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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 1,387 records · Page 77
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Inverse dynamics of adaptive space cranes with tip point adjustment

The 'space crane', which resembles a conventional solid-link robot but employs truss sections in place of links and length-adjustable bars in place of torque-generating motors, is presently characterized by means of two different inverse-dynamics schemes. While in the first of these the nominal angles are maintained between the links constituting the crane, the second scheme adjusts the nominal angles as a function of time in order to always maintain the tip of the crane along the desired (nomical) trajectory. Attention is given to the second scheme, and to a tip-adjustment method which keeps the high frequency flexibility vibration within limits and ensures numerical stability.

Das, S. K.↗
NASA NTRS2006

Multiaxis, Lightweight, Computer-Controlled Exercise System

The multipurpose, multiaxial, isokinetic dynamometer (MMID) is a computer-controlled system of exercise machinery that can serve as a means for quantitatively assessing a subject s muscle coordination, range of motion, strength, and overall physical condition with respect to a wide variety of forces, motions, and exercise regimens. The MMID is easily reconfigurable and compactly stowable and, in comparison with prior computer-controlled exercise systems, it weighs less, costs less, and offers more capabilities. Whereas a typical prior isokinetic exercise machine is limited to operation in only one plane, the MMID can operate along any path. In addition, the MMID is not limited to the isokinetic (constant-speed) mode of operation. The MMID provides for control and/or measurement of position, force, and/or speed of exertion in as many as six degrees of freedom simultaneously; hence, it can accommodate more complex, more nearly natural combinations of motions and, in so doing, offers greater capabilities for physical conditioning and evaluation. The MMID (see figure) includes as many as eight active modules, each of which can be anchored to a floor, wall, ceiling, or other fixed object. A cable is payed out from a reel in each module to a bar or other suitable object that is gripped and manipulated by the subject. The reel is driven by a DC brushless motor or other suitable electric motor via a gear reduction unit. The motor can be made to function as either a driver or an electromagnetic brake, depending on the required nature of the interaction with the subject. The module includes a force and a displacement sensor for real-time monitoring of the tension in and displacement of the cable, respectively. In response to commands from a control computer, the motor can be operated to generate a required tension in the cable, to displace the cable a required distance, or to reel the cable in or out at a required speed. The computer can be programmed, either locally or via a remote terminal, to support exercises in one or more of the usual exercise modes (isometric, isokinetic, or isotonic) along complex, multiaxis trajectories. The motions of, and forces applied by, the subject can be monitored in real time and recorded for subsequent evaluation. Through suitable programming, the exercise can be adjusted in real time according to the physical condition of the subject. The remote- programming capability makes it possible to connect multiple exercise machines into a network for supervised exercise by multiple subjects or even for competition by geographically dispersed subjects.

Haynes, Leonard↗
NASA NTRS2011

AVIATR - Aerial Vehicle for In-situ and Airborne Titan Reconnaissance A Titan Airplane Mission Concept

We describe a mission concept for a stand-alone Titan airplane mission: Aerial Vehicle for In-situ and Airborne Titan Reconnaissance (AVIATR). With independent delivery and direct-to-Earth communications, AVIATR could contribute to Titan science either alone or as part of a sustained Titan Exploration Program. As a focused mission, AVIATR as we have envisioned it would concentrate on the science that an airplane can do best: exploration of Titan's global diversity. We focus on surface geology/hydrology and lower-atmospheric structure and dynamics. With a carefully chosen set of seven instruments-2 near-IR cameras, 1 near-IR spectrometer, a RADAR altimeter, an atmospheric structure suite, a haze sensor, and a raindrop detector-AVIATR could accomplish a significant subset of the scientific objectives of the aerial element of flagship studies. The AVIATR spacecraft stack is composed of a Space Vehicle (SV) for cruise, an Entry Vehicle (EV) for entry and descent, and the Air Vehicle (AV) to fly in Titan's atmosphere. Using an Earth-Jupiter gravity assist trajectory delivers the spacecraft to Titan in 7.5 years, after which the AVIATR AV would operate for a 1-Earth-year nominal mission. We propose a novel 'gravity battery' climb-then-glide strategy to store energy for optimal use during telecommunications sessions. We would optimize our science by using the flexibility of the airplane platform, generating context data and stereo pairs by flying and banking the AV instead of using gimbaled cameras. AVIATR would climb up to 14 km altitude and descend down to 3.5 km altitude once per Earth day, allowing for repeated atmospheric structure and wind measurements all over the globe. An initial Team-X run at JPL priced the AVIATR mission at FY10 $715M based on the rules stipulated in the recent Discovery announcement of opportunity. Hence we find that a standalone Titan airplane mission can achieve important science building on Cassini's discoveries and can likely do so within a New Frontiers budget.

