text:
|Publication number
|Publication type
|Application number
|Publication date
|Feb 23, 1988
|Filing date
|Mar 6, 1986
|Priority date
|Jan 1, 1985
|Fee status
|Also published as
|Publication number
|William J. Buote
|Original Assignee
|Zymark Corporation
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (4), Non-Patent Citations (4), Referenced by (36), Classifications (14), Legal Events (6)
|External Links: USPTO, USPTO Assignment, Espacenet
This application is a continuation-in-part of commonly-owned and co-pending U.S. patent application Ser. No. 689,143 filed by William J. Buote on Jan. 1, 1985 U.S. Pat. No. 4,689,755 under the title "Self-Configuring Computerized Robot Control System with Call-Back Feature". That application is, in turn, a continuation-in-part of U.S. patent application Ser. No. 528,934 filed Sept. 2, 1983 U.S. Pat. No. 4,586,151 and entitled "Improved, Self-Configuring, Robot Control System".
This invention relates to a system for controlling the performance of a robot when the robot is engaged in carrying out serialized procedures on a number of samples, e.g., on samples being prepared in a chemical laboratory.
Serialized procedures are desirable because they tend to allow optimum use of processing equipment and tend to minimize some of the inherent problems with batch processing. For example, in a well-executed serialized procedure each sample should receive identical processing, thereby eliminating variation assignable to such common variables as different inter-step waiting times or, worse, variation in substantive steps (e.g., heating, centrifugation) while the operator attends to a different batch.
Laboratory robotics seemed to provide an excellent way to automate serialization because of its ability to combine programmed computer control with a number of sequential operations of a given procedure. The use of many laboratory robotic procedures is described in "Advances in Laboratory Automation Robotics 1984" by Gerald L. Hawk and Janet R. Strimatis (1984, Zymark Corporation, Inc., Hopkinton, Mass). Some specific advantages of serialized procedures are disclosed in an article by Zenie in "Trends in Laboratory Automation" American Laboratory, pages 51-57, February 1985.
Nevertheless, many rather simple serialized procedures, when applied to a number of samples, can make very substantial demands on the computer control means of a robotic system taxing the ability of the system to meet the potential for serialization without putting excessive programming demands on the operator or, worse, leaving the operator without practical means to obtain the potential advantages one might otherwise obtain by serializing a given procedure.
In an automated system which includes one or more mechanisms which are to be controlled by a computer, and one or more objects upon which work or tasks are to be performed, there are various objectives to which a computer-directed scheduling of the mechanisms can be directed. These objectives could be, for example, to maximize the utilization of the machinery; to maximize the throughput of objects being processed; to minimize the time for a given object to be processed; to respond to an unscheduled request (an interrupt) in a short time period; etc. Many system schedulers have been developed in the past, most with objectives to maximize machine utilization and minimize response time to interrupts. The objects being processed, be they cans of tuna on a processing line, or people sitting at computer terminals, or people waiting for an elevator in a large building, will receive service when the scheduler dictates.
In the purely data systems environment, the machine i.e., the computer, is almost completely interruptible. The computer can save its "current" state at an interruption in all but the most critical moments of performing most tasks, and proceed on to some totally unrelated task, returning to the saved "current state" and the original task some time later and continuing the task from exactly where it left off. Interrupts are not honored during critical moments, causing a delay in servicing of the interrupting request. These delays become very short in highly computerized functions such as information retrieval.
However, when the computer must interact to accommodate operation of physical machinery, the interrupts are a much greater problem. In the typical robotic environment, manipulator interrupts are usually quite difficult to deal with and are generally excluded from the design of fixed automation equipment.
In sample processing wherein there are relatively long periods during which materials are being processed by a robotic manipulator, interrupts are either not possible or not desirable. This has presented problems to those wishing to schedule sequences of operations on individual samples (materials or objects) which are extremely repeatable from sample to sample to achieve a uniform sample of history, while also making the number of samples processed per unit time as high as possible without interfering with uniform sample history.
It is the problem of providing improved scheduling of computerized machine operations to which the inventor has directed his efforts.
A promising self-configuring robotic control system is disclosed in a U.S. patent application Ser. No. 472,642 filed on Mar. 7, 1983 by Hutchins, Buote and Finn. This patent will issue as U.S. Pat. No. 4,578,764 on Mar. 25, 1986. That application relates to a robot-control means which does include the ability to incorporate a number of independent tools or operating systems including operating systems not defined before implementation of the robot control means by the purchaser thereof. The invention disclosed herein may be viewed, in part, as an improvement in the process of operating a self-configuring robotic system of the type earlier disclosed in Ser. No. 472,642.
