Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Penetrator”

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.

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

At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1960

The Dependency of Penetration on the Momentum Per Unit Area of the Impacting Projectile and the Resistance of Materials to Penetration

The results of this investigation indicate that the penetration of projectiles into quasi-infinite targets can be correlated as a function of the maximum momentum per unit area possessed by the projectiles. The penetration of projectiles into aluminum, copper, and steel targets was found to be a linear function while the penetration into lead targets was a nonlinear function of the momentum per unit area of the impacting projectiles. Penetration varied inversely as the projectile density and the elastic modulus of the target material for a given projectile momentum per unit area. Crater volumes were found to be a linear function of the kinetic energy of the projectile, the greater volumes being obtained in the target materials which had the lowest yield strength and the lowest speed of sound.

Collins, Rufus D., Jr.↗
DOE OSTI2024

Cloud-based Testbed for Adaptive Under-Frequency Load Shedding with High DER Penetration

Increasing penetration of distributed energy resources and behind-the-meter renewables may soon disrupt the efficacy of critical protection schemes, such as under-frequency load shedding (UFLS). Improved data exchange and coordination across the transmission-distribution boundary will be required to maintain reliability of bulk electric system. Standards-based data integration platforms using agreed-upon semantic vocabularies, such as the Common Information Model, will be key to enabling adaptive protection schemes requiring synthesized data from both the bulk power system and behind-the-meter resources. This paper introduces a cloud-based open-source data integration environment and UFLS clustering algorithm being developed to enable adaptive relay coordination between transmission and distribution utilities in the state of Vermont.

Anderson, Alexander A.↗
NASA NTRS1987

Space station integrated wall design and penetration damage control. Task 3: Theoretical analysis of penetration mechanics

The efforts to provide a penetration code called PEN4 version 10 is documented for calculation of projectile and target states for the impact of 2024-T3 aluminum, R sub B 90 1018 steel projectiles and icy meteoroids onto 2024-T3 aluminum plates at impact velocities from 0 to 16 km/s. PEN4 determines whether a plate is perforated by calculating the state of fragmentation of projectile and first plate. Depth of penetration into the second to n sup th plate by fragments resulting from first plate perforation is determined by multiple cratering. The results from applications are given.

Bjorkman, M. D.↗
NASA NTRS2016

Re: Penetration Behavior of Opposed Rows of Staggered Secondary Air Jets Depending on Jet Penetration Coefficient and Momentum Flux Ratio

The purpose of this article is to explain why the extension of the previously published C = (S/Ho)sqrt(J) scaling for opposed rows of staggered jets wasn't directly successful in the study by Choi et al. (2016). It is not surprising that staggered jets from opposite sides do not pass each other at the expected C value, because Ho/D and sqrt(J) are much larger than the maximum in previous studies. These, and large x/D's, tend to suggest development of 2-dimensional flow. Although there are distinct optima for opposed rows of in-line jets, single-side injection, and opposed rows of staggered jets based on C, opposed rows of staggered jets provide as good or better mixing performance, at any C value, than opposed rows of in-line jets or jets from single-side injection.