UAV↗
DOE OSTI2026

A Real2Sim Digital Twin Pipeline for Photorealistic Robot Simulation: Evaluating VLA Policy Deployment on a Bimanual Mobile Robot

Digital twins that are automatically constructed from robot sensor data offer a promising pathway for scalable Real2Sim and Sim2Real transfer. However, it remains an open question whether photorealistic reconstruction alone is sufficient to support reliable deployment of vision-language-action (VLA) policies. We present a generative-AI-assisted Real2Sim pipeline that generates simulation-ready digital twins from real-world RGB observations with minimal manual intervention. The pipeline uses prompted segmentation to isolate scene components and a generative 3D model to directly produce simulation assets, eliminating the need for traditional multi-view reconstruction or manual 3D modeling.\r\nTo evaluate simulation fidelity, we deploy and compare policies from two VLA models in both the real robot and the reconstructed\r\nsimulation under identical tasks and initial conditions. We compare joint-level action trajectories and analyze how divergence evolves over time in closed-loop execution. Although the reconstructed environments are visually accurate, we observe increasing trajectory divergence during closedloop operation. These results indicate that photorealistic reconstruction alone is insufficient to preserve closed-loop control behavior\r\nin VLA policies, particularly in contact-rich manipulation settings where small perceptual errors compound over time.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS2019

NASA’s Space Launch System: Enabling a New Generation of Lunar Exploration

Following two decades of operational experience in low-Earth orbit (LEO), NASA has turned its focus once again to deep space exploration. The Agency is building the Space Launch System (SLS) to take astronauts and cargo to the Moon and send robotic spacecraft deep into the solar system. Offering unmatched performance, departure energy and payload capacity, SLS is designed to evolve into progressively more powerful configurations, enabling a new generation of human exploration of the Moon in preparation for future missions to Mars. The first build of the Block 1 vehicle is nearly complete for Exploration Mission-1 (EM-1), the first integrated flight of SLS and the Orion crew vehicle. EM-1 will send an uncrewed Orion to a distant retrograde lunar orbit in order to test and verify new systems, and along the way will deploy 13 6U-class CubeSats in deep space along the upper stage disposal trajectory after separation from Orion. The Agency’s current plans call for the first three missions on the SLS manifest to utilize the Block 1 vehicle in crew and cargo configurations. A more powerful evolved vehicle, Block 1B, will provide additional mass and volume performance using a new Exploration Upper Stage (EUS). Block 1B will lift 34 to 40 metric tons (t) to trans-lunar injection (TLI), depending on crew or cargo configuration. The Block 1B crew configuration will offer as much payload volume as industry-standard 5 m-diameter fairings to co-manifested payloads in a Universal Stage Adapter (USA). The Block 1B cargo variant will accommodate 8.4 meter-diameter fairings in 62.7-foot (19.1 meter) or 90-foot (27.4 meter) lengths. Adding smallsat secondary payloads to ride along with primary and co-manifested payloads on future flights may be possible, depending on mass margins. Leveraging a flight-proven, well-understood propulsion system, SLS’s flexible architecture, unmatched performance and expansive payload accommodations will open exciting new mission possibilities in deep space. Launches of habitat modules for NASA’s new Gateway lunar outpost, the next generation of robotic spacecraft to the far reaches of the solar system, large-aperture deep space telescopes, probes to interstellar space and the return of astronauts to the Moon are all possible with SLS.

