoves PJ-01, PJ-02, PJ-03, and PJ-06 utilized the high-gain antenna and various configurations of the X- and Ka-bands. Perijoves PJ-04 and PJ-05 utilized the medium-gain antenna at X-band only while the spacecraft was off-Earth point. Additional perijoves are planned every 53-days, with an additional five by March 2018. Lessons learned from operating and collecting data at each perijove are documented and will be utilized in future perijoves. Analysis of the first two gravity science perijoves has improved the precision of Jupiter’s gravity field by a factor of five, providing crucial constraints on the interior structure of Jupiter.

Buccino, Dustin↗

DOE OSTI2015

SU-E-T-272: Direct Verification of a Treatment Planning System Megavoltage Linac Beam Photon Spectra Models, and Analysis of the Effects On Patient Plans

Purpose: For the photon dose calculation Philips Pinnacle Treatment Planning System (TPS) uses collapsed cone convolution algorithm, which relies on energy spectrum of the beam in computing the scatter component. The spectrum is modeled based on Linac’s standard commissioning data and typically is not independently verified. We explored a methodology of using transmission measurements in combination with regularization data processing to unfold Linac spectra. The measured spectra were compared to those modeled by the TPS, and the effect on patient plans was evaluated. Methods: Transmission measurements were conducted in narrow-beam geometry using a standard Farmer ionization chamber. Two attenuating materials and two build -up caps, having different atomic numbers, served to enhance discrimination between absorption of low and high-energy portions of the spectra, thus improving the accuracy of the results. The data was analyzed using a regularization technique implemented through spreadsheet-based calculations. Results: The unfolded spectra were found to deviate from the TPS beam models. The effect of such deviations on treatment planning was evaluated for patient plans through dose distribution calculations with either TPS modeled or measured energy spectra. The differences were reviewed through comparison of isodose distributions, and quantified based on maximum dose values for critical structures. While in most cases no drastic differences in the calculated doses were observed, plans with deviations of 4 to 8% in the maximum dose values for critical structures were discovered. The anatomical sites with large scatter contributions are the most vulnerable to inaccuracies in the modeled spectrum. Conclusion: An independent check of the TPS model spectrum is highly desirable and should be included as part of commissioning of a new Linac. The effect is particularly important for dose calculations in high heterogeneity regions. The developed approach makes acquisition of megavoltage Linac beam spectra achievable in a typical radiation oncology clinic.

60 APPLIED LIFE SCIENCES↗

DOE OSTI2024

CROCUS Urban Fluxes of CO₂, H₂O, and Turbulence at University of Illinois Chicago

As of May 12, 2026 this dataset is currently being versioned to include data up to April 2026. Once the versioning process is complete, new data files will be available for access. The dataset metadata will also be updated to reflect the data availability of the new data being versioned. This dataset was collected at the UIC Plant Research Laboratory in Chicago, Illinois, as part of the Community Research on Climate and Urban Science (CROCUS) Urban Integrated Field Laboratory (UIFL) project, led by Argonne National Laboratory. The site provides continuous atmospheric flux measurements, focusing on CO₂, H₂O, and heat and momentum transport in an urban setting. The data is processed at 30 minutes interval using the Eddy Covariance method and includes quality control and diagnostic data generated by EddyPro software. The data is stored in the netCDF files following CF conventions. The UIC Plant Research Laboratory is located near major highways and urban infrastructure, including buildings and parking areas. The surrounding landscape consists of a mix of turf, plants, trees, and impervious surfaces such as concrete and asphalt, making it ideal for studying urban at for studies on urban sustainability, air quality, and the effects of urbanization on atmospheric processes on urban climate dynamics, air quality, and surface-atmosphere exchanges within the city of Chicago. This dataset is funded by the U.S. Department of Energy’s Office of Science, Biological and Environmental Research (BER) program.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2016

SU-C-207A-06: On-Line Beam Range Verification with Multiple Scanning Particle Beams: Initial Feasibility Study with Simulations

Purpose: To investigate the feasibility and requirement for intra-fraction on-line multiple scanning particle beam range verifications (BRVs) with in-situ PET imaging, which is beyond the current single-beam BRV with extra factors that will affect the BR measurement accuracy, such as beam diameter, separation between beams, and different image counts at different BRV positions. Methods: We simulated a 110-MeV proton beam with 5-mm diameter irradiating a uniform PMMA phantom by GATE simulation, which generated nuclear interaction-induced positrons. In this preliminary study, we simply duplicated these positrons and placed them next to the initial protons to approximately mimic the two spatially separated positron distributions produced by two beams parallel to each other but with different beam ranges. These positrons were then imaged by a PET (∼2-mm resolution, 10% sensitivity, 320×320×128 mm^3 FOV) with different acquisition times. We calculated the positron activity ranges (ARs) from reconstructed PET images and compared them with the corresponding ARs of original positron distributions. Results: Without further image data processing and correction, the preliminary study show the errors between the measured and original ARs varied from 0.2 mm to 2.3 mm as center-to-center separations and range differences were in the range of 8–12 mm and 2–8 mm respectively, indicating the accuracy of AR measurement strongly depends on the beam separations and range differences. In addition, it is feasible to achieve ≤ 1.0-mm accuracy for both beams with 1-min PET acquisition and 12 mm beam separation. Conclusion: This study shows that the overlap between the positron distributions from multiple scanning beams can significantly impact the accuracy of BRVs of distributed particle beams and need to be further addressed beyond the established method of single-beam BRV, but it also indicates the feasibility to achieve accurate on-line multi-beam BRV with further improved method.