A Laboratory Robot System Disclosed in Related Applications
Although the processing scheme of the invention newly described may be utilized with any number of robotic systems, it is believed to be best utilized with the existing ZYMATE automatic laboratory processing system available from ZYMARK Corporation of Hopkinton, Mass. For that reason, the following disclosure and drawings associated therewith is included to show the mode of operation of such a system as has been described in the aforesaid related applications: That system is described in FIGS. 1 through 10 of the present application as follows:
Turning now to FIGS. 1 and 3, there is shown in block diagram form a robotic system and indicated generally by the reference numeral 10. This system is a self-configuring robotic system of a type with which the present invention is advantageously utilized. The robotic system 10 utilizes a conventional computer 12 having an operating system containing at least nucleus, a sequence reprogrammer and task support services. Computer bus 14 includes at least data, address and read/write lines 16 that are electrically connected through physically separable connections 18 to a module indicated generally by the reference numeral 20.
The structure of module 20 will be discussed below in connection with FIG. 2. For now, it is sufficient to note that module 20 is electrically connected to a robot 22. The term "robot", as used herein, means: "A reprogrammable, multifunction manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks." This is the definition for the term "robot" that has been adopted by The Robotics Institute of America.
As shown in FIG. 1, the robotic system of the present inventions includes at least one other module (M2) that is electrically connected to a utilization means 24. The utilization means 24 can comprise either another robot 22 or a means for performing a defined task. Expansion of the robotic system is provided for through the use of additional utilization means and associated modules, e.g., module (Mn).
The detailed structure of module 20 is illustrated in the block diagram of FIG. 2. Each module contains all of the device intelligence 26 for its associated device 28. Intelligence is transmitted and received via electrical conduits 34. Device 28 generically represents the previously mentioned robot 22 and utilization means 24. The module 20 also contains a control block 30 having a control block flag and a starting offset for computer 12 and an appropriate input/output interface 32 between the computer 12 and the device 28. If desired, the module 20 can also include device memory 36 represented by the dashed lines in FIG. 2.
The device intelligence 26 contained within module 20 can be stored in a variety of conventional forms. For example, the device intelligence can be stored in read-only memories (ROM'S).
It will be appreciated from the preceding description of the hardware structure of the robotic system that each device 28, whether it be a robot 22 or a utilization means 24, has an associated module 20 that contains all of the intelligence for the particular device. The associated module also provides a control block flag and starting offset for the computer and an appropriate I/O interface between the computer and device 28. The control block flag is read by the computer 12 which determines the presence of a robot 22 and associated module 20. The computer 12 then executes the initialization program found at the starting offset which configures the system. The particular I/O mechanism used between the computer 17 and the robot 12 is the last piece of information found in the control block. Each module is electrically connected to the common computer bus 14 through a plurality of the separable electrical connections 18. It should be noted that all of the device intelligence is on the device side of the physical interface formed by the separable electrical connections 18.
Thus, in configuring or reconfiguring a system, it is possible to simply plug the appropriate device module 20 into the computer bus 14 because the module contains all of the corresponding device intelligence, the appropriate control block information for computer 12 and the input/output interface between the device and the computer. This particular system architecture greatly simplifies the implementation and configuration of a specific robotic system to accomodate the needs of an end user. Since the device and its associated module constitute a separable unit, various task-performing devices can be attached to or removed from the robotic system 10 simply by plugging in or removing the appropriate module 20.
Turning now to FIG. 3, there is shown a data flow diagram for the robotic system of the present invention. Referring to the upper righthand corner of FIG. 3, device 28 is initially programmed using the device intelligence to porduce a data block containing a device identifying prefix, data block name selected by the "End User" and device parameters for the specific device. The data block is saved in a dictionary that contains a plurality of data blocks each with prefix and name and associated device parameters. The sequence intelligence for controlling the sequential operation of the devices is contained in a program for computer 12. The program, which has the dictionary names, defines the sequence in which the data blocks are obtained from the dictionary and executed. The sequence intelligence and the dictionary need not be able to decode the device parameters, as indicated by the shaded sections of the data blocks under sequence intelligence and dictionary in FIG. 3. By way of illustration, FIG. 3 depicts the data flow for execution of Name 3 from the dictionary. A command is issued to the device intelligence to pass the "Name 3" device parameters to the prefix identified device 28 causing operation of the device in accordance with the stored device parameters.
Also in FIG. 3, block 29 is a call back function. In this preferred embodiment, device 28, with its intelligence can activate this function. At some later time, device 28 will be activated again even though there is no named control system program entry. Here the call back is a time out where device 28 will be re-activated after a given time interval has elapsed. So device 28 can re-activate itself, even in the middle of another named function. This allows greatly increased control system programming efficiency and simplicity. FIG. 10 shows the activization of the call back function by the device itself. It should be noted that the execution of a name function in the control system program will terminate any earlier call back function which might be activated.
