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Find your Barenaked Ladies tickets on TicketNetwork.com! Known for tours featuring humor and witty bantering, Barenaked Ladies have made an impact in music since 1988. The band will launch the "Last Summer On Earth" tour this June with special guests Orchestral Manoeuvres in the Dark and Howard Jones. Get Barenaked Ladies tickets today and see the band in action in 2016.
|Date & Time
Nov 19, 2016
|Barenaked Ladies
|Mesa, AZ
Mesa Amphitheatre
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|Current Tour:
|"Last Summer On Earth"
|Gordon (1992)
Maybe You Should Drive (1994)
Born on a Pirate Ship (1996)
Stunt (1998)
Maroon (2000)
Everything to Everyone (2003)
Barenaked for the Holidays (2004)
As You Like It (2005)
Barenaked Ladies Are Me (2006)
Barenaked Ladies Are Men (2007)
Snacktime! (2008)
All in Good Time (2010)
Grinning Streak (2013)
Silverball (2015)
Just like they did in 2012 and 2013, Barenaked Ladies are heading out for another "Last Summer On Earth" trek in 2016. The 34-date tour will launch at The Cabooze in Minneapolis on June 3 and will stop at venues across the country, including Maine State Pier in Portland, ME, Volvo Car Stadium in Charleston, SC, and PNC Pavilion in Cincinnati. In support of the album Silverball, the tour will wrap up at the Greek Theatre in Los Angeles on July 24. Opening for Barenaked Ladies at each show will be Orchestral Manoeuvres in the Dark and Howard Jones. Get your Barenaked Ladies tickets while they're still available!
Barenaked Ladies released their eleventh studio album, Silverball in June 2015. The album produced the singles, "Say What You Want," and "Duct Tape Heart." The album received mix reviews, with Allmusic giving Silverball 3.5 out of 5 stars. The album is Barenaked Ladies' third album since founding member Steven Page left the band in 2009.
Barenaked Ladies formed in Scarborough, Ontario in 1988 when co-founder Ed Robertson invited Steven Page to a gig Robertson's previous band was scheduled to play prior to their breakup. The gig was successful and the duo continued touring as well as releasing demo tapes in hopes of generating a fan base. Over the course of a few years, more members joined, including Jim and Andy Creegan and Tyler Stewart. In 1991 the band released its first commercial success, the independently released The Yellow Tape.
Over the course of the next few years, Barenaked Ladies enjoyed a high level of success in Canada, with the band's first two albums, Gordon (1992) and Maybe You Should Drive (1992), charting in the Top 5 of the Canadian album charts. Andy Creegan left the group in 1995 and was replaced by Kevin Hearn. The band finally saw breakthrough success in the United States with 1998's Stunt.
Some of the band's most popular songs include "One Week," The Old Apartment," "Pinch Me," "If I Had $1000000," and "Brian Wilson." In 2009, the band became a quartet when Page left to pursue a solo career.


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Travelling conmen are out and about
Fair Trading warns of pre-Christmas scams.
Posted Thu 05/11/2015 12:00:00 / Read More »
Smart shopping online
A survey found that despite 75 per cent of Australians are concerned about the information they share online, almost 50 per cent admit to not knowing how many websites hold their personal details.
Posted Tue 31/05/2011 12:00:00 / Read More »
PayPal, Crime Stoppers to beat cyber crime
PayPal and Crime Stoppers have partnered up to educate online shoppers about how to stay safe when conducting transactions online.
Posted Wed 09/02/2011 12:00:00 / Read More »

subset: commoncrawl


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Corona II LED Line Scan Light
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Perfect lighting is the first step to a perfect image. The Corona II series maintains optimum light to drive a line-scan camera within its full dynamic range. Outstanding homogeneity allows higher tolerances in guiding the object with respect to distance variations. Thanks to the patented reflection technology there is no color aberration compared to lenses. An external controller is available that allows the user to drive the Corona in more hash environments. Higher operating temperatures are also possible. The Corona's modular concept opens a wider range of applications than standard lighting systems. Brightness can be adjusted via a variety of interfaces including USB, Ethernet, RS485 and more.
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|Illuminance (white)
|Up to 3.000.000 Lux @ 60 mm focus (Type A)
Min. 1.500.000 Lux @ 95 mm focus (Type B)
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|RS232; RS485; USB; Ethernet Analog input 1 to 10 volt and PWM interface
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|1 bis 10 Volt und PWM-Eingang
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|0°C to +50°C (housing temperature)
|CE, FCC compliant, RoHS
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US buyout house KKR has agreed to buy a controlling stake in India's Alliance Tire Group from Warburg Pincus in a deal which will reportedly see it hand over $500m.
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Please help us! Donate
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HB 1673 - Reduction of Mercury Emissions - Key Vote
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Stage Details
Legislation - Bill Passed (Senate) (22-2) - April 20, 2006(Key vote)
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Vote to pass a bill that requires coal-burning power plants to reduce mercury emissions by a minimum of 80 percent through the installation of scrubber technology by July 1, 2013. The bill authorizes the Department of Environmental Sciences to provide economic incentives for those who install scrubber technology early and reduce mercury emissions.
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Legislation - Introduced (House) - Jan. 4, 2006
Title: Reduction of Mercury Emissions
- Lawrence C. 'Larry' Ross (NH - R) (Out Of Office)
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text:
Tales from the Trail
from The Great Debate:
Why we love Alexander Hamilton and Thomas Jefferson is in the doghouse
from The Great Debate:
Modern politics: Public is more partisan, parties are more powerless
from The Great Debate:
Forget the debate: Two simple reasons a Republican will likely win in 2016
Top Democrat dismisses Beck's 'non-political' rally as blatant politics
A Washington rally that will be hosted by Fox TV's Glenn Beck and feature conservative power broker Sarah Palin drew the wrath on Friday of the chairman of the House Democratic campaign committee.
Hecklers halt Obama remarks
A persistent band of hecklers knocked President Barack Obama off message Monday night as he spoke at a fundraiser for the Democratic party and California Senator Barbara Boxer in Los Angeles. Obama was interrupted just after he launched into remarks praising Boxer as a senator who cares about the environment and is passionate about fighting for Californians.
Now a U.S. senator, Scott Brown is ready to take on Obama
Fresh from a stunning election victory that shook the confidence of the national Democratic Party, Scott Brown says he's ready for a showdown with President Barack Obama — on the basketball court.
Brown, known only a few weeks ago as a dude with a truck, says he challenged Obama to hoops when the two spoke by telephone on the night the Massachusetts Republican won Teddy Kennedy's dyed-in-the-wool-Democratic-blue seat in the U.S. Senate.
"The only time I spoke to him was election night and I did challenge him to pick his best, and I'll take my daughter Ayla who plays for Boston College, and we'd challenge him to a little 2-on-2. I think we'd have the upper hand," Brown said in an interview with TV comedian Jay Leno.
"He looks like he's in great shape. It'd certainly be a tough game," he said.
Brown didn't mention how the president responded.
Obama, a hard-core hoophead, has shot baskets on the campaign trail, with U.S. troops in the field and with kids on the South Lawn of the White House. At 48, he would have a two-year advantage over the 50-year-old Brown. But as Sports Illustrated magazine notes, the president can't dunk and doesn't have a hoopster nickname.
Brown does have a nickname. At Tufts University, he was known as "Downtown Scotty Brown," possibly for his long-distance jumpshots. And that's not all. In a given week, Brown told Leno, he swims close to 2 miles, bikes about 95 and runs 15 or 20 miles.