Creech, Stephen D.↗
DOE OSTI2025

Second-generation downscaled earth system model data using generative machine learning

The second-generation Sup3rCC dataset provides high-resolution meteorological data generated through the downscaling of multiple earth system models (ESMs) from the Coupled Model Intercomparison Project Phase 6 (CMIP6). This downscaling is performed through application of a generative machine learning approach called Super-Resolution for Renewable Resource Data (sup3r). This dataset builds on the first-generation Sup3rCC data by applying improved bias correction methods and adding downscaled precipitation to the output variables. As with the first Sup3rCC version, the data still include temperature, wind speed and direction at multiple heights, pressure, three components of downwelling solar radiation, and relative humidity—all at 4-kilometer (km) hourly resolution over the contiguous United States. This is a 25x spatial enhancement and 24x temporal enhancement of the source 100-km daily-average ESM data. This extension of the Sup3rCC dataset includes data from six ESMs from two shared socioeconomic pathways (SSPs) totaling 400 years of data with multiple future projections of changing meteorological conditions. The scenario selection was based on a structured evaluation of historical ESM skill and comprehensive representation of possible trajectories of future climate change in temperature, humidity, precipitation, solar irradiance, and near-surface wind speeds. The inclusion of multiple future projections is intended to enable users to assess key drivers of un 36 certainty and variability. All data are double-bias corrected, resulting in a product that can be used out-of-the-box for energy system analysis with minimal historical bias. The potential applications of Sup3rCC data extend to various topics in renewable energy resource assessment, energy systems modeling, and grid resilience studies. High-resolution future meteorological projections are critical for evaluating the effects of changing meteorological conditions on renewable energy generation, energy demand, and for optimizing energy storage and grid infrastructure. The 4-km hourly resolution of the downscaled data enables understanding of spatial and temporal variability at the scales necessary for energy system operational planning. In addition, the dataset can support risk assessments by providing detailed information on possible future extreme weather events and long-term meteorological variability at scales relevant to energy infrastructure. By offering an enhanced representation of possible future meteorological conditions, the second-generation Sup3rCC dataset enables more precise modeling of energy resilience and adaptation strategies in response to changing meteorological conditions.

24 POWER TRANSMISSION AND DISTRIBUTION↗
DOE OSTI2024

In Silico Human Mobility Data Science: Leveraging Massive Simulated Mobility Data (Vision Paper)

Human mobility data science using trajectories or check-ins of individuals has many applications. Recently, we have seen a plethora of research efforts that tackle these applications. However, research progress in this field is limited by a lack of large and representative datasets. The largest and most commonly used dataset of individual human trajectories captures fewer than 200 individuals, while datasets of individual human check-ins capture fewer than 100 check-ins per city per day. Thus, it is not clear if findings from the human mobility data science community would generalize to large populations. Since obtaining massive, representative, and individual-level human mobility data is hard to come by due to privacy considerations, the vision of this work is to embrace the use of data generated by large-scale socially realistic microsimulations. Informed by both real data and leveraging social and behavioral theories, massive spatially explicit microsimulations may allow us to simulate entire megacities at the person level. The simulated worlds, which do not capture any identifiable personal information, allow us to perform “in silico” experiments using the simulated world as a sandbox in which we have perfect information and perfect control without jeopardizing the privacy of any actual individual. In silico experiments have become commonplace in other scientific domains such as chemistry and biology, permitting experiments that foster the understanding of concepts without any harm to individuals. This work describes challenges and opportunities for leveraging massive and realistic simulated alternate worlds for in silico human mobility data science.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2024

Actinide signatures in low electron fraction kilonova ejecta

ABSTRACT Neutron star (NS) mergers are known to produce heavy elements through rapid neutron capture (r-process) nucleosynthesis. Actinides are expected to be created solely by the r-process in the most neutron-rich environments. Confirming if NS mergers provide the requisite conditions for actinide creation is therefore central to determining their origin in the Universe. Actinide signatures in kilonova (KN) spectra may yield an answer, provided adequate models are available in order to interpret observational data. In this study, we investigate actinide signatures in neutron-rich merger ejecta. We use three ejecta models with different compositions and radioactive power, generated by nucleosynthesis calculations using the same initial electron fraction ($Y_e = 0.15$) but with different nuclear physics inputs and thermodynamic expansion history. These are evolved from 10 to 100 d after merger using the sumo non-local thermodynamic equilibrium (NLTE) radiative transfer code. We highlight how uncertainties in nuclear properties, as well as choices in thermodynamic trajectory, may yield entirely different outputs for equal values of $Y_e$. We consider an actinide-free model and two actinide-rich models, and find that the emergent spectra and light-curve evolution are significantly different depending on the amount of actinides present, and the overall decay properties of the models. We also present potential key actinide spectral signatures, of which doubly ionized $_{89}$Ac and $_{90}$Th may be particularly interesting as spectral indicators of actinide presence in KN ejecta.