Referring to FIG. 4, it is seen that the control process of the invention, comprehensively viewed, includes a step wherein the module intelligence is taught by an operator, through the system controls, a particular operation, for example to go to a certain place and retrieve a test-tube from a rack and then to bring the test tube to another process station A. The module's memory can receive this teaching, but is is the intelligence carried by the module that will subsequently decide how the instruction will be carried out. Thus a robot told to go to a certain place may itself decide how it gets there by knowing where it is when the instruction is given, what obstacles are in its path, whether another earlier operation on which the test tube moving is dependent has been carried out, etc.
FIGS. 5 through 8 relate to the control system as it is implemented by program code.
As seen in FIG. 5, during the teaching step the command-specific parameters for the task or "device action" are stored in a temporary dictionary entry area. The area can be in the module itself or the main system. It is often convenient to have a memory section in the main CPU which is "owned by" a specific module instead of in the module itself. The task parameters are to be one component of a Dictionary entry which defines the task, the module which is to use its intelligence in interpreting the task, and the name with which the operator chooses to tag the task parameters. This storage is shown in FIG. 6.
FIG. 6 also illustrates that when the temporary dictionary entry is complete, the entire entry can be transferred from its temporary buffer memory section to a more permanent System Dictionary.
FIG. 7 illustrates to the fact that, in programming an entire sequence of module operations for the same or different modules, one will assemble a series of command entries, i.e. action names. However, it is to be noted that these command entries taken together form a very simple, operator-selected, program language that is at once highly effective and versatile.
In a typical situation, the name of the action will be one having a highly specific meaning for the operation. For example, it may be "Tube-to-A". Once the storage in the System dictionary is complete, the mere call for using of the action name will cause the "Tube-to-A" action to be intelligently controlled by the code of intelligence-bearing module.
As shown in FIG. 8, the process will function, when a specific command name is given, by selecting that name in the dictionary, selecting with it the identify of the module owning the entry and selecting also the task-defining parameters stored as part of the dictionary entry. The module then performs whatever action has been defined for it, but does so using its own logic and intelligence. Thus if instructed to go to a certain point in space, it will, typically, choose a path that makes the best sense, i.e. the one that is shorter.
In the description of the system, it will be noted that the command-specific parameters are stored in temporary buffer memory before being committed to the dictionary. This serves an important advantage in the process described herein, because it avoids having to commit extraneous information to the permanent memory. Thus, in a simple example, when a robot position to be named "A" is established, one can put "A" in the permanent memory and the move through a series of intermediate positions to position to be named B. The intermediate position will not be placed in the memory when B is "named" for the permanent dictionary by being placed in permanent memory.
However, it should be understood that a sequence dictionary entries can also be given a single dictionary name if desired using the system of the invention. In this sense, the sequences itself can be operated as an independent module or "work station".
It is important to understand that the central processing system will, normally have no control over how the module performs its assigned task over and above the relatively simple instructions contained in the dictionary ordering that the task be undertaken.
An important aspect of the process for operating robot modules is that the simple computer language used is independent of the modules or individual robot devices. Thus a system approach is readily implemented. When a system containing several modules is run under program control, inter-module co-operation is imposed by the sequencing Control.
It is also to be realized that the system taught herein need not be utilized with a self-configuring robot of the type described in FIGS. 1-3 for particular advantages to be realized. Indeed, even in systems where the number of robotic modules were fixed absolutely, there could be very substantial advantage to utilizing the "teach-a-name" dictionary and the simple sequencing-language-moderated process aspects of the system.
FIG. 9 illustrates a general control system according to the invention.
It will be seen that the dictionary is managed by a sub module 90. Dictionary module 90 provides functions to enter data in the dictionary, look up entries, delete entries, update entries and to store and retrieve the dictionary on external data.
Entries in the dictionary consists of three parts including the name or tag assigned in the "teach and name" process, an indication of what robot module "owns" the entry and parameters which the robot module itself owns and can recognize as an order to perform a particular task. It is the first two parts of the dictionary entry which are defined for the whole system. The third part is defined only with respect to the module which is the "entry owner".
The dictionary 90 in the schematic of FIG. 9 is the keystone of the control system.
The Central Processing Unit 92 supports traditional operating system functions such as task, storage and control management, message passing, and resource allocation.
It includes such hardware resources as the user terminal, the user program and data storage systems, and the remote computer interface. Moreover it supports user program entry, editing, and interpretation in the Language Code 98.
It is believed that operation of these systems, with the exception of the self-configuring aspect and use of the temporary/permanent bimodal dictionary and sequencing language are carried out according to the known state of the art of digital signal processing and computer control. Many languages and specific architectures can be utilized in configuring the system. Programmers and engineers experienced in the design of computerized control systems for robots will be able to adopt the above technique to any number of specific systems suitable for their preferred language and operating requirements.
It is a principal object of the invention to provide an improved process control means whereby a robotic process may be controlled to achieve highly efficient throughput in serialized processing of a plurality of samples.