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I am an exracer my name was Head iton Honcho I live with Mum and Dad and my 'sister' @poppygreyhound. We live in Stoke on Trent, England
Face Tags
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@SundayBrunchC4 Me with my gorgeous Greyhounds at our 'Happy Place' Pentire Headland in Cornwall its our favourite place ever!!! Jayne Shaw
@Poppypride We met these two very special gentlemen today
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Tweet up Cannock Chase
We had a lovely time at the tweet up today met special friends and hounds but we were honoured to meet these two gentlemen
@Poppypride This is Poppy she came to us on remembrance weekend thats how she got her name see her Poppy collar
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This is me sister @poppygreyhound wif Izzy
Muvva wif the girlies last night @suziparkyn @bigwillyplonka @suenicky and @horsemadann Mr P sneeked on too
Muvva with @suziparkyn @bigwillyplonka @suenicky and @horsemadann last night fink Mr P is there too
Sok Dad we'll keep an eye out for the fish!
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Me and my friends today, we had great fun what a good looking bunch we are hounds that is ;-)
©2016 Twitpic Inc, All Rights Reserved


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A stay at Tambo del Arriero Hotel Boutique places you in the heart of Cusco, walking distance from Cusco San Pedro Market and Museo de Plantas Sagradas Magicas y Medicinales. This hotel is within close proximity of Museum of Contemporary Art and San Pedro Church.
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Business, Other Amenities
Featured amenities include limo/town car service, dry cleaning/laundry services, and a 24-hour front desk. A shuttle from the airport to the hotel is complimentary (available 24 hours), and a train station pick-up service is also provided at no charge.


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|Publication number
|Publication type
|Application number
|Publication date
|Sep 1, 1992
|Filing date
|Jan 31, 1989
|Priority date
|Jan 31, 1989
|Fee status
|Also published as
|Publication number
|Kenneth E. Daggett, Eimei M. Onaga
|Original Assignee
|Staubli International Ag
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (2), Referenced by (26), Classifications (8), Legal Events (6)
|External Links: USPTO, USPTO Assignment, Espacenet
The following patent applications relate to a digital multiaxis robot controller in which the present invention may be embodied and are hereby incorporated by reference:
U.S. Ser. No. 932,975, now continuation Ser. No. 180,719 filed Apr. 4, 1988 entitled DIGITAL ROBOT CONTROL HAVING AN IMPROVED CURRENT SENSING SYSTEM FOR POWER AMPLIFIERS IN A DIGITAL ROBOT CONTROL and filed by Kenneth E. Daggett, Leonard C. Vercellotti, Richard A. Johnson, Richard J. Casler and Eimei Onaga, now U.S. Pat. No. 4,902,944.
U.S. Ser. No. 932,841, now continuation Ser. No. 07/231,627 filed Aug. 5, 1988 entitled DIGITAL ROBOT CONTROL HAVING AN IMPROVED PULSE WIDTH MODULATOR and filed by Kenneth E. Daggett.
U.S. Ser. No. 932,992 entitled COMMUNICATION INTERFACE FOR MULTI-MICROPROCESSOR SERVO CONTROL IN A MULTI-AXIS ROBOT CONTROL SYSTEM and filed by Kenneth E. Daggett.
U.S. Ser. No. 932,976 entitled DIGITAL ROBOT CONTROL HAVING HIGH PERFORMANCE SERVO CONTROL SYSTEM and filed by Kenneth E. Daggett, Richard J. Casler and Eimei Onaga.
U.S. Ser. No. 932,974 entitled DIGITAL ROBOT CONTROL PROVIDING PULSE WIDTH MODULATION FOR A BRUSHLESS DC DRIVE and filed by Kenneth E. Daggett, Richard A. Johnson, Eimei Onaga and Richard J. Casler.
U.S. Ser. No. 932,853 entitled IMPROVED POSITION AND VELOCITY FEEDBACK SYSTEM FOR A DIGITAL ROBOT CONTROL and filed by Kenneth E. Daggett, Richard J. Casler and Eimei Onaga.
U.S. Ser. No. 932,982 entitled UNIVERSAL ROBOT CONTROL BOARD CONFIGURATION and filed by Richard J. Casler, Eimei Onaga, Vincent P. Jalbert, Barrett Booth, and Kenneth E. Daggett.
U.S. Ser. No. 932,991 entitled BASIC DIGITAL MULTI-AXIS ROBOT CONTROL HAVING MODULAR PERFORMANCE EXPANSION CAPABILITY and filed by Kenneth E. Daggett, Barrett Booth, Eimei Onaga and Richard J. Casler.
U.S. Ser. No. 932,989 entitled IMPROVED DIGITAL CONTROL FOR MULTIAXIS ROBOTS and filed by Kenneth E. Daggett, Richard J. Casler, Eimei Onaga, Barrett Booth, Rajan Penkar, Leonard C. Vercellotti and Richard A. Johnson.
U.S. Ser. No. 932,983 entitled MODULAR ROBOT CONTROL SYSTEM and filed by Kenneth E. Daggett, Barrett Booth, Vincent P. Jalbert, Eimei Onaga and Richard J. Casler.
U.S. Ser. No. 07/304,975 entitled DIGITAL ROBOT CONTROL HAVING PULSE WIDTH MODULATOR OPERABLE WITH REDUCED NOISE, K. E. Daggett, R. A. Johnson, L. C. Vercellotti, R. J. Casler, E. M. Onaga, L. L. Woodland, now U.S. Pat. No. 4,980,838.
U.S. Ser. No. 932,977, now continuation Ser. No. 180,601 filed Apr. 6, 1988 entitled MULTIPROCESSOR TORQUE SERVO CONTROL FOR MULTIAXIS DIGITAL ROBOT CONTROL SYSTEM and filed by Kenneth E. Daggett, Richard J. Casler and Eimei Onaga.
U.S. Ser. No. 932,990, now continuation Ser. No. 180,723 filed Apr. 4, 1988 entitled MULTIPROCESSOR POSITION/VELOCITY SERVO CONTROL FOR MULTIAXIS DIGITAL ROBOT CONTROL SYSTEM and filed by R. Lancraft, Eimei Onaga, Richard J. Casler, Kenneth E. Daggett and Barrett Booth.
U.S. Ser. No. 932,986 entitled MULTIAXIS ROBOT HAVING IMPROVED MOTION CONTROL THROUGH VARIABLE ACCELERATION/DECELERATION PROFILING and filed by Rajan Penkar.
U.S. Ser. No. 932,988 entitled MULTIAXIS ROBOT CONTROL HAVING CAPABILITY FOR EXECUTING TIMED MOVES and filed by Rajan Penkar.
U.S. Ser. No. 932,985 entitled MULTIAXIS ROBOT CONTROL HAVING IMPROVED CONTINUOUS PATH OPERATION and filed by Rajan Penkar.
U.S. Ser. No. 932,840 entitled MULTIAXIS ROBOT CONTROL HAVING FITTED CURVED PATH CONTROL and filed by Rajan Penkar.
U.S. Ser. No. 932,973, now continuation Ser. No. 180,598 filed Apr. 6, 1988 entitled MULTIAXIS ROBOT CONTROL HAVING IMPROVED ENERGY MONITORING SYSTEM FOR PROTECTING ROBOTS AGAINST JOINT MOTOR OVERLOAD and filed by Eimei Onaga.
U.S. Ser. No. 932,842 entitled MULTIAXIS DIGITAL ROBOT CONTROL HAVING A BACKUP VELOCITY MONITOR AND PROTECTION SYSTEM and filed by Eimei Onaga.