Pognan, Quentin (ORCID:0000000152550782)↗
NASA NTRS1978

Preliminary design of an Orbiter/IUS separation sequence

An orbiter/IUS separation sequence to satisfy the assumed requirements of Shuttle Flight 8 was defined for the purpose of gaining an insight into the flight design software requirements. The key to economical and effective flight design for orbiter/IUS proximity operations is considered to be the capability for rapid and accurate generation of graphical displays that will facilitate not only decision making on the part of the designer, but also lucid documentation of rationale and the resulting design features. The data indicate that (1) an OMS burn is required to attain the necessary velocity without subjecting the IUS and its payload to undue plume impingement, and (2) a departure trajectory that places the orbiter above and behind the IUS at SRM ignition time is preferred over the alternative which would place it below and ahead.

Wilson, S. W.↗
NASA NTRS2016

Aerodynamic Models for the Low Density Supersonic Decelerator (LDSD) Test Vehicles

An overview of aerodynamic models for the Low Density Supersonic Decelerator (LDSD) Supersonic Flight Dynamics Test (SFDT) campaign test vehicle is presented, with comparisons to reconstructed flight data and discussion of model updates. The SFDT campaign objective is to test Supersonic Inflatable Aerodynamic Decelerator (SIAD) and large supersonic parachute technologies at high altitude Earth conditions relevant to entry, descent, and landing (EDL) at Mars. Nominal SIAD test conditions are attained by lifting a test vehicle (TV) to 36 km altitude with a helium balloon, then accelerating the TV to Mach 4 and 53 km altitude with a solid rocket motor. Test flights conducted in June of 2014 (SFDT-1) and 2015 (SFDT-2) each successfully delivered a 6 meter diameter decelerator (SIAD-R) to test conditions and several seconds of flight, and were successful in demonstrating the SFDT flight system concept and SIAD-R technology. Aerodynamic models and uncertainties developed for the SFDT campaign are presented, including the methods used to generate them and their implementation within an aerodynamic database (ADB) routine for flight simulations. Pre- and post-flight aerodynamic models are compared against reconstructed flight data and model changes based upon knowledge gained from the flights are discussed. The pre-flight powered phase model is shown to have a significant contribution to off-nominal SFDT trajectory lofting, while coast and SIAD phase models behaved much as predicted.

Van Norman, John W.↗
DOE OSTI2021

Modeling Liquid Water by Climbing up Jacob’s Ladder in Density Functional Theory Facilitated by Using Deep Neural Network Potentials

Within the framework of Kohn–Sham density functional theory (DFT), the ability to provide good predictions of water properties by employing a strongly constrained and appropriately normed (SCAN) functional has been extensively demonstrated in recent years. Here, we further advance the modeling of water by building a more accurate model on the fourth rung of Jacob’s ladder with the hybrid functional, SCAN0. In particular, we carry out both classical and Feynman path-integral molecular dynamics calculations of water with the SCAN0 functional and the isobaric–isothermal ensemble. To generate the equilibrated structure of water, a deep neural network potential is trained from the atomic potential energy surface based on ab initio data obtained from SCAN0 DFT calculations. For the electronic properties of water, a separate deep neural network potential is trained by using the Deep Wannier method based on the maximally localized Wannier functions of the equilibrated trajectory at the SCAN0 level. The structural, dynamic, and electric properties of water were analyzed. The hydrogen-bond structures, density, infrared spectra, diffusion coefficients, and dielectric constants of water, in the electronic ground state, are computed by using a large simulation box and long simulation time. For the properties involving electronic excitations, we apply the GW approximation within many-body perturbation theory to calculate the quasiparticle density of states and bandgap of water. Compared to the SCAN functional, mixing exact exchange mitigates the self-interaction error in the meta-generalized-gradient approximation and further softens liquid water toward the experimental direction. For most of the water properties, the SCAN0 functional shows a systematic improvement over the SCAN functional. However, some important discrepancies remain. The H-bond network predicted by the SCAN0 functional is still slightly overstructured compared to the experimental results.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2024