Another object of the invention is to provide self-correcting scheduling means.
Another object of the invention is to provide an improved process control system for optimizing serialized processing wherein at least one of the serialized operations utilizes time which time does not require robot manipulator time.
Another object of the invention is to provide means to assure a series of like samples will be processed in an optimum time and with the provision that each sample will have an identical processing history.
A further object of the invention is to provide means to achieve the above objects with efficiency and dependability even when the number processing steps of an operation to be used with a given sample is very high, say hundreds of steps.
Another object of the invention is to provide a scheduling process which is responsive to changes in the procedure when circumstances (say a change to a smaller size of sample to be processed) have enabled the process to be modified.
Other objects of the invention will be obvious to those skilled in the art on their reading of this disclosure.
In a very simple form of a serialized process, a robot would achieve the following series of operations for each sample:
(a) move the sample container into position, say a heated water bath, or incubator;
(b) and, after a certain pre-determined time has passed,
(c) move the sample out of position, i.e., out of the heated water bath, say to another processing station.
It is contemplated that the movement of the sample from (b) might contain certain additional robot operations such as holding the sample container while it is acted upon by a robotic bottle capper or some other such operation associated with the removal process. The idea is to be able to do this with a larger number of samples being introduced serially and efficiently into the procedure while maintaining good utility of the water bath, and, while assuring that the heating time in the water bath is the same for each sample.
In this application there is described a preferred embodiment of the invention and suggested various alternatives and modifications thereof, but it is to be understood that these are not intended to be exhaustive and that other changes and modifications can be made within the scope of the invention. These suggestions herein are selected and included for the purposes of illustration in order that others skilled in the art will more fully understand the invention and the principles thereof and will be able to modify it and embody it in a variety of forms, each as may be best suited to the condition of a particular case.
FIG. 1 is a block diagram of the self-configuring robotic system;
FIG. 2 is a block diagram showing the module of FIG. 1 in greater detail; and
FIG. 3 is a data flow diagram illustrating the data flow paths in the self-configuring robotic system.
FIG. 4 is an overall schematic diagram of the control prowess of the invention.
FIG. 5 is a more detailed schematic diagram of the functions associated with operation of a robotic module with the control system controls.
FIG. 6 illustrates the sequences of functions associated with entering a low-level "dictionary entry" for a specific action to be taken by a robot module. If the entry proves storable (no interference such as would be caused by another entry with the same name, etc.) it is "permanently stored in the System Dictionary".
FIG. 7 is a schematic diagram illustrative of the step in preparation of a simple program means for sequencing specific action of, i.e., work-tasks of a number of robot modules.
FIG. 8 is an indication of the sequence of steps in implementing the control process described in FIGS. 4 through 7.
FIG. 9 is a schematic view of the architecture of a robot control system.
FIG. 10 is a schematic diagram showing the activization of a call-back feature by the device.
FIG. 11 illustrates graphically how an illustrative process will be scheduled according to the present invention.
FIG. 12 is a schematic diagram of the procedure being illustrated.
Assume we have the following schedule of operations for each sample in a series of samples such as (1) picking up and moving the sample into an incubator, (2) heating the sample therein, and (3) removing the samples, capping it and moving it to the sample sink, i.e., out of the procedure.
Consider the following robotic procedure
Step 1: Pick up sample from input rack, add a solvent diluent at a robotic dispensing station module and mix the resultant liquid for 10 seconds at a robotic mixing station. Remove sample from mixing station. (End of step)
Step 2: Move sample into incubator and release it. (Then some non-robotic time, say 30 minutes, is required in incubator.) Remove sample from incubator. (End of step) Note that the robotic manipulator was used to load and unload only.
Step 3: Move sample from incubator to output rack and release. (End of step)
Further assume we have a set of machinery consisting of a main device (the robot manipulator in our case) which may be used alone or together with other devices to carry out an operation, and other devices which may carry out operations on their own, but must use the robot manipulator for loading and unloading samples. Also assume that the devices which carry out operations on their own (e.g., the incubator which doesn't need the robot to help it incubate) can do so on as many samples as we will have in the device at the same time.
Step 1: uses Device 1 and Robot Manipulator
Step 2: uses Device 2 only except for use of manipulator for loading and unloading
Step 3: uses Device 3 and Robot Manipulator
Assume also that there is a place to get the next sample from (a source of samples) and a place to put samples when the process is completed (a sink for samples).
The primary scheduling objective is that each sample can proceed with exactly the specified timing for the sample-treatment steps and a uniform timing for the other steps so that all samples have a uniform history as they pass through the procedure. A secondary scheduling objective is to process as many samples per unit of time as possible.