Jet Flow↗
NASA NTRSDate not supplied

Effect of Vacuum on Force Response of an Ultrasonic Penetrator

Introduction: The Apollo astronauts encountered higher than expected resistances when interacting with the lunar soil via the Apollo Lunar Surface Drill (ALSD) and the trenching tool. Reducing the force required to move tools or other mechanical components through regolith will impact many steps of the resource extraction process. Force reduction has been achieved in soil materials by imparting vibration to tooling interfaces such as a vibratory farming cultivator, a percussive scoop, and ultrasonically resonant penetrators. Vibration-assisted tools in granular media reduce interaction forces by fluidizing a volume around the tool, allowing the tool to progress through a dynamic (fluid) medium instead of a static (solid) medium. This work seeks to quantify ultrasonic vibration’s effect on the force response of a penetrator in lunar soil simulant in vacuum sufficient to be within the molecular flow regime of any disturbed gases. Methods: A custom vacuum chamber setup, CUBEvac, was designed and built to facilitate penetration testing in a high vacuum environment, for comparison to penetration behavior in ambient terrestrial environment. A two-stage pumping system (Agilent Triscroll 600 roughing pump, Agilent VHS-6 oil diffusion pump) reached chamber pressures of about 5x10-6 Torr with regolith simulant in place. Figure 1 is a schematic of the heart of the assembly (note the penetration drive mechanisms above the chamber feedthrough and the regolith simulant sample in the bottom are not shown). The penetration actuation stack was comprised of a stepper motor driving a lead screw to move the ultra-sonic probe vertically inside the chamber. Motion was coordinated with an Arduino Uno. GRC-3 lunar simulant was used for this set of experiments. Samples were prepared in a four-liter stain-less steel, cylindrical pot with an internal diameter of approximately 15.56 cm (6.125 in) and a depth of 19.37 cm (7 5/8 in) for testing. The soil was baked out prior to compaction preparation as a measure to reduce soil moisture which interfered with pump down capacity. The soil was not baked again if it was removed from the vacuum chamber, prepped, and immediately returned to the vacuum chamber for pump down. The soil was compacted using a 60 Hz vibration table with a surcharge of 34 kg place on top of the soil in the container. Prepared soil samples weighed approximately 6.5 kg (bulk density 1.895-1.934 g/cm3). Two probe end effectors were tested: A cone penetrometer (static only) with a nominal diameter of 12.7 mm (0.5 in) and a nominal height of 28.6 mm (1.125 in); and a vibrating cylindrical probe measuring 12.7 mm in diameter and 50.8 mm in effective length from the tip (Figure 2). The cylindrical probe vibrated resonantly at 20 kHz with an amplitude 23 μm. The cone penetration tests were conducted to assess potential soil behavior differences in vacuum. The cylinder probe tests were conducted as the primary subject of this investigation to assess force response in vacuum. For each test, a regolith simulant sample was load-ed and compacted in the chamber, which was then evacuated for roughly 18 hours to reach the lowest possible pressure (approximately 5x10-6 Torr for most tests). The probe was then moved to about 10 mm above the soil surface before being pushed to a depth of 50 mm for the cylinder probe tests and to a depth of 100 mm for the cone penetrometer tests, both at a speed of 2 mm/s. The simulant samples were prepared the same for all tests. Ideally, they would respond consistently to probe penetration under ambient and vacuum conditions. This was evaluated by measuring the resistance of representative prepared simulant beds with a standard cone penetrometer in both environments. Results and Discussion: The resistance of the simulant samples in the vacuum tests was consistently lower than in the ambient tests as determined by the cone penetration tests. Thus, the ambient and vacuum results cannot be compared directly; work is underway to de-confound and better correlate the data. Still, figures 3-6 show that probe penetration forces are lower overall in the vacuum environment. In both environments, resonant vibration of the probe provides two useful effects: It reduces the probe penetration force and smooths the force-depth curve, significantly reducing local maxima. These effects have implications for various potential applications, such as astronaut hand-tools, where benefits (reducing astronaut effort) outweigh the cost of the additional energy re-quired to generate vibration. These results demonstrate that resonantly vibrating tools can meaningfully reduce the penetration force required for excavation, probing, and drilling tools in simulated lunar regolith deposits under vacuum levels approaching those that will be experience on the Moon’s surface. Lunar-gravity, ambient environment tests are scheduled soon. The effects of realistic temperatures and temperature gradients and deeper vacuum remain to be tested.

E Rezich↗
NASA NTRS1976

Fiscal year 1976 progress report on a feasibility study evaluating the use of surface penetrators for planetary exploration

The feasibility of employing penetrators for exploring Mars was examined. Eight areas of interest for key scientific experiments were identified. These include: seismic activity, imaging, geochemistry, water measurement, heatflow, meteorology, magnetometry, and biochemistry. In seven of the eight potential experiment categories this year's progress included: conceptual design, instrument fabrication, instrument performance evaluation, and shock loading of important components. Most of the components survived deceleration testing with negligible performance changes. Components intended to be placed inside the penetrator forebody were tested up to 3,500 g and components intended to be placed on the afterbody were tested up to 21,000 g. A field test program was conducted using tentative Mars penetrator mission constraints. Drop tests were performed at two selected terrestrial analog sites to determine the range of penetration depths for anticipated common Martian materials. Minimum penetration occurred in basalt at Amboy, California. Three full-scale penetrators penetrated 0.4 to 0.9 m into the basalt after passing through 0.3 to 0.5 m of alluvial overburden. Maximum penetration occurred in unconsolidated sediments at McCook, Nebraska. Two full-scale penetrators penetrated 2.5 to 8.5 m of sediment. Impact occurred in two kinds of sediment: loess and layered clay. Deceleration g loads of nominally 2,000 for the forebody and 20,000 for the afterbody did not present serious design problems for potential experiments. Penetrators have successfully impacted into terrestrial analogs of the probable extremes of potential Martian sites.