60 APPLIED LIFE SCIENCES↗

NASA NTRSDate not supplied

Expanding Repository Data Available For Sharing and Knowledge Discovery

Some of the hardest space biology and space health challenges require data-intensive, bioinformatic, meta-analytical, and computer-assisted research approaches. These challenges include examining interdisciplinary space life science research across experiments and across interacting spaceflight hazards (radiation, altered gravity, confinement, hostile-closed environments, distance-duration from Earth). The approaches to confront these challenges involve mining multiple datasets simultaneously from various hierarchical organizations of biological complexity, all while concurrently evaluating how experimental design factors affect endpoints of standard assays. To enable this field, it is essential that principal investigators (PIs) submit data in a structure so it can be maximally re-used. The purpose of the NASA Ames Life Sciences Data Archive (ALSDA) is to collect, curate, and make publicly available all non-human space-relevant biological data. ALSDA must also ensure data are open-access, and maximally findable, accessible, interoperable, and reusable (FAIR). The scope of ALSDA data collected and submitted by PIs include subject and study design metadata, assay metadata parameters, raw and processed assay data, assay imagery/video, and subject-experienced mission data telemetry (radiation, temperature, humidity, acoustics, vibrations, etc.). ALSDA recently integrated into a collaborative group of Open Science projects to facilitate a suite of new tools and workflows that will improve data submission, accessibility, and reusability by implementing digital data submission agreements, and adopting the data management system originally developed by NASA GeneLab. ALSDA intends to bring current biological repository data and all future collected data into this new scientific data reuse reality. This new suite of tools will enable ALSDA to deploy a science curation system using scientific assay configurations for the data submission portal. It will capture essential assay parameters according to established standards in each sub-field within biology. The submission portal expedites data collection by enhancing ease of PI data submission, providing a user interface and specificity for which data is to be submitted. Data submissions can be brought into cutting-edge informatic analysis portals to enable mining of physiological, behavioral, biochemical, and imaging datasets in conjunction with ‘omics-level datasets. As ALSDA datasets are submitted, curated, and published (e.g., micro-computed tomography, histology, pulse oximetry, serum metabolites, magnetic resonance imaging, intraocular pressure, novel object recognition, etc.), the merging together of spaceflight data along this multi-hierarchical complexity of biology will enable informatics and data-intensive approaches resulting in knowledge discoveries across missions, space hazards, and biological disciplines.

Biology↗

NASA NTRSDate not supplied

Expanding Repository Data Available For Sharing And Knowledge Discovery

life science↗

NASA NTRS2008

The Cassini Live Update Process

The Cassini orbiter is an international science mission to the Saturnian system with 12 science instruments onboard. The Cassini spacecraft lacks a scan platform, which means the entire spacecraft must be rotated to control pointing of any one instrument's boresight. The resulting complex sequences of commands are built beginning many months before execution onboard. Late ephemeris updates from improved navigation data (i.e. after an orbital trim maneuver) often result in pointing commands in the sequence no longer being accurate enough to obtain the desired science observation. This paper will provide an overview of how Cassini uses live updates to address this potential loss of data, including the software developed for this process.

Vandermey, Nancy↗

NASA NTRS1999

A Versatile Planetary Radio Science Microreceiver

We have developed a low-power. programmable radio "microreceiver" that combines the functionality of two science instruments: a Relative Ionospheric Opacity Meter (riometer) and a swept-frequency, VTF/HF radio spectrometer. The radio receiver, calibration noise source, data acquisition and processing, and command and control functions are all contained on a single circuit board. This design is suitable for miniaturizing as a complete flight instrument. Several of the subsystems were implemented in a field-programmable gate array (FPGA), including the receiver detector, the control logic, and the data acquisition and processing blocks. Considerable efforts were made to reduce the power consumption of the instrument, and eliminate or minimize RF noise and spurious emissions generated by the receiver's digital circuitry. A prototype instrument was deployed at McMurdo Station, Antarctica, and operated in parallel with a traditional riometer instrument for approximately three weeks. The attached paper (accepted for publication by Radio Science) describes in detail the microreceiver theory of operation, performance specifications and test results.