The following generalized computer coding instruction is illustrative of the procedure which may be utilized to obtain optimum serial processing of a plurality of samples. The sequencing procedure will be coded into the computer system as indicated schematically in the next to last block of FIG. 4 when the illustrated system of FIGS. 1-10 are utilized. What happens is that the instruction dictates when the "dictionary name" instruction is to be given for each step and controls the scheduling largely superseding whatever sequence coding had been used previously.
However, those skilled in the art should be able to adapt the following coding instructions to most common computer-instruction formats and consequently, utilize the procedure with any number of computerized machine functions in which it is desired to obtain histories for each of a number of material samples or objects and to do so with good utilization of the robot and its devices.
The so-called non-robotic step is one wherein there is some non-robotic time. There will be some robotic time, e.g., loading and unloading time, associated with such a step "Operations" are robotic manipulator-requiring activities.
The sample processing instructions commanded by the processing scheme in the aforesaid code is based on the availability of samples available in the source which could be a rack of test tubes 301 as seen in FIG. 12 or in processing somewhere between the source 301 and a sink (another rack of processed test tubes) 303.
The sample cycle time is calculated as follows: the "non-robotic" time (herein used to denote the time that the robot manipulator is not required for processing the sample and illustrated by the heating period of Step 2) is divided by the smaller number of (a) the integer part of the non-robotic time divided by robotic time (which in this case is 4, i.e., the integer part of 30 divided by 2+5 or 4.286) or (b) the number of spaces for samples that are available during the non-robotic steps in this case, is 16 spaces in heating rack, that is the time to complete both robotic steps A and C as seen in FIG. 11, or incubator, 305. The determining smaller number is 4, not 16, and consequently the cycle time is selected as 30 divided by 4 or 7.5 minutes.
After the cycle time is established, the determination of whether the robot manipulator is available is made. If it is available, then the procedure is scanned starting at the last step (and, if necessary, working backwards along the processing path to the first step) looking for a sample which is ready for advancing in the process.
In this procedure, i.e., with the robot manipulator available, if a step (say Step 2) being scanned uses the robot for loading and unloading the sample and a sample is ready to be advanced (unloaded), then the robot gets the sample, sets the sample step to this step, and performs any completion operations (e.g., removes the sample from the heat bath, maybe moves the sample to a capping station where a cap is placed on the container), and records the time taken by the operation of unloading and placing the cap on in robotic time history. At this point, the robot manipulator will be holding the sample removed from the heat bath and will be unavailable.
Had the step being scanned been one which started a sample, i.e., introduced it into the process being "scheduled", and if the sample cycle time (7.5 minutes) had elapsed the manipulator would perform the starting step operation, record the length of the starting robotic operation step time in robotic history. The robot will not be available at this point because it is still holding a sample.
The procedure then allows a further cycle time (the robotic time history feature allows an updating of the sample cycle time based on the robotic operation times actually experienced).
If the process, after the time recomputation, finds the robot to be unavailable, the procedure drops down to the "else do" procedure wherein the sample step that the robot is then handling is set to the next step. The next step is then performed and the robotic time to perform these operations is recorded in the robotic time history of the computer. If this step has used the robot for loading a station, then the robot will be available.
If this step has been the last step for a sample--that is, e.g., if the example has been unloaded into the sample sink--the fact is noted in the computerized control procedure by subtracting "1" from the number of samples in progress. (However, it will often be the case that the step is neither loading, unloading, or a last step, and in that case, the robot will not yet be available and the procedure will be controlled to return again to the "else do" procedure.
If the non-robotic time is actually only 27 minutes, it will be "known" to the scheduler which has kept track of the time in which the robot has been used in a given step. Thus the cycle time can be refined to adapt to the 27 minutes. Usually, however, it is this non-robotic time which will be used as a constant in the scheduling application and the schedule itself will be set for a determined period of time, i.e., the 27 minutes will be extended to 30 minutes for the samples processed after recomputation.
It is to be particularly emphasized that the particular robotic procedure can be modified (usually by reprogramming the control system to order a given module or work station to do something differently: for example take more or less robotic time to obtain or leave a sample at a different destination, or perhaps add or omit a capping step which takes robotic time) in the process being described without substantial description of the serial process and without any independent notification of the "scheduling" code. The scheduler code itself directs the constant monitoring and revision of cycle time based on the new robotic-step time requirements and causes the apparatus to so respond that sample-treatment time remains constant.
Similarly, even if the person setting up the specific code for a given serial procedure is wholly wrong about how long the robot manipulator will take to perform an operation, the mode of control disclosed herein will quickly discover the error and use the actual robotic time used in the robotic operations to recalculate and compel use of the desired cycle time. Even in the example given, if a very large mistake were made in estimating the time of the robotic operations associated with "C" of FIG. 11, only a few samples might be processed with less than an optimum cycle before the cycle were finally recalculated.