Blanchard, M. B.↗
NASA NTRS1977

Results of analyses performed on soil adjacent to penetrators emplaced into sediments at McCook, Nebraska, January 1976

During 1976 several penetrators (full and 0.58 scale) were dropped into a test site McCook, Nebraska. The McCook site was selected because it simulated penetration into wind-deposited sediments (silts and sands) on Martian plains. The physical and chemical modifications found in the sediment after the penetrators' impact are described. Laboratory analyses have shown mineralogical and elemental changes are produced in the sediment next to the penetrator. Optical microscopy studies of material next to the skin of the penetrator revealed a layer of glassy material about 75 microns thick. Elemental analysis of a 0-1-mm layer of sediment next to the penetrator revealed increased concentrations for Cr, Fe, Ni, Mo, and reduced concentrations for Mg, Al Si, P, K, and Ca. The Cr, Fe, Ni, and Mo were in fragments abraded from the penetrator. Mineralogical changes occurring in the sediment next to the penetrator included the introduction of micron-size grains of alpha iron and several hydrated iron oxide minerals. The newly formed silicate minerals include metastable phases of silica (cristobalite, lechatelierite, and opal). The glassy material was mostly opal which formed when the host minerals (mica, calcite, and clay) decomposed. In summary, contaminants introduced by the penetrator occur up to 2 mm away from the penetrator's skin. Although volatile elements do migrate and new minerals are formed during the destruction of host minerals in the sediment, no changes were observed beyond the 2-mm distance. The analyses indicate 0.58-scale penetrators do effectively simulate full-scale testing for soil modification effects.

Blanchard, M.↗
NASA NTRS1979

Preliminary results of penetrator field test program, Tonopah, Nevada, 16-28 April 1979

Subscale (0.63 scale) penetrators impacted various sizes of volcanic rocks resting on and within compacted plays sediments. All penetrators were identical in size, shape, weight, and impact velocity. Although minor variations in impact angle were documented, the final orientation of the buried penetrators was primarily a consequence of the size, shape, and depth of the rocks encountered during impact. In situ measurements of impacted penetrators revealed that surface and buried layers of rocks having diameters up to 3 times the penetrator diameter caused only small ( 10 deg) angles of deflection. Only large single rocks greater than 10 times the penetrator diameter caused deflections appreciably greater than 10 deg. The large deflection angles followed by the penetrator were strongly influenced by fracture planes that developed in the rock as it broke apart. No catastrophic failure of the penetrator occurred during these tests. A cross section of the path of each penetrator through the ground is shown together with details on orientation before, during, and after the tests. Comparisons are made with results of previous subscale penetrator tests, and conclusions are drawn with respect to full-scale Mars penetrator performance.