Tunneling away the relic neutrino asymmetry

The Earth acts as a matter potential for relic neutrinos which modifies their index of refraction from vacuum by δ ∼ 10 − 8 . It has been argued that the refractive effects from this potential should lead to a large O ( δ ) neutrino-antineutrino asymmetry at the surface of the Earth. This result was computed by treating the Earth as flat. In this work, we revisit this calculation in the context of a perfectly spherical Earth. We demonstrate, both numerically and through analytic arguments, that the flat-Earth result is only recovered under the condition δ 3 / 2 k R ≫ 1 , where k is the typical momentum of the relic neutrinos and R is the radius of the Earth. This condition is required to prevent antineutrinos from tunneling into classically inaccessible trajectories below the Earth’s surface and washing away the large asymmetry. As the physical parameters of the Earth do not satisfy this condition, we find that the asymmetry at the surface should only be O ( δ ) . While the asphericity of the Earth may serve as a loophole to our conclusions, we argue that it is still difficult to generate a large asymmetry even in the presence of local terrain. Published by the American Physical Society 2024

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗
NASA NTRS1975

Hybrid computer methods for direct functional optimization

Control and trajectory optimization involves the minimization of a performance index (PI) of integral form where some optimal control law exists in a dynamic system. In this paper, a hybrid minicomputer with an adaptive random-search algorithm implements an iterative search for the optimal control. The search assumes that some initial control is randomly perturbed and a fast analog computer generates respective PI from the analog response of the dynamic system. An improved PI informs the digital computer to utilize the perturbed control as a basis for the next iteration; otherwise a new perturbation replaces the old perturbation in the next iteration. The search terminates when no further improvements occur.

Andrews, M.↗
NASA NTRS1989

Robust high-performance control for robotic manipulators

A robust control scheme to accomplish accurate trajectory tracking for an integrated system of manipulator-plus-actuators is proposed. The control scheme comprises a feedforward and a feedback controller. The feedforward controller contains any known part of the manipulator dynamics that can be used for online control. The feedback controller consists of adaptive position and velocity feedback gains and an auxiliary signal which is simply generated by a fixed-gain proportional/integral/derivative controller. The feedback controller is updated by very simple adaptation laws which contain both proportional and integral adaptation terms. By introduction of a simple sigma modification to the adaptation laws, robustness is guaranteed in the presence of unmodeled dynamics and disturbances.

Seraji, H.↗
NASA NTRS2002

A Tool for Low Noise Procedures Design and Community Noise Impact Assessment: The Rotorcraft Noise Model (RNM)

To improve aircraft noise impact modeling capabilities and to provide a tool to aid in the development of low noise terminal area operations for rotorcraft and tiltrotors, the Rotorcraft Noise Model (RNM) was developed by the NASA Langley Research Center and Wyle Laboratories. RNM is a simulation program that predicts how sound will propagate through the atmosphere and accumulate at receiver locations located on flat ground or varying terrain, for single and multiple vehicle flight operations. At the core of RNM are the vehicle noise sources, input as sound hemispheres. As the vehicle "flies" along its prescribed flight trajectory, the source sound propagation is simulated and accumulated at the receiver locations (single points of interest or multiple grid points) in a systematic time-based manner. These sound signals at the receiver locations may then be analyzed to obtain single event footprints, integrated noise contours, time histories, or numerous other features. RNM may also be used to generate spectral time history data over a ground mesh for the creation of single event sound animation videos. Acoustic properties of the noise source(s) are defined in terms of sound hemispheres that may be obtained from theoretical predictions, wind tunnel experimental results, flight test measurements, or a combination of the three. The sound hemispheres may contain broadband data (source levels as a function of one-third octave band) and pure-tone data (in the form of specific frequency sound pressure levels and phase). A PC executable version of RNM is publicly available and has been adopted by a number of organizations for Environmental Impact Assessment studies of rotorcraft noise. This paper provides a review of the required input data, the theoretical framework of RNM's propagation model and the output results. Code validation results are provided from a NATO helicopter noise flight test as well as a tiltrotor flight test program that used the RNM as a tool to aid in the development of low noise approach profiles.