In an integrated robotic system as described in this disclosure, changes in the procedure being scheduled will be made by the system operator addressing different modules or work stations. For example, in the simple procedure illustrated herein, the operator--without paying any attention at all to the existence of the scheduler function, may change the incubation time to 20 minutes. The schedule will be able to "see" this happen, and will recompute an appropriate schedule, to keep the procedure on a new appropriate schedule.
The specific robotic system and process of the invention illustrated herein utilizes a unique view of sample processing and robotic supervision thereover, the process is advantageously based on a robot-availability test. Moreover, the partition of process operations is based primarily on the module (work stations or sample-processing devices) not the robot. Thus a processing "step" is taken to end when a sample becomes available for further processing (i.e., is taken out of a device by the robotic manipulator. The process is controlled by a description of steps to be performed on the sample rather than a description of the sequence of operations that the robot is to perform. Historically, control of robotic system has focused primarily on control of the robotic manipulator. In this system, the operator can schedule what is to happen to each sample and the robotic devices will respond to these requirements. Thus, the system calls for the scheduler to determine when operations have to happen to a given sample and all robotic operations are made subsidiary to the requirements of the operator. Thus, usually, the manipulator is unavailable when it finishes a step. It is the approach which allows the system to transcend the conventional boundary between modules (robotic work stations such as mixer, incubators, etc.) and the computer operating system and act as an accessory to the operation system putting the highest priority on sample history, not robotic manipulator history.
In discussing the invention, it is well to consider the "steps" as sample related and "operations" as positions of steps that engage the robotic manipulator, i.e, use robotic time.
FIG. 11 is a chart of a robotic time cycle as each sample is moved through steps A, B, and C to cycle-termination at time X at which each sample exits the scheduler processing segment of the operation.
Although, only a simple serialized program has been illustrated, the capacity of present-day computers will allow processors with hundreds of steps to be serialized and/or scheduled according to the illustrated procedure.
It is also to be understood that the following claims are intended to cover all of the generic and specific features of the invention herein described and all statements of the scope of the invention which might be said to fall therebetween.
|Cited Patent
|Filing date
|Publication date
|Jun 16, 1982
|Mar 5, 1985
|Hitachi, Ltd.
|Robot control data processing apparatus
|Nov 20, 1984
|Mar 18, 1986
|International Business Machines Corporation
|Adaptive robot batch assembly system
|Aug 8, 1984
|Apr 1, 1986
|Hitachi, Ltd.
|Numerical control data dividing and editing apparatus for numerical control machine tool
|Jun 21, 1984
|Aug 26, 1986
|Hitachi, Ltd.
|Cellular type robot apparatus
|Bedini et al Optimal Programming of Working Cycles for Industrial Robots Transactions of the ASME Journal of Mechanical Design, vol. 101, Apr. 1979 pp. 250 257.
|Bedini et al--"Optimal Programming of Working Cycles for Industrial Robots"--Transactions of the ASME Journal of Mechanical Design, vol. 101, Apr. 1979--pp. 250-257.
|Medeiros et al Simulation of Robotic Manufacturing Cells Simulation, Jan. 1983, pp. 3 12.
|Medeiros et al--"Simulation of Robotic Manufacturing Cells"--Simulation, Jan. 1983, pp. 3-12.
|Citing Patent
|Filing date
|Publication date
|Oct 26, 1987
|Dec 26, 1989
|Megamation Incorporated
|Robotic system
|Jul 28, 1989
|Sep 22, 1992
|Megamation Incorporated
|Method and apparatus for anti-collision and collision protection for multiple robot system
|Apr 23, 1990
|Nov 3, 1992
|Phillips Petroleum Company
|Separating of fibers from a fiber-containing solid sample
|Feb 5, 1993
|Mar 29, 1994
|Mrs. Fields Software Group Inc.
|Product demand system and method
|Apr 16, 1992
|Apr 5, 1994
|Hewlett-Packard Company
|Pre-injection chromatographic sample sequencer
|Jul 12, 1991
|Sep 6, 1994
|Hewlett-Packard Company
|Methods for automatically programming spatial information in robotic systems
|Aug 5, 1991
|Oct 11, 1994
|Bio Tek Instruments
|Method and apparatus for automated tissue assay
|Mar 31, 1994
|Nov 12, 1996
|Obata; Masatoshi
|Control apparatus for an automated production system workcell
|Mar 24, 1994
|Oct 7, 1997
|Biotek Solutions, Inc.
|Method and apparatus for automated tissue assay
|May 31, 1994
|Dec 9, 1997
|Biotek Solutions, Incorporated
|Automated tissue assay using standardized chemicals and packages
|Dec 5, 1997
|Feb 23, 1999
|Bernstein; Steven A.
|Automated tissue assay using standarized chemicals and packages
|Apr 28, 1998
|Jul 15, 2003
|Ventana Medical Systems, Inc.