Blanchard, M. B.↗
NASA NTRS2022

Predicting the Penetration of a Shielded TPS Tile

All spacecraft are subject to the possibility of high-speed particle impacts during their mission life. In low earth orbit, those impacts could be the result of collisions with pieces of orbital debris or with meteorites. Beyond LEO, and especially beyond GEO, those impacts will likely be caused by meteorites. Such high-speed impacts on spacecraft surfaces create debris clouds that travel towards and eventually impact other downstream spacecraft components. In addition to the impulsive load that such debris clouds would impart to the spacecraft elements with which they subsequently collide, the largest fragment in these debris clouds poses a significant threat on its own to those spacecraft elements. In order to be able to assess the severity of the threat posed by such a fragment, it is important to be able to predict the extent of damage sustained by the impacted spacecraft element. In this paper, we present a new process for determining the penetration depth in a shielded TPS tile system. The requirements for the process were that it be applicable across a full spectrum of impact low velocities (i.e. from ~ 7 km/s to above 50 km/s), that it be applicable over a wide range of projectile materials densities (i.e. ranging from water to steel, for example), and that it be applicable over a wide range of trajectory obliquities (i.e. not just normal impacts). Furthermore, the process developed should be sufficiently flexible so that it can be used for shield design parameter and / or system configuration trade studies (i.e. be written in terms of as many shield and TPS tile system parameters as possible). Following the initial impact of the projectile on the outer wall of the dual-wall shield, a debris cloud (i.e. the primary debris cloud) is created that travels towards and impacts the inner wall of the shield. Within this debris cloud is a combination of solid, liquid, and vaporized material, depending on the impact velocity and the impedance mismatch of the projectile and outer wall materials. The impact of this debris cloud on the inner wall creates another debris cloud (i.e. the secondary debris cloud) that then travels towards and impacts the TPS tile. Within the particulate distribution of the material in each of these debris clouds is a so-called largest fragment. The process used to calculate the penetration depth in a shielded TPS tile system developed herein consists of the following three steps: 1. Does the initial projectile perforate the outer wall of the shield? If NO, the TPS tile remains undamaged. If YES, calculate the size and speed of the largest fragment exiting the outer wall of the shield and traveling towards the shield’s inner wall. 2. Does the largest fragment in the debris cloud exiting the outer wall of the shield perforate the inner wall of the shield? If NO, the TPS tile again remains undamaged. If YES, calculate the size and speed of the largest fragment exiting the rear of the shield inner wall. 3. Calculate the penetration depth of the largest fragment in the debris cloud exiting the inner wall into the TPS. Perforation of the inner and outer shield walls is predicted using the Cour-Palais penetration depth equation and an associated failure criterion [1]. The largest debris cloud fragment diameters and associated velocities are calculated using regression equations developed from a mix of hydrocode and experimental diameter and velocity information [2]. Finally, TPS penetration depths are calculated using an empirical penetration depth predictor equation based on high-speed impact test data and are calibrated using a limited number of hydrocode penetration depth predictions for water, nylon, aluminum, Dunite, and steel projectiles The predictions of the penetration depth calculation process are compared against the predictions of more than 60 SPHC hydrocode runs. These comparisons show that the process used to calculate TPS tile penetration depths usually yields values that are within 1 mm of the predictions of hydrocode simulations. If a maximum allowable TPS penetration depth is known, the process developed herein can now be used to develop a failure limit equation that would predict whether or not an impacting particle would penetrate deeply enough into the TPS to result in a “failed” or “not failed” end state. References [1] E.L. Christiansen, “Design and performance equations for advanced meteoroid and debris shields”, International Journal of Impact Engineering, Vol. 14, 1993, pp. 145-156. [2] W.P. Schonberg, “Predicting the size of the largest particle fragment in a debris cloud created by an orbital debris impact and its associated velocity”, 2021 Applied Space Environments Conference, NASA Jet Propulsion Laboratory, Pasadena, California, November, 2021.

Meteroid↗
NASA NTRS2019

Mechanical Design and Configuration of Penetrations for the Europa Clipper Avionics Vault Structure