Conner, David A.↗
NASA NTRS2003

CODA: Coordinated Observations of Dynamics in Aurora

The grant funds were provided to carry out chemical tracer wind and turbulence measurements in the mesosphere and lower thermosphere as part of the Coordinated Observations of Dynamics in Aurora (CODA) experiment for which Dr. Andy Christensen of the Aerospace Corp. was the Principal Investigator. Clemson University was a co-investigator institution on the project and was tasked with designing, building, and testing a total of four chemical tracer release payloads which were used to release trimethyl aluminum (TMA) to measure the winds and turbulent diffusion. All four payloads were flown from the rocket range at Poker Flat, Alaska, in support of instrumented payloads flown from the same location. The CODA experiment was designed to investigate the changes in the chemical composition in the lower thermosphere during an auroral substorm event. In particular, the objective was to determine the relative importance of two competing mechanisms. The first mechanism is associated with the advection of air from the polar cap into the auroral oval. A flow in that direction is typical in the postmidnight sector of the oval. As the air moves from the region of negligible forcing in the polar cap to the region of strong forcing and heating in the oval, changes in the composition are expected to occur. Alternatively, enhanced local mixing will also cause such changes. Since the auroral forcing accelerates the neutral winds in the lower E region, but not at lower altitudes, the forcing results in large shears that can be large enough to be unstable in the Richardson number sense. The unstable shears are expected to generate turbulence and therefore enhanced mixing. Such mixing will also create composition changes similar to what is observed. In the CODA experiment an instrumented payload designed and built by the Aerospace Corporation was used to measure the composition and plasma parameters needed to define the auroral forcing. In addition, three chemical tracer payloads were to be flown along three trajectories widely separated in azimuth to map out the winds and wind gradients. The measurements would thus provide information about the local composition changes above the launch site as well as detailed information about the advection and location of stable or unstable shears both locally and over a broader area in the vicinity of the launch site.

Larsen, M. F.↗
NASA NTRS2008

Aerodynamics for the Mars Phoenix Entry Capsule

Pre-flight aerodynamics data for the Mars Phoenix entry capsule are presented. The aerodynamic coefficients were generated as a function of total angle-of-attack and either Knudsen number, velocity, or Mach number, depending on the flight regime. The database was constructed using continuum flowfield computations and data from the Mars Exploration Rover and Viking programs. Hypersonic and supersonic static coefficients were derived from Navier-Stokes solutions on a pre-flight design trajectory. High-altitude data (free-molecular and transitional regimes) and dynamic pitch damping characteristics were taken from Mars Exploration Rover analysis and testing. Transonic static coefficients from Viking wind tunnel tests were used for capsule aerodynamics under the parachute. Static instabilities were predicted at two points along the reference trajectory and were verified by reconstructed flight data. During the hypersonic instability, the capsule was predicted to trim at angles as high as 2.5 deg with an on-axis center-of-gravity. Trim angles were predicted for off-nominal pitching moment (4.2 deg peak) and a 5 mm off-axis center-ofgravity (4.8 deg peak). Finally, hypersonic static coefficient sensitivities to atmospheric density were predicted to be within uncertainty bounds.

Edquist, Karl T.↗
NASA NTRS2010

Post2 End-to-End Descent and Landing Simulation for ALHAT Design Analysis Cycle 2

The ALHAT project is an agency-level program involving NASA centers, academia, and industry, with a primary goal to develop a safe, autonomous, precision-landing system for robotic and crew-piloted lunar and planetary descent vehicles. POST2 is used as the 6DOF descent and landing trajectory simulation for determining integrated system performance of ALHAT landing-system models and lunar environment models. This paper presents updates in the development of the ALHAT POST2 simulation, as well as preliminary system performance analysis for ALDAC-2 used for the testing and assessment of ALHAT system models. The ALDAC-2 POST2 Monte Carlo simulation results have been generated and focus on HRN model performance with the fully integrated system, as well performance improvements of AGNC and TSAR model since the previous design analysis cycle

Davis, Jody L.↗