|Automated tissue assay using standardized chemicals and packages
|Jan 18, 2001
|Jan 13, 2004
|Honda Giken Kogyo Kabushiki Kaisha
|Cycle time analyzer
|Oct 30, 2002
|Sep 18, 2007
|Ventana Medical Systems, Inc.
|Automated molecular pathology apparatus having fixed slide platforms
|Apr 15, 2003
|Dec 4, 2007
|Ventana Medical Systems, Inc.
|Automated high volume slide staining system
|Apr 28, 2003
|May 27, 2008
|Ventana Medical Systems, Inc.
|Automated molecular pathology apparatus having fixed slide platforms
|Dec 2, 2005
|Jul 29, 2008
|Ventana Medical Systems, Inc.
|Automated molecular pathology apparatus having fixed slide platforms
|Apr 27, 2005
|Dec 23, 2008
|Ventana Medical Systems, Inc.
|Automated high volume slide processing system
|Sep 28, 2005
|Aug 16, 2011
|J&L Group International, Llc
|Programmable load forming system, components thereof, and methods of use
|Oct 22, 2007
|Nov 1, 2011
|Ventana Medical Systems, Inc.
|Automated high volume slide staining system
|Jul 13, 2005
|Mar 4, 2014
|Ventana Medical Systems, Inc.
|Automated high volume slide processing system
|May 8, 2006
|Oct 21, 2014
|Protedyne Corporation
|Automated laboratory system
|Nov 15, 2013
|Dec 27, 2016
|Ventana Medical Systems, Inc.
|Automated high volume slide processing system
|Dec 18, 2001
|Aug 15, 2002
|Michael Paschetto
|Automated laboratory system and method
|Apr 28, 2003
|Oct 30, 2003
|Ventana Medical Systems, Inc.
|Automated molecular pathology apparatus having fixed slide platforms
|Apr 15, 2003
|Jan 1, 2004
|Ventana Medical Systems, Inc.
|Automated high volume slide staining system
|Apr 27, 2005
|Aug 25, 2005
|Kurt Reinhardt
|Automated high volume slide processing system
|Jul 13, 2005
|Nov 10, 2005
|Kurt Reinhardt
|Automated high volume slide processing system
|Dec 2, 2005
|May 4, 2006
|Lemme Charles D
|Automated molecular pathology apparatus having fixed slide platforms
|Sep 28, 2005
|May 18, 2006
|Allen Robert M
|Programmable load forming system, components thereof, and methods of use
|May 8, 2006
|Sep 14, 2006
|Protedyne Corporation
|Automated laboratory system
|Nov 9, 2006
|Apr 19, 2007
|Charles Lemme
|Automated molecular pathology apparatus having fixed slide platforms
|Oct 22, 2007
|Feb 14, 2008
|Kurt Reinhardt
|Automated high volume slide staining system
|Aug 4, 1992
|Jun 15, 1994
|Biotek Solutions, Inc.
|Method and apparatus for automated tissue assay
|Aug 4, 1992
|May 15, 1996
|Biotek Solutions Inc
|Method and apparatus for automated tissue assay.
|May 17, 1995
|Dec 7, 1995
|Biotek Solutions, Incorporated
|Automated tissue assay using standardized chemicals and packages
|U.S. Classification
|700/247, 901/6
|International Classification
|Cooperative Classification
|European Classification
|Mar 6, 1986
Owner name: ZYMARK CORPORATION, ZYMARK CENTER, HOPKINTON, MASS
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:BUOTE, WILLIAM J.;REEL/FRAME:004529/0761
Effective date: 19860306
Owner name: ZYMARK CORPORATION, MASSACHUSETTS
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:BUOTE, WILLIAM J.;REEL/FRAME:004529/0761
Effective date: 19860306
|Aug 15, 1991
|Fee payment
Year of fee payment: 4
|Aug 18, 1995
|Fee payment
Year of fee payment: 8
|Sep 9, 1996
Owner name: PNC-BANK, N.A., PENNSYLVANIA
Free format text: SECURITY AGREEMENT;ASSIGNOR:ZY ACQUISITION CORPORATION;REEL/FRAME:008126/0868
Effective date: 19960903
|Aug 18, 1999
|Fee payment
Year of fee payment: 12
|May 19, 2010
Owner name: ZY ACQUISTION CORPORATION,PENNSYLVANIA
Free format text: PATENTS RELEASE;ASSIGNOR:PNC BANK, NATIONAL ASSOCIATION;REEL/FRAME:024411/0133
Effective date: 20100503


text:
- Please select a date to see the proper prices!
Description of the accommodation:
Rooms, services Leonardo Hotel Munich City South Munich is offering 159 comfortable rooms to guests looking for accommodation in Munich. The hotel is happy to have you in the restaurant for a hearty lunch or a romantic dinner. For meetings and nice evening chats the local bar will provide an ideal location. In the safe you may secure your valuables. In case you'd bring your laptop along, you may go online via wireless Internet connection (WiFi) available at the hotel. An exact and detailed list of equipment in the rooms and of the services provided by Leonardo Hotel Munich City South Munich you will find on the information sheet below, including any applicable additional fees.