The present invention relates to industrial robots and more particularly to multiaxis electronic robot controllers having a capability for workpoint torque control.
In typical robot controllers, joint motor current and therefore workpoint torque are varied to satisfy robot position commands. Workpoint torque is accordingly varied as an intermediate variable to control workpoint position as an end controlled variable.
There are various robot applications where it is desirable or necessary that robot workpoint torque be controlled as end controlled variable. For example, because of possible small noncompliance between the robot reference axes and the external world reference axes, the actual workpoint position may need to be adjusted under direct torque control as opposed to position control to provide compliance with a position command and enable a task to be performed at the command position (such as inserting a bolt in a bolt hole at the command position).
As another example, it may be desirable to maintain torque along one world axis direction within a predefined range as robot arm endpoint motion occurs along another world axis. More generally, it is desirable that combined multiaxis workpoint torque and position control be provided for robot operations with arm dexterity control through the simultaneous control of robot arm endpoint position and torque as end controlled variables.
Some prior robot controllers have had the capability for providing control of workpoint torque as an end controlled variable. Since prior robot joint power amplifiers have typically been encased with the motor current loop control internalized within the power amplifier casing, workpoint torque control based on motor current feedback has generally not been possible.
Instead, force sensors mounted near the robot wrist have been used to generate feedback signals representing the physically sensed workpoint force. A higher level control loop in the robot controller in turn has processed the physical workpoint torque feedback signals to generate torque commands for the joint power amplifiers and thereby control the workpoint torque as an end controlled variable.
In general, the use of force sensors for workpoint torque control has provided accurate robot performance. However, combined robot workpoint torque and position control has generally not been possible and penalties have existed in the form of a higher pay load at the end of the robot arm and a relatively high cost especially for many robot applications classed as relatively simple.
With the development of a fully digital robot controller disclosed in the patent applications cross-referenced herein, joint motor current feedback signals are accessible for workpoint torque control. The present invention is directed to an improved robot controller in which workpoint torque is controlled as an end controlled variable as a function of motor current feedback.
An electronic control is provided for a robot having an end effector and having multiple axes each further having a joint drive motor supplied by a power amplifier.
Means are provided for generating a motor torque command and position and velocity for each axis. Position, velocity and current feedback signals are generated for each axis.
Motor torque requests are generated as a function of the motor torque command of any position and velocity errors. In alternative workpoint torque control, motor voltage requests are based on torque commands and current feedback. In combined or indirect workpoint control, motor voltage requests are based on torque, position and velocity commands and current, position and velocity feedback signals.
FIG. 1 shows a general block diagram for a robot controller having workpoint torque control in accordance with the present invention;
FIG. 2 shows a more detailed control diagram for the robot controller of FIG. 1;
FIG. 3 shows an overview of an arrangement of electronic boards on which circuitry is arranged in accordance with the digital robot control disclosure in the cross-referenced patent applications and further highlighting robotic workpoint torque control looping system in accordance with the present invention;
FIGS. 4A and 4B, respectively, show SCARA and gantry robot types in which torque control is readily implementable because of correspondence between at least one robot axis nd one world axis;
FIGS. 5A and 5B show respective flow diagrams for programming executed by board circuitry shown in FIG. 3 to implement workpoint torque control in respective representative applications of this invention;
FIG. 6 shows an H bridge power amplifier circuit arranged to operate DC brush-type motors in implementing the present invention;
FIGS. 7A and 7B show a three-phase power amplifier circuit arranged to operate brushless DC motors in an alternative implementation of the present invention;
More particularly, there is shown in FIG. 1 a general block diagram for a robot axis control 10 employed to provide workpoint torque control for each of multiple axes of a robot in accordance with the present invention. A joint motor 12 for the robot axis provides the drive for joint movement under the control of a power amplifier 14. As shown, the power amplifier 14 is device like that described more fully subsequently herein and in greater detail in the cross-referenced patent application. Thus, joint motor current signals are accessible for higher level control use as indicated by the reference character 16.
The power amplifier in turn is operated by pulse width modulated signals generated by a voltage controller 18 and representing motor voltage requests based on higher level joint commands. Thus workpoint position commands 20 are applied to a position, velocity and acceleration controller 22 (implemented with a microprocessor on the subsequently considered SCM board). A torque request signal generated by the controller 22 is applied along with the motor current signal 16 to a torque controller 24 (microprocessor circuitry on a torque processor board) which generates voltage requests to the voltage controller 18 (PWM circuitry on an AIF board) on the basis of torque error.
A trajectory planner 26 generates the position commands 20 in response to a robot user's program 28. The controller 22 interpolates velocity and acceleration commands from the position commands and generates the torque requests as a function of the position, velocity and acceleration commands and motor position feedback signals 30. The planner 26 may be implemented in a microprocessor or an SCM board or a system board subsequently considered more fully herein.
The control elements 18, 22, and 26 can be embodied in hardware as more fully disclosed in the cross-referenced patent applications.
In a position control mode, the torque controller 24 receives torque requests from the position, velocity, and acceleration controller and current (torque) feedback signals 16 from the power amplifier 14. In this case, the robot control 10 is operated with joint and workpoint torque controlled as intermediate variables and joint and workpoint positions controlled as end controlled variables.
To enter an alternative torque control mode which can for example be used for compliance control, the trajectory planner 26 opens the position, velocity and acceleration control loops as represented by the dotted position of switch 32. In addition, the planner directs torque commands 34 generated by the user program 28 directly to the torque controller 24 as represented by the dotted position of switch 36. In the torque control mode, the joint and workpoint torques are controlled as end controlled variables.
In a torque limit control mode, motor current signals 16 are coupled directly to the trajectory planner 26 and user position commands are adjusted prior to application to the position, velocity and acceleration control 22 so as to satisfy workpoint-based axis torque limits and thus ultimately limits workpoint torque along one or more world axes.
In a robot dexterity control mode, a dexterity control 38 combines user torque and position commands to develop adjustments for the position commands normally generated by the trajectory planner 26 for execution by the robot control 10. The position command adjustments provide feedforward control action through the position, velocity and acceleration controller and thus provides for simultaneous control of workpoint position and workpoint torque as end controlled variables.
In FIG. 4A, there is shown a four axis SCARA type robot 11 in which robot axis 13 directly corresponds to a world axis such as the Z axis. Similar correspondence exists for robot axis 17 of a gantry type robot 15 shown in FIG. 4B. The robots 11 and 15 are especially suitable for implementation of the present invention because of the axis correspondence.
The preferred generalized control loop configuration 10 for robotic workpoint torque control is shown in greater detail in FIG. 2. The robot control 10, at FIG. 1, is preferably implemented as a completely digital control. With the provision of hierarchical architecture and multiprocessor architecture and floating point hardware as described herein or in other patent applications referenced above, the trajectory cycle can be characterized with a cycle time in the range of 32 to 8 milliseconds depending on the employed modular configuration.
In the preferred control loop arrangement 10, at FIG. 2, position and velocity control loops 120 and 122 are parallel fed to the input of a torque control loop 124. Velocity commands are generated by block 126 from position commands received by block 128. In turn, feedforward acceleration commands are generated by block 130 from the velocity commands. Computed inertia (load and arm) 132 is multiplied against the acceleration command as indicated by reference character 134 in the feedforward acceleration control loop 136.
In the velocity loop 120, the velocity command in the present embodiment is generated once every 8 to 32 milliseconds depending on the modular configuration of the robot control. The basic robot control described subsequently herein has a trajectory cycle time of 32 milliseconds while the enhanced control has a trajectory cycle of 8 milliseconds.