The main purpose of the Avionics Vault is to shield radiation sensitive electronics for the Europa Clipper Spacecraft. The vault is a box structure made out of aluminum panels. The panels are roughly 10 mm thick in order to shield the electronics from the orbital total ionizing radiation around Jupiter. The vault requires an electromagnetic interference (EMI) shielding effectiveness (SE) of at least 70 dB in order to mitigate EMI with the spacecraft radar receiver. Overall, the vault accommodates four main types of penetrations: receptacle connectors, pass-through cables, fluid lines, and vent holes. More than 150 cables penetrate the vault panels to connect to electronic boxes inside. Fluid pipes enter and exit the vault to transfer heat to the rest of the spacecraft. Vent holes provide a path for air to escape from the vault during launch. Several novel penetrations designs were created to meet EMI and radiation shielding requirements. Receptacle connectors interface to the vault panels using 1.3 mm thick Ta10W plates. Pass-through cables penetrate the vault using aluminum clamshells after being wrapped with Teflon cushion tape, Kapton tape, and copper tape. Vent hole penetrations consist of a copper mesh for EMI shielding and an aluminum radiation shield bracket to direct air out of the vault during launch. Fluid lines terminate at the vault wall using mechanical fittings that resemble a nut and bolt interface. In addition, most mechanical seams and penetrations utilize EMI gaskets to ensure proper EMI shielding. To reduce risk and confirm that the vault penetration designs were appropriate for EMI shielding, an EMI chamber at the Jet Propulsion Laboratory (JPL) was used to test a mock-up vault panel with multiple variations of all four main types of vault penetrations. This EMI SE test also incorporated different methods for bundling pass-through cables, and a comparison of flange mounted connectors versus jam nut connectors. A low noise preamplifier and a Rohde & Schwarz spectrum analyzer measured E-field levels transmitting through the mock-up vault panel. The results showed a shielding effectiveness of 77 dB for the mock-up vault panel, which exceeds the 70 dB target for Europa Clipper. Both the flange mounted connectors and jam nut connectors exhibited similar EMI SE results at the measured frequencies, and all variations of vault penetrations showed favorable EMI SE levels. Since the flight panels will be much larger and include many more penetrations, there will be testing of the flight vault to confirm its EMI SE is compliant with environmental requirements.

Giersch, Louis↗
NASA NTRS1977

Results of analyses performed on basalt adjacent to penetrators emplaced into volcanic rock at Amboy, California, April 1976

The physical and chemical modifications found in the basalt after impact of four penetrators were studied. Laboratory analyses show that mineralogical and elemental changes are produced in the powdered and crushed basalt immediately surrounding the penetrator. Optical microscopy studies of material next to the skin of the penetrator revealed a layer, 0-2 mm thick, of glass and abraded iron alloy mixed with fractured mineral grains of basalt. Elemental analysis of the 0-2 mm layer revealed increased concentrations of Fe, Cr, Ni, No, and Mn, and reduced concentrations of Mg, Al, Si, and Ca. The Fe, Cr, Ni, and Mo were in fragments abraded from the penetrator. Mineralogical changes occurring in the basalt sediment next to the penetrator include the introduction of micron-size grains of alpha-iron, magnetite, and hematite. The newly formed silicate minerals include metastable phases of silica (tridymite and cristobalite). An increased concentration of Fe, Cr, Ni, and Mo occurred in the 2-mm to 1-cm layer of penetrator no. 1, which impacted at the highest velocity. No elemental concentration increase was noted for penetrators nos. 2 and 3 in the 2-mm to 1-cm layer. Contaminants introduced by the penetrator occur up to 1 cm away from the penetrator's skin. Although volatile elements do migrate and new minerals are formed during the destruction of host minerals in the crushed rock, no changes were observed beyond the 1-cm distance.

Blanchard, M.↗
NASA NTRS1995

Cratering and penetration experiments in Teflon targets at velocities from 1 to 7 km/s

Approximately 20 sq m of protective thermal blankets, largely composed of Teflon, were retrieved from the Long Duration Exposure Facility (LDEF) after the spacecraft had spent approximately 5.7 years in space. Examination of these blankets revealed that they contained thousands of hypervelocity impact features ranging from micron-sized craters to penetration holes several millimeters in diameter. We conducted impact experiments in an effort to reproduce such features and to -- hopefully -- understand the relationships between projectile size and the resulting crater or penetration-hole diameter over a wide range of impact velocity. Such relationships are needed to derive the size- and mass-frequency distribution and flux of natural and man-made particles in low-Earth orbit. Powder propellant and light-gas guns were used to launch soda-lime glass spheres of 3.175 mm (1/8 inch) nominal diameter (Dp) into pure Teflon FEP targets at velocities ranging from 1 to 7 km/s. Target thickness (T) was varied over more than three orders of magnitude from infinite halfspace targets (Dp/T less than 0.1) to very thin films (Dp/T greater than 100). Cratering and penetration of massive Teflon targets is dominated by brittle failure and the development of extensive spall zones at the target's front and, if penetrated, the target's rear side. Mass removal by spallation at the back side of Teflon targets may be so severe that the absolute penetration-hole diameter (Dh) can become larger than that of a standard crater (Dc) at relative target thicknesses of Dp/T = 0.6-0.9. The crater diameter is infinite halfspace Teflon targets increases -- at otherwise constant impact conditions -- with encounter velocity by a factor of V0.44. In contrast, the penetration-hole size is very thin foils (Dp/T greater than 50) is essentially unaffected by impact velocity. Penetrations at target thicknesses intermediate to these extremes will scale with variable exponents of V. Our experimental matrix is sufficiently systematic and complete, up to 7 km/s, to make reasonable recommendations for the velocity-scaling of Teflon craters and penetrations. We specifically suggest that cratering behavior and associated equations dominate all impacts in which the shock-pulse duration of the projectile (tp) is shorter than that of the target (tt). We also demonstrate that each penetration hole from space-retrieved surfaces may be assigned a unique projectile size, provided an impact velocity is known or assumed. This calibration seems superior to the traditional ballistic-limit approach.