Fry, Craig D.↗

DOE OSTI2018

Performance Analysis, Design Considerations, and Applications of Extreme-Scale In Situ Infrastructures

A key trend facing extreme-scale computational science is the widening gap between computational and I/O rates, and the challenge that follows is how to best gain insight from simulation data when it is increasingly impractical to save it to persistent storage for subsequent visual exploration and analysis. One approach to this challenge is centered around the idea of in situ processing, where visualization and analysis processing is performed while data is still resident in memory. This paper examines several key design and performance issues related to the idea of in situ processing at extreme scale on modern platforms: Scalability, overhead, performance measurement and analysis, comparison and contrast with a traditional post hoc approach, and interfacing with simulation codes. We illustrate these principles in practice with studies, conducted on large-scale HPC platforms, that include a miniapplication and multiple science application codes, one of which demonstrates in situ methods in use at greater than 1M-way concurrency.

Ayachit, Utkarsh↗

DOE OSTI2021

Increasing freshwater and dissolved organic carbon flows to Northwest Alaska’s Elson lagoon

Manifestations of climate change in the Arctic are numerous and include hydrological cycle intensification and permafrost thaw, both expected as a result of atmospheric and surface warming. Across the terrestrial Arctic dissolved organic carbon (DOC) entrained in arctic rivers may be providing a carbon subsidy to coastal food webs. Yet, data from field sampling is too often of limited duration to confidently ascertain impacts of climate change on freshwater and DOC flows to coastal waters. This study applies numerical modeling to investigate trends in freshwater and DOC exports from land to Elson Lagoon in Northwest Alaska over the period 1981-2020. While the modeling approach has limitations, the results point to significant increases in freshwater and DOC exports to the lagoon over the past four decades. The model simulation reveals significant increases in surface, subsurface (suprapermafrost), and total freshwater exports. Significant increases are also noted in surface and subsurface DOC production and export, influenced by warming soils and associated active-layer thickening. The largest changes in subsurface components are noted in September, which has experienced a ~50% increase in DOC export emanating from suprapermafrost flow. Direct coastal suprapermafrost freshwater and DOC exports in late summer more than doubled between the first and last five years of the simulation period, with a large anomaly in September 2019 representing a more than fourfold increase over September direct coastal export during the early 1980s. These trends highlight the need for dedicated measurement programs that will enable improved understanding of climate change impacts on coastal zone processes in this data sparse region of Northwest Alaska.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2022

Quasielastic least-squares reverse time migration of PS reflections

Conventional analysis of amplitude variation with offset for elastic PS reflections is based on analytical reflection coefficients in a layered medium, and wave-equation-based PS migration is mainly used to produce a structural image. To overcome this problem, we have developed a least-squares reverse time migration (LSRTM) method for elastic PS reflections based on a quasielastic wave equation. Here, the quasielastic wave equation can accurately model PS reflections with elastic amplitudes under the first-order Born approximation. Our LSRTM method inverts for perturbations of the S-wave velocity and density by minimizing the L 2 norm of the difference between recorded and predicted PS reflections modeled using a quasielastic wave equation. We refer to our new method as quasielastic LSRTM of PS reflections. Numerical tests on synthetic and field data indicate that our method can properly handle the amplitudes of elastic PS reflections and provides an accurate estimate of the perturbations of S-wave velocity and density. Extending the method to the 3D case is not straightforward and might require incorporating certain PS data processing techniques into the inversion itself.

58 GEOSCIENCES↗

DOE OSTI2023

CSAPR2 Optimized Convective Cell Tracking Data during TRACER

One of the challenges in analyzing convective cell properties is to observe the quick evolution of individual convective cells. While the operational radar data provide a volumetric data set to analyze radar observables of convective precipitation clouds, previous studies also suggested the quick evolution of cell life cycle that might not be captured by conventional radar volume scan strategies that take ~5-7 minutes. Aiming at enhancing our understanding of the links between convective cloud kinematic and microphysical processes as well as life cycles, the Tracking Aerosol Convection Interactions ExpeRiment (TRACER; Jensen et al. 2019) was conducted at Houston, Texas, in 2022. The TRACER campaign deployed the 2nd generation C-band Scanning ARM Precipitation Radar (CSAPR2), which performed frequent updates of range height indicator (RHI) and sector plan position indicator (PPI) scans to track individual convective cells every < 2 minutes, guided by a new cell tracking framework, Multisensor Agile Adaptive Sampling (MAAS; Kollias et al. 2020). This allows for capturing fast-evolving radar observables. We provide the processed CSAPR2 cell tracking data in CfRadial format collected during the TRACER field campaign from June to September 2022. The data files include processed radar variables: noise-masked reflectivity and differential reflectivity corrected for rain attenuation and systematic biases, noise-masked dealiased radial velocity, specific differential phase, locations of target cells (latitude, longitude, radar range), and radar-echo classification. Figure 1 provides an example of a 3D image of CSAPR2 reflectivity from the lowest PPI scan and an RHI scan after data processing.

54 ENVIRONMENTAL SCIENCES↗