In any case, a velocity interpolator 138 interpolates velocity commands at the rate of 1 each millisecond which corresponds with the velocity feedback sampling rate in velocity feedback path 140. As shown, velocity feedback for a Unimation 860 robot is produced by tachometer signals which are converted from analog to digital by converter 142. A scaler 144 and a filter 146 complete the velocity feedback circuitry.
Similarly, in the position control loop 122, an interpolator 148 generates position commands every millisecond in correspondence with the position feedback sampling rate in feedback path 150. In the Unimation 860 robot control, position feedback is absolute and the velocity and position feedback paths 140 and 150 operate as just described (with switch 151 as shown). For Unimation PUMA robots, tachometers are not available and velocity feedback is computed from incremental position feedback as indicated by block 152 (with the switch 151 swinging to its other position) as described more fully in and other cross-referenced patent applications.
Velocity error is generated by summer 154 with gain applied by loop 156. Similarly, position error is generated by summer 158 with gain applied by box 160.
Velocity and position errors and a feedforward acceleration command are summed in summer 162. Gain is applied to box 166 to generate a torque command which is applied to the input of torque control loop 164 every millisecond. Torque error is generated in summer 168 by summing the torque command (motor current command) with current feedback from feedback path 170. Box 172 applies a torque loop gain to the torque error and output commands (motor voltage commands) are applied to a power amplifier 174 which supplies the motor drive current for robot joint operation.
Current feedback from resistor 175 is generated every 250 microseconds (see cross-referenced patent application Ser. No. 932,975) and converted to digital signals by box 176 with scaling applied by box 178. If desired, adaptive feedforward torque control can be employed with omission of the feedforward acceleration command as more fully described in another copending application entitled "Robot Control System Having Adaptive Feedforward Torque Control For Improved Accuracy", filed by E. Onaga et al. on Mar. 21, 1988, now U.S. Pat. No. 4,925,312.
Workpoint torque control in the torque control mode implemented by the application of user torque commands from the user program 28 through the switch 36 to the summer where it is compared to the current feedback from the resistor 175 to develop a torque error signal for the torque controller. Concurrently, gain controls 161 and 163 are set to zero by the trajectory planner 26 so that the summer 168 operates to torque controller only in response to torque commands from the summer 162 through the box 166. When the torque control mode is ended and the switch 36 is reset to its normal position, torque commands are generated in the acceleration control loop. The more detailed configuration for the robot control 10 in FIG. 2 operates as previously described in the torque limit and dexterity control modes.
Implementation of the control looping for the robot control is achieved by the use of digital control circuitry disposed on a plurality of electronic boards. The organization of the circuitry on the boards and the partitioning of programming among various microprocessors enables advanced robot control performance to be achieved with a modular control configuration characterized with economy of manufacture, facility and universality of use, and flexibility in choice of level of control performance. Generally, circuitry on the electronic boards is like that disclosed in the cross-referenced applications and configuration of the circuitry for workpoint torque control is achieved through programs control.
As shown in FIG. 3, the control board configuration or network includes an arm interface board 800 which preferably houses all circuitry dependent on the type of robot arm being controlled. For example, position feedback circuitry will differ according to whether absolute or incremental position feedback is used by the robot arm to be controlled. Thus, two or possibly more varieties of the arm interface board 800 can be employed to provide digital control systems for any of a variety of different sizes or types of robot arms. Any particular robot arm would require use of the arm interface board which is structured to work with that robot arm. The AIF board 800 includes the voltage control 18 of FIG. 1.
The arm interface (AIF) 800 board also houses generic circuitry such as VME bus control circuitry which is generally related to two or more boards and not to any one board in a particular system.
Control signals (pulse width modulated) are generated from the AIF board 800 to control power blocks 150 which supply motor currents to the respective robot joint motors. The AIF board 800 also operates as a channel for external coupling of the robot control 30 to other robot controls in a work cell as indicate by the reference character 152, to programmable controllers and other input/output devices 153 in an area network and to higher level computers 154 for supervisory control.
A torque processor (TP) board 600 and a servo control board 400 are generic circuit boards used with the AIF board 800 and power amplifier blocks 150 in all robot control systems for all robot types. The three circuit boards 400, 600 and 800 provide complete 6 axis control for a robot arm and thus form a basic control configuration for the UNIVAL family of robot controls.
The torque processor board 600 houses the torque controller 24, at FIG. 1, and thus provides motor torque control in response to torque commands from the servo control board 400. In turn, the servo control board 400 houses the trajectory planner 26, at FIG. 1, and the position, velocity and acceleration controller 22, at FIG. 1, and provides arms solutions and position and velocity control in accordance with the robot control program 28 (FIG. 1).
Extended control capability and/or system functioning is achieved by interconnecting additional electronic boards or devices to the basic control 400, 600, 800. For example, with the addition of a system control board 500 and partitioning of predetermined program functions including the arm solutions from the servo control board 400 to the system control board 500, the UNIVAL control can operate the robot 20 with significantly faster control action, i.e., with a trajectory cycle shortened from thirty-two milliseconds to eight milliseconds. Dexterity control 38 can also be partitioned to the system control board 500.
Interboard data communications for control and other purposes occur over multiple signal paths in a VME bus 155. Additionally, a VMX bus 156 is provided for connection between the torque processor board 600 and the AIF board 800.
Multiple pin interconnectors (not shown in FIG. 2) are provided on the AIF, TP and SCM boards and any other connectable units to facilitate VME and VMX interboard bus connections modular and board assembly for the robot control 30. Other connectors are provided on the AIF board 800 for external input/output connections.
More detail on the board circuit structure is presented elsewhere in the writeups for the cross-referenced patent applications.
As previously described, the higher level control looping generates voltage command signals to be executed through the AIF board 800 for the arm axes so that the arm effector is moved under either (1) controlled torque or (2) controlled position velocity, and acceleration or (3) controlled position velocity, acceleration and torque in accordance with a user's robot program. Generally, pulse width modulation circuitry and drive circuitry are provided on the AIF board 800 to develop axis drive signals, in this instance for application to power amplifiers which provide the drive currents to DC brushless electric motors respectively associated with the six axes of robot arm motion. With the employment of pulse width modulated digital control signals, the solid state switches that control the motor currents within the power amplifiers can be operated much more efficiently to control motor current levels through pulsating on/off control as opposed to continuous amplitude control.
Most PWM schemes use a constant frequency ramp. Generally, the PWM ramp can be generated, either with digital or analog circuitry. The PWM motor voltage request for the power amplifier bridge is represented as a value on the ramp; a zero PWM request typically corresponds to the midpoint of the ramp. Request levels above the midpoint are considered positive, and the magnitude above the midpoint determines the time that the associated power device in one leg of the power bridge is turned on. Correspondingly, request levels below the midpoint are considered negative, and the magnitude of the request level determines the time that the associated power device in the other leg of the power bridge is turned on. This type of operation is referred to as modulation around the ramp midpoint. More detail on the arm drive control is set forth in the cross-referenced patent applications especially Ser. No. 06/932,841 and Ser. No. 06/304,975.
An H bridge power amplifier or block 50 of the low cost hybrid type is shown in FIG. 5. One of the power blocks 50 provide motor drive current for each robot arm joint motor in DC brush type motors.
The power block 50 includes four semiconductor switches 51-A1, 51-A2, 51-B1 and 51-B2. Respective protective back voltage diodes 52 are connected across the respective semiconductor switches to permit the flow of regenerative or freewheeling currents when the switches 51-A1 and 51-B1 are turned off.