Hoerz, Friedrich↗
NASA NTRS2008

Deployable Wireless Camera Penetrators

A lightweight, low-power camera dart has been designed and tested for context imaging of sampling sites and ground surveys from an aerobot or an orbiting spacecraft in a microgravity environment. The camera penetrators also can be used to image any line-of-sight surface, such as cliff walls, that is difficult to access. Tethered cameras to inspect the surfaces of planetary bodies use both power and signal transmission lines to operate. A tether adds the possibility of inadvertently anchoring the aerobot, and requires some form of station-keeping capability of the aerobot if extended examination time is required. The new camera penetrators are deployed without a tether, weigh less than 30 grams, and are disposable. They are designed to drop from any altitude with the boost in transmitting power currently demonstrated at approximately 100-m line-of-sight. The penetrators also can be deployed to monitor lander or rover operations from a distance, and can be used for surface surveys or for context information gathering from a touch-and-go sampling site. Thanks to wireless operation, the complexity of the sampling or survey mechanisms may be reduced. The penetrators may be battery powered for short-duration missions, or have solar panels for longer or intermittent duration missions. The imaging device is embedded in the penetrator, which is dropped or projected at the surface of a study site at 90 to the surface. Mirrors can be used in the design to image the ground or the horizon. Some of the camera features were tested using commercial "nanny" or "spy" camera components with the charge-coupled device (CCD) looking at a direction parallel to the ground. Figure 1 shows components of one camera that weighs less than 8 g and occupies a volume of 11 cm3. This camera could transmit a standard television signal, including sound, up to 100 m. Figure 2 shows the CAD models of a version of the penetrator. A low-volume array of such penetrator cameras could be deployed from an aerobot or a spacecraft onto a comet or asteroid. A system of 20 of these penetrators could be designed and built in a 1- to 2-kg mass envelope. Possible future modifications of the camera penetrators, such as the addition of a chemical spray device, would allow the study of simple chemical reactions of reagents sprayed at the landing site and looking at the color changes. Zoom lenses also could be added for future use.

Badescu, Mircea↗
NASA NTRS2011

Effect of Liquid Penetrant Sensitivity on Probability of Detection

The objective of the task is to investigate the effect of liquid penetrant sensitivity level on probability of detection (POD) of cracks in various metals. NASA-STD-5009 currently requires the use of only sensitivity level 4 liquid penetrants for NASA Standard Level inspections. This requirement is based on the fact that the data used to establish the reliably detectable flaw sizes penetrant inspection was from studies performed in the 1970s using penetrant deemed to be equivalent only to modern day sensitivity level 4 penetrants. However, many NDE contractors supporting NASA Centers routinely use sensitivity level 3 penetrants. Because of the new NASA-STD-5009 requirement, these contractors will have to either shift to sensitivity level 4 penetrants or perform formal POD demonstration tests to qualify their existing process. We propose a study to compare the POD generated for two penetrant manufactures, Sherwin and Magnaflux, and for the two most common penetrant inspection methods, water washable and post emulsifiable, hydrophilic. NDE vendors local to GSFC will be employed. A total of six inspectors will inspect a set of crack panels with a broad range of fatigue crack sizes. Each inspector will perform eight inspections of the panel set using the combination of methods and sensitivity levels described above. At least one inspector will also perform multiple inspections using a fixed technique to investigate repeatability. The hit/miss data sets will be evaluated using both the NASA generated DOEPOD software and the MIL-STD-1823 software.

Parker, Bradford H.↗