The switches and diodes are packaged within a block indicated by dotted line 53. As previously indicated, no internal control circuitry is included in the hybrid type power block thereby enabling flexible configuration of external controls.
A robot joint DC brush type motor 54 (representative of any of the joint motors included in the Unimation 700 series robot arm of FIG. 1) is connected in a crosspath 55 of the H bridge circuit. When switches 51-A1 and 51-B2 are turned on, a positive voltage is applied across the motor 54 and current flows to the right in the crosspath 55 to drive the motor in the forward direction. With switches 51-B1 and 51-A2 turned on, current flows through the crosspath 55 in the opposite direction to drive the motor in the reverse direction. The digital pulses A1 and B1 precisely control the on time of the switches 51-A1 and 51-B1 respectively so as to produce the motor current needed to satisfy control commands. The pulses A2 and B2 control the on time of the switches 51-A2 and 51-B2 so that the B2 and A2 on times respectively embrace the A1 and B1 on times (thereby providing closed paths for motor drive current during A1, B1 on time and circulating paths for motor freewheeling currents during A1, B1 off times) and so that the A1 and A2 switches are not on at the same time and the B1 and B2 switches are not on at the same time (to avoid shorting the power supply).
The digital pulse pairs A1, B2 and B1, A2 determine the switch on time for forward motor drive current and reverse motor drive current respectively. In turn, the switch on time determines the motor energization level, i.e., the motor torque.
Switch base leads 56 extend from the switches to the outside of the block 53 where switch drive signals A1, A2, B1 and B2 are coupled from the pulse width modulator. Power supply voltage V is connected across external supply leads 57 and 58 to provide the motor drive current. An external current sensing resistor 59 is connected in series between the lead 57 and the power supply. Conductors 60 and 61 are connected from the two resistor terminals to apply the voltage drop across the current sensing resistor to the current feedback circuitry on the AIF board 800 where it is processed for use in the current or torque control loop.
In FIG. 7A, there is shown the stator winding circuitry for DC brushless motors employed as axis drives in various robots including the Unimation 860 robot.
Power switch circuitry for the windings is shown in FIG. 7B. The switches are operated to direct current through two of the three windings at any one point in time, and the winding connection switching is rotated about the windings under PAL control. The effective magnitude of the motor current depends on the switch ON time which in turn is controlled by the PWM output. More detail on the generation of control pulses for the phase switches from the basic PWM switch control signals is set forth more fully in Ser. No. 932,974 entitled DIGITAL ROBOT CONTROL PROVIDING PULSE WIDTH MODULATION FOR A BRUSHLESS DC DRIVE, and filed by Kenneth E. Daggett et al. on Nov. 20, 1986.
A commercially available, low cost hybrid power amplifier block 60 (FIG. 7B) is provided for energizing the DC brushless motor windings. As indicated by the dotted box, the power amplifier block 60 is packaged to include the six semiconductor switches 61-1 through 61-6 needed for operating the three phase windings of the brushless DC motor. The block 60 is a low cost power amplifier mainly because the device is packaged to contain a simple switching circuit configuration without internal control loops.
The power amplifier block 60 is provided with external power supply terminals 62-1 and 62-2. A current sense resistor 63 is connected to the terminal 62-2 for series connection to the power supply so as to provide motor current feedback signals for control loop operation as more fully disclosed in cross-referenced patent application 932,975.
The power amplifier block 60 additionally includes external terminals 64-1, 64-2 and 64-3 for respective connection to the free ends 65-1, 65-2 and 65-3 of the Y connected motor windings. External terminals 66-1 through 66-5 are also provided for application of the switch control signals U1 and U2, V1 and V2 and W1 and W2 from PWM commutation circuitry. To prevent power supply shorting and switch burnout, the power switches are always controlled so that only one switch can be on at a time in each of the respective paris of switches 61-1 and 61-3 and 4 and 61-5 and 6.
The control signals U1, V1 and W1 are the basic pulse width control signals that control the level of drive current through the motor windings. The control signals U2, V2 and W2 rotatively enable the six motor winding conduction paths and generally provide for the flow of freewheeling motor currents.
There are a great variety of ways in which workpoint torque control can be implemented in accordance with the invention.
In FIG. 5A, there is shown a flow chart representing cyclically executed programming for a first illustrative application in which a gear is moved to a location where it is to be placed in meshed relationship to a smaller gear. A robot like the SCARA type robot II of FIG. 4A may be employed for this purpose. The type of torque control involved here may be referred to as alternative axis torque control.
After the gear has been obtained by the robot arm, the multiple robot axes are controlled so that the robot end effector moves the gear to 1" above the predefined center of a small gear location as indicated by block 200. Once the gear is located above the target location, the robot arm slowly moves the gear downward along the world Z-axis as indicated by block 202. As downward movement occurs, Z-axis torque feedback is monitored.
If axis motor current feedback indicates that the Z-axis torque is less than the threshold value, block 204 returns the robot control system to block 202 for additional downward gear movement. When the torque is not less than the threshold value, block 206 determines whether the Z-axis torque is equal to the or greater than the target value.
If the torque is greater than the threshold value, it is presumed that the gear orientation does not permit meshing. Therefore, block 208 moves the gear upward on the Z-axis, rotates it by 1/X pitch and returns the robot control system to block 202 for another gear insertion attempt.
Once gear insertion results in the block 206 detection that the Z-torque equals the target torque value, block 210 then releases the gear in meshed relationship with the small gear and the insertion is done.
In FIG. 5B, there is illustrated another flow chart representing cyclically executed programming for another illustrative application of the invention in which sealant is to be applied to a workpiece along a prelearned or otherwise predefined path. The multiple robot axes are controlled so that the robot end effector moves the sealant applicator along the taught path in the world X-Z plane as indicated by block 220. Sealant is applied as movement occurs over the taught sealant path. The type of torque control involved here may be referred to as indirect torque control, i.e. torque control implemented through position connections.
If axis motor current feedback indicates that the torque along the world Z-axis is greater than a Z-threshold value, block 224 initiates (through the position control) a move of predetermined value (X mm) along the Z-axis in the direction that will reduce the torque. Such Z-axis correction occurs on successive program cycles until the Z-torque is within this threshold value.
After the Z-torque check/correction by the block 222 or the blocks 222 and 224, a similar check/correction is made by blocks 226 and 228 for the work axis. If a Y-torque correction is required, the block 228 initiates a Y mm move along the Y-axis to a connective direction. As in the case of the Z-axis, connective Y moves are made on successive program executions until the Y-torque is below the threshold value.
After torque monitoring and connection in each program execution cycle, block 230 determines whether the path has been completed. If not, the program is returned for the next execution. If not, the program execution is ended as indicated by block 232.
|Cited Patent
|Filing date
|Publication date
|Oct 3, 1985
|Dec 8, 1987
|Hitachi, Ltd.
|Digital servo-control system
|Nov 20, 1986
|May 9, 1989
|Unimation Inc.
|Multiaxis robot having improved motion control through variable acceleration/deceleration profiling
|Citing Patent
|Filing date
|Publication date
|Apr 15, 1993
|Jul 19, 1994
|Fanuc Robotics North America, Inc.
|Method and device for generating an input command for a motion control system
|Sep 26, 1991
|Aug 30, 1994
|Honda Giken Kogyo Kabushiki Kaisha
|System for controlling locomotion of legged walking robot
|Oct 7, 1993
|Apr 16, 1996
|Omax Corporation
|Motion control with precomputation
|Jul 26, 1996
|Feb 16, 1999
|Fanuc, Ltd.
|Robot control apparatus and method eliminating any influence of motion in a preceding path and a recording medium storing the same
|May 14, 1997
|Apr 6, 1999
|Omax Corporation
|Motion control for quality in jet cutting
|Sep 2, 1996
|Nov 16, 1999
|Fanuc Limited
|Control mode changing over method for servo control system
|Apr 28, 1998
|Sep 5, 2000
|Nec Corporation
|Stepping motor driving apparatus having small time constant regenerative current path
|Dec 19, 1997
|Jan 16, 2001
|Nikon Corporation
|Pulse—width modulation system
|Dec 19, 1997
|Mar 20, 2001
|Nikon Research Corporation Of America
|H-bridge power amplifier for a motor
|Oct 8, 1996
|Jan 22, 2002
|Siemens Aktiengesellschaft
|Method and control structure for controlling moments in numerically controlled elastic (and therefore oscillation-capable) multiple mass systems
|Dec 2, 2004
|Apr 4, 2006
|Sony Corporation
|Robot and over-current protection device for a robot
|Jun 9, 2005
|May 30, 2006
|Aisin Aw Co., Ltd.
|Electrically operated drive controller, electrically operated drive control method and its program
|Mar 22, 2005
|Dec 26, 2006
|Inovys Corporation
|Digitally controlled modular power supply for automated test equipment
|Jan 29, 2007
|Jan 20, 2009
|Rockwell Automation Technologies, Inc.
|Elimination of unintended velocity reversals in s-curve velocity profiles
|Aug 16, 2011
|J&L Group International, Llc
|Programmable load forming system, components thereof, and methods of use
|May 6, 2009
|May 8, 2012
|Toshiba Kikai Kabushiki Kaisha
|Servomotor current control method and servomotor
|Jan 21, 2010
|Nov 27, 2012
|Kuka Roboter Gmbh
|Manipulator with an external rotor motor
|Mar 22, 2001
|Sep 26, 2002
|Karapet Ablabutyan
|Lift device with variable speed actuation
|Dec 2, 2004
|Aug 18, 2005
|Masatsugu Iribe
|Robot and over-current protection device for a robot
|Apr 3, 2003
|Sep 22, 2005
|Michiharu Tanaka
|Robot system and controller
|Jun 9, 2005
|Dec 29, 2005
|Aisin Aw Co., Ltd.
|Electrically operated drive controller, electrically operated drive control method and its program
|Jun 9, 2005
|Dec 29, 2005
|Aisin Aw Co., Ltd.
|Electrically operated drive controller, electrically operated drive control method and its program
|Jan 29, 2007
|Jul 31, 2008
|Rockwell Automation Technologies, Inc.
|Elimination of unintended velocity reversals in s-curve velocity profiles
|Nov 12, 2009
|Toshiba Kikai Kabushiki Kaisha
|Servomotor current control method, current control program, recording medium, servomotor, and injection molding machine
|Jan 21, 2010
|Jul 22, 2010
|Daniel Kos
|Manipulator with an external rotor motor
|Nov 19, 2014
|Jun 18, 2015
|Fanuc Corporation
|Numerical controller instructing a plurality of axes using a single instruction
|U.S. Classification
|International Classification
|Cooperative Classification
|European Classification
|Jan 31, 1989
Owner name: WESTINGHOUSE ELECTRIC CORPORATION, A PA CORP., PEN
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNORS:DAGGETT, KENNETH E.;ONAGA, EIMEI M.;REEL/FRAME:005037/0523
Effective date: 19890131
|Nov 6, 1989
Owner name: STAUBLI INTERNATIONAL AG
Free format text: NUNC PRO TUNC ASSIGNMENT;ASSIGNOR:UNIMATION, INC.;REEL/FRAME:005221/0812
Effective date: 19891031
|Jan 18, 1994
|Certificate of correction
|Mar 1, 1996
|Fee payment
Year of fee payment: 4
|Feb 29, 2000
|Fee payment
Year of fee payment: 8
|Feb 25, 2004
|Fee payment
Year of fee payment: 12


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text: No recent wiki edits to this page. This is Max, an individual easily described as a crazed, psychotic, hyper rabbit. Max enjoys violence and almost always wants to solve problems aggressively hence why Sam, his partner, is usually the one doing the problem solving. Max and Sam are childhood friends, and they both share enthusiasm for just about everything (especially involving violence and weapons). In fact, They're such good friends that despite Max's heartless appearance, he has grown very possessive of Sam. Max also has terrible hygiene, as he can be seen eating his own belly button lint and Sam has commented on it before. Do not ask him where he keeps his gun. You do not want to know. Apparently likes to play Poker. Is not a "Poke Mon". Or Stitch. But he is a hat. Max was voiced by Nick Jameson for Hit the Road, Robert Tinkler for the TV show, Andrew Chaikin for Episode 1: Culture Shock, and is currently portrayed by William Kasten.Quotes "Future people are jerks.""That's it! No one quotes 'Walk Like an Egyptian' to me and lives!" "Rules are for marking straight lines and lesser mortals." "Hey, maybe we should go downstairs and stop the giant robot that's annihilating our building. If we have time.""My religious faith is based on who gives away the best free stuff.""I've got a good feeling about 'Death by Lethal Injection.'""One day I examined your left nostril with a magnifying glass while you were sleeping off a marshmallow binge. Never again.""Never trust an animal named after a smell.""I think we stumbled into the warehouse where Steve Wozniak makes erotic movies.""Of all the explosions I've caused in my career, that's the one I'm most proud of.""Gee, all of a sudden I feel like watching TV and eating orange marshmallow peanuts instead of doing anything constructive.""That's such a boring way to die! Try to get cut in half instead!""Ouch. I didn't think I still had feelings, but... there they are." "I can't hear you, I'm dead.""Time, like sauerkraut and string cheese, is relative.""Once you've seen one peaceful world destroyed in an explosive cataclysm of fire and death, you've seem 'em all.""Did you know that there is a ton of square states in the middle of the country that nobody knew about?""You can never have enough nausea.""We come bearing good cheer and high powered pistols!""Guess what, we no longer have the right to peaceably assemble!""Stay frosty, America!""Come for the low prices, stay for the juicy rodent family drama!"


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realmagick.com The shrine of knowledge.
The Birch Reduction
A selection of articles related to the birch reduction.
Original articles from our library related to the The Birch Reduction. See Table of Contents for further available material (downloadable resources) on The Birch Reduction.
- The Aeonic Perspective of the Enochian Temples
- The initiatory system of the Enochian Temples divides the path of initiation into four major stages, distinguished primarily by the types and sources of the influences they are sensitive to. Briefly, these stages are: 1. Lunar-planetary, focused in Yesod and...
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I like that there were no posts yesterday. Maybe some of the false comments will now go away. Fear tactics are interesting. Why people believe them I don't know. Do they really think these people posting them are doing it out of the good of their hearts to help you? If they knew really bad news was coming do you think they would tell you a head of time or act on it themselves to make a profit. Use common sense people. Bad press is used to drive prices down not to help inform you to help you financially!
hi agree with you about why anyone would post negatively without having a personal agenda (shorts) but i do believe about the decline on the posts was thatthis msg board in particular was disabled intentionallyany comments on this?
Hey the message board was down all day!!! Thats a new one, less posts means good news??


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Happiness: Lessons from a New Scienceby Richard Layard
There is a paradox at the heart of our lives. We all want more money, but as societies become richer, they do not become happier. This is not speculation: It's the story told by countless pieces of scientific research. We now have sophisticated ways of measuring how happy people are, and all the evidence shows that on average people have grown no happier in the
- Overview
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There is a paradox at the heart of our lives. We all want more money, but as societies become richer, they do not become happier. This is not speculation: It's the story told by countless pieces of scientific research. We now have sophisticated ways of measuring how happy people are, and all the evidence shows that on average people have grown no happier in the last fifty years, even as average incomes have more than doubled.
The central question the great economist Richard Layard asks in Happiness is this: If we really wanted to be happier, what would we do differently? First we'd have to see clearly what conditions generate happiness and then bend all our efforts toward producing them. That is what this book is about-the causes of happiness and the means we have to effect it.
Until recently there was too little evidence to give a good answer to this essential question, but, Layard shows us, thanks to the integrated insights of psychology, sociology, applied economics, and other fields, we can now reach some firm conclusions, conclusions that will surprise you. Happiness is an illuminating road map, grounded in hard research, to a better, happier life for us all.
Editorial Reviews
Product Details
- 9780143037019
- Publisher:
- Penguin Publishing Group
- Publication date:
- 06/27/2006
- Edition description:
- Reprint
- Pages:
- 320
- Sales rank:
- 705,533
- Product dimensions:
- 5.15(w) x 7.73(h) x 0.74(d)
- Age Range:
- 18 - 17 Years
Read an Excerpt
Nought's had, all's spent,
Where our desire is got without content.
—Lady Macbeth
There is a paradox at the heart of our lives. Most people want more income and strive for it. And yet, as our societies become richer, people get no happier.
This is no old wives' tale. It is a fact, proven by countless pieces of scientific research. We now have many good ways to measure how happy people are, as I'll show, and all the evidence tells us that on average people have grown no happier over the last fifty years. At the same time, though, average incomes have more than doubled. This paradox is true for the United States, Britain and Japan.
But aren't peoples' lives infinitely more comfortable? Indeed: They have more food, more clothes, more cars, bigger houses, more central heating, more foreign holidays, a shorter working week, nicer work, and, above all, better health. And yet they are not happier. Despite all the efforts of governments, teachers, doctors, and businessmen, human welfare has not improved.
This devastating fact should be the starting point for all discussion of how to improve our lot. It should cause every government to reappraise its objectives and every individual to rethink his or her goals.
One thing is clear: Once subsistence income is guaranteed, making people happier is not easy. If we want people to be happier, we really have to know what conditions generate happiness and how to cultivate them. That is what this book is about—the causes of happiness and the means we have to effect it.
We do not know all the answers, or even half of them. But we have a lot of evidence—enough to rethink government policy and to reappraise our personal choices and philosophy of life.
The main evidence comes from the new psychology of happiness. But neuroscience, sociology, economics, and philosophy all play their part. By bringing them together, we can produce a new vision of how we can live better—both as social beings and in terms of our inner lives.
What People are Saying About This
co-author, A General Theory of Love
Meet the Author
Richard Layard is one of Britain's best-known economists and a leading world expert on unemployment and inequality. He runs Europe's leading economics research center within the London School of Economics. He worked for the British government as an economic adviser from 1997 to 2001, and in 2000 he became a member of the House of Lords. He is the author of a number of academic books.
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In the past, economists could not measure factors intrinsic to human nature, so they conveniently left concepts like happiness out of their calculations thus they compare the wealth of nations using measures such as the gross national product. But what if, following the example of the tiny Asian country of Bhutan, nations began instead to try to increase their 'gross national happiness'? How would they do it? Economist Richard Layard attempts to answer these questions by applying lessons from the relatively new field of 'positive psychology' to human social systems. Although some readers may dismiss his viewpoint as touchy-feely, it is based on science. He finds, for instance, that if politicians truly wish to create happy societies, they will have to aim at something greater than ever-expanding marketplaces. This readable discussion of the 'new science' of happiness draws some provocative conclusions. We recommend it to those who are interested in self-development and to public policy experts looking for a new approach.
very interesting summaries of many studies but some policy conclusions were false and made me very angry - people should 'hand over some decisions to experts or government,' meaning 'king' economists (144-45) because we're irrational - the more we're taxed the happier we'll be
I think this is a must read for anyone interest in positive psychology, politics, economics, or all three. Unfortunately, the first reviewer admits that she did not finish the book and most the applicable ideas come later on. It is a completely different view of how we should implement public policy. Yes, some of it is quite liberal, but why shouldn't we try to increase the happiness of all in society?
I admit that I did not get further than the end of the 3rd chapter, the overwhelming feeling of a socialistic political view was making it harder to continue reading. I personally do not think the rest of the world and it's problems relate to my overall happiness. As Lincoln said: 'People are about as happy as they make themselves be.'


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"great tin to make mini cakes in"
Miss Wayman
05 November 2015
Ordered this a while ago so I could make mini victoria sponges. Was actually first used by my 14 year old daughter in her food tech class at school to practice for one of her GCSE assignments. She followed the recipe on Lakeland website for mini victoria sponges. She overfilled the tins slightly so some looked like mushrooms but hey you live and learn with baking and the next time put slightly less in each one and came out great. At school she used butter to grease the tin but at home used baking release spray. Cakes came out of tin perfectly both ways.


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Security researchers crack laptop facial biometrics
Researchers from Vietnam have cracked facial recognition scanners on laptops to bypass security.
They will...
This Article Covers
Risk management
Researchers from Vietnam have cracked facial recognition scanners on laptops to bypass security.
They will be demonstrating how to hack facial recognition biometrics at the Black Hat security convention in Washington DC this week.
Nguyen Minh Duc, head of the application security department at the Bach Khoa Internetwork Security Center at Hanoi University of Technology, will be showing delegates how to beat the facial recognition systems built into Lenovo, Toshiba and Asus laptops.
Your exclusive guide to CIO trends
A collection of our most popular articles for IT leaders from the first few months of 2016, including: - Corporate giants recruit digitally-minded outsiders to drive transformation - Analytics platforms to drive strategy in 2016 - Next generation: The changing role of IT leaders.
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The systems under the microscope use the laptop's built-in webcam to take a picture of the owner's face, so that it can be used instead of a fingerprint or password to access the device.
But according to Duc, this system can be beaten in a variety of ways.
"The mechanisms used by these three vendors haven't met the security requirements needed by an authentication system. They cannot wholly protect their users as a result," he explained.
"There is no way to fix this vulnerability. Asus, Lenovo and Toshiba have to remove this function from all the models of their laptops and issue a security advisory to users around the world."
Not only were the researchers able to bypass the security systems by showing the camera a picture of the registered user, they were also able to gain entry by showing the camera pictures of other people's faces, after manipulating light and shade settings.
At the conference, Duc will be showing how to beat Lenovo's Veriface III, Asus's SmartLogon V1.0.0005 and Toshiba's Face Recognition 126.96.36.199 technologies.
Proposed e-border trial at Manchester Airport raises security concerns >>
Enjoy the benefits of CW+ membership, learn more and join.
Reinventing Bahrain's Kanoo Group through digital technology
Read more on IT risk management
Security Think Tank: Five tips for creating a patch management strategy
Security Think Tank: Security patching an essential element of outsourcing contracts
Security Think Tank: Allocate maintenance processes to each piece of key software
Security Think Tank: Using vulnerability management to support the patching process
Lancaster and Newcastle researchers tackle Met Police email challenge
InfoSec Europe 2012: A look at IT security skills in the current climate
Tim Wilson, deputy head of ICT at NHS City & Hackney, on ISO 27000 compliance
Input from the business vital to risk management in infosec, says CISO for Steria UK


text: Temple Bar offers a unique combination of crafted artisan cocktails and farm to table small plates appetizers. On our menu you'll find old classic "tipples" as well as seasonal creations that use house made infusions and hand pressed juices. We also showcase local breweries on tap, as well as a unique wines-by-the-glass menu.


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Quote:How much protien are you getting? Seems like a huge number.
Quote:Seems like a dead-set diet that would get boring very quickly, have you been doing this for long?
Quote:I think you spend as much on supplements as I do on my mortgage.
Quote:Stampede, I could tell long before you got to the supplementation that you were a T-Nation guy .
Quote:Points to consider:1.If you lose form on an exercise at 50lbs, then you are not doing that exercise at 50lbs. therefore your max is 45lbs at that specific lift. Dont kid yourself. Its good that you have reigned in the weight in favour of form.
Quote:2.Your supplementation programme is heavy. i agree with you that biotest turn out some good stuff (Mag-10 RIP), and I have used Tribex gold for its muscle sparing qualities with some success, but i also found Hot Rox to be terrible and mess my systems up completely. The trouble with 'stacking' supplements is not the expense (your money, your business), but rather the question of what is working and what isn't. With patience, and cycling supplements individualy, you can decide if they give you an effect, and if so, know that they are worth putting in a stack in the future. If no benefit is noticed, you know you can save your cash.You may have already gone through this process, if so fair enough, if not, its worth considering.
Quote:3. Your training routine is geared for pure functional strength which can then be applied to your MA, yet you are eating like a bodybuilder- and a big one at that. If your goal was hypertrophy, or even if your weekly strength work was of higher volume and duration with 'strongman' type work and a slightly more complex split cycle, I would say the elevated protein could be justified, but you simply dont, and it simply isnt.
Quote:i notice that you, like so many others are a little 'phobic' of carbs. I dont care what T-nation say, good natural complex carbohydrates, and the energy they provide can not be adequately replaced by energy drinks and shakes.
Quote:I like your training outlook, and know where you are coming from with your goals and methods, I just think you need to reign everything in a little and apply a more judicious approach to your eating and supplementation.Efficiency applies to all aspects of your training- not just exercise. throwing supplements down your neck with no way of evaluating their effects is not efficient.Cord.
Quote:It sounds like you have adapted what you need in accordance with your experiences. If you have found what works for you, then thats awesome. I was merely concerned that you had bought into the more extreme end of the advise on t-nation without exploring less supplement heavy avenues. A lot of people would try and walk on water if that site said one of their tablets could make them do it, and whilst I rate them, many of the articles and theories do have a linked agenda with their supplements.This is clearly not the case, so keep going buddy, i like the routine FWIW.
Quote:Quote:I think you spend as much on supplements as I do on my mortgage. Only around $250 a month
Quote:Quote:Quote:I think you spend as much on supplements as I do on my mortgage. Only around $250 a month You are definitely in a different tax bracket than I. It'll be nice to see your training methods, good luck with the training and log.
Quote: I spend no more than $150 a month
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When you stay at Albert Hotel in Kirkwall, you'll be near the beach and minutes from St. Magnus Cathedral and Orkney Museum. This hotel is within close proximity of Earl's Palace and Bishop's Palace.
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realmagick.com The shrine of knowledge.
B History
A selection of articles related to b history.
Original articles from our library related to the B History. See Table of Contents for further available material (downloadable resources) on B History.
- Indian History Rewritten
- The Indian civilisation, considered to be the product of clash and subsequent inter mixture of the white-skinned civilised invaders and the dark savages native to India, has been rightly questioned in recent years, and the mischievously fabricated history of...
History & Anthropology >> Indic / Vedic
- The Truth Behind the History of the Necronomicon
- I don't think there are many people out there who haven't heard of the Necronomicon and the dreadful things connected with it. We've all heard the theories about how it is a Satanist tool; actual copies of the book are bound in human skin and how you risk...
Deities & Heros >> Chthulu
- History of the Egyptian Religion, part I: Early Dynastic Period
- I - Predynastic - Early Dynastic Period. The temples were in essence the *Home of the God* and thus a place where only Pharaoh as the Son of God and those he appointed as his deputies, could meet with the god. This goes all the way back to Archaic and...
Religions >> Egyptian
- History of the Egyptian Religion, part II: The Old Kingdom
- II - The Old Kingdom ca 2686-2181 BC During the Old Kingdom the Egyptian society moved from tribal communities to a fully developed theocratic system, where the power of the king was absolute. The great pyramids of Dynasty 4 was made possible by technological...
Religions >> Egyptian
- History of the Egyptian Religion, part IV: Middle Kingdom
- First Intermediate - Middle Kingdom (ca 2181 -1786 bc.) The powers that built the solar temples of the 5th dynasty and the pyramids of the 6th dynasty weakened towards the end of the Old Kingdom, perhaps as a result of eroding economics, leaving the King less...
Religions >> Egyptian
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- Who is Sybil Ludington? Ida B. Wells? Americans ought to know more about
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- Meningitis B petition now most signed in parliamentary history
- A vaccine to protect against meningitis B is available on the NHS for babies aged two months, followed by a second dose at four months and a booster at 12 months. But parents who wish to have older children vaccinated must pay privately, although a ...
- Celebrate Women's History Month by Visiting These New York Destinations
- The home of women's rights activist Susan B. Anthony, located in Rochester, New York, is a must-see for any history enthusiast. This home is where she lived for 40 years.
Great care has been taken to prepare the information on this page. Elements of the content come from factual and lexical knowledge databases, realmagick.com library and third-party sources. We appreciate your suggestions and comments on further improvements of the site.
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Professor Layton and the Unwound Future Videos
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Check out the puzzling Professor Layton & The Unwound Future E3 2010 trailer from Level 5.
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Schlock and Awe
Our government has invaded and destroyed Iraq, and is now casting its hawkish eye on Iran. Before we nuke Tehran, I'd like to propose an alternative target: I think our armies should invade and destroy Lestat, the new musical based on Anne Rice's vampire novels. Saddam Hussein was unquestionably an oppressor, but he can't have been as oppressive as two and a half hours of Lestat. The Palace Theatre, with its long history of glamorous, crowd-pleasing entertainments, is the wrong venuethis show should play Abu Ghraib or Guantánamo. The first act alone would induce the most hardened terrorist to confess.
Even granting the appeal (lost on me) of Rice's wheezily verbose novels, squeezing all their complications into one draggy evening of subliterate pop-rock oatmeal is a notion only an entertainment conglomerate could love. The concept of vampires as mother-fixated homophile men with philosophic pretensions, which the show toys with in a thoroughly confusing peekaboo manner, doesn't help either. If Sir Elton and his team had really wanted to write a musical about the walking dead, they should have made them all upper-echelon Warner executives. For performers like Hugh Panaro, Carolee Carmello, Jim Stanek, and Roderick Hill, who sing their devoted lungs out trying to make this garishly inert sucker fly, I have only sympathy. Why the excruciatingly inept actor who plays Armand has been told to use a Jose Jimenez accent is beyond my comprehension. Hello, Defense Department? Get me Secretary Rumsfeld, please. And start sharpening our stakes.
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I made a hip hop playlist for designers.mx and I feel pretty good about it. Listen to it here, if you're into that kind of thing.
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