Payment In order to finalize the reservation you may be required to provide credit card guarantee or advance payment by credit card, depending on the chosen room, date and price.
Arrival, opening hours The earliest check-in time is 15:00, the latest check-out time is 12:00. The personnel can speak English and German languages.
Leonardo Hotel Munich City South Munich rooms Rooms
- Please select a date to see the proper prices!
Accommodation services
Free WiFi in shared places
Bar, Elevator, Safe deposit box
Own restaurant
Hairdryer, Desk in the room

subset: commoncrawl


text:
The $12 million, 2,350-member Greater Abbeville Federal Credit Union in Abbeville, S.C., is reaching out to its members and nonmembers hit by the closing of the Mohawk Industries textile plant in nearby Calhoun Falls, S.C.
I disagree strongly with the premise behind the article, "Does NCUA Disdain the Dual System?" (Aug. 8 issue, page 1). It's important to set the record straight.
Twenty-four credit unions or credit union organizations received grant assistance from the U.S. Treasury Department's Community Development Financial Institutions Fund in the latest round of funding.


text:
"Approaching Eye Level [is] about the day-to-day struggle to face down the brutality of growing loneliness, to accept the limitations of friendship and intimacy, to honor the process of becoming oneself.... Vivian Gornick's strength lies in her refusal to give up." (Mary Hawthorne, The New York Times)
©1996 Vivian Gornick (P)2013 Audible, Inc.
There are no reviews for this title yet.
Report Inappropriate Content
If you find this review inappropriate and think it should be removed from our site, let us know. This report will be reviewed by Audible and we will take appropriate action.


text:
Contact Us
Red Squirrels Northern England does not sell, trade or rent your personal information to others. This information will not be disclosed to any third party without your consent unless required by law.
If you've seen a red squirrel, log your sighting here and contribute to our map by completing our easy to use online form.
Report A Sighting
We have just published results of our spring squirrel monitoring for 2017. Click here to find out more!
RSNE is a partnership project working to conserve red squirrels in northern England.
For enquiries, please contact us care of Northumberland Wildlife Trust, Garden House, St Nicholas Park, Jubilee Road, Gosforth, Newcastle upon Tyne, NE3 3XT
Phone 0191 284 6884


text:
The 9 Best Camcorders
9. Seree HDV-S33
- basic night-vision support
- long-lasting battery life
- low frame rate makes choppy videos
|1.5 pounds
|3.6 / 5.0
8. Sony HDRCX405
- noise reduction microphone
- face detection feature
- wide-angle lens
|1.7 pounds
|3.6 / 5.0
7. Panasonic HC-V380K
- includes hdmi cable
- very small for easy portability
- difficult playback controls
|1.5 pounds
|3.6 / 5.0
6. Canon Vixia HF R72
- powerful digic dv4 processor
- automatic noise reduction
- mp4 and avhcd format support
|1.6 pounds
|4.1 / 5.0
5. Sony FDRAX33
- hd touchscreen viewfinder
- automatic wireless backups
- high quality image stabilization
|2.5 pounds
|4.4 / 5.0
4. Canon VIXIA HF R700
- impressive 57x optical zoom
- intuitive 3-inch lcd panel
- large expandable memory capacity
|1.4 pounds
|4.1 / 5.0
3. Panasonic HC-V770
- full hd slow-motion recording
- wind shield for clear outdoor audio
- automatic blur supression
|1.1 pounds
|4.9 / 5.0
2. Canon Vixia HF G40
- hd cmos pro image sensor
- advanced oled viewing screen
- dual sd cards for dual recording
|4.1 pounds
|4.8 / 5.0
1. Sony FDRAX53/B
- automatic wind noise removal
- beautiful still image capability
- syncs with ios and android devices
|2.5 pounds
|4.7 / 5.0
From VHS Tapes To Memory Cards
To understand how camcorders work on the inside, we need to go back about 150 years to the work of an English photographer named Eadweard Muybridge. Born in 1830, started working as a still photographer in 1861. In 1867, he became internationally famous for his shots of Yosemite Valley and a decade later developed a keen interest in animal locomotion.
Decades before the first cartoon and the use of celluloid in the filming of motion pictures, Muybridge proposed that a collection of still photographs could be show in rapid succession to illustrate the natural movement of animals, people, and even machines.
It was Muybridge's discovery that eventually led to the invention of the chronophotographic gun by Étienne-Jules Marey in 1882. Capable of taking 12 consecutive frames per second, Marey's gun was the second major step toward a science of cinematography.
And to think that we are now able to film grand epics such as The Hobbit in 48 frames per second and play video games at 60 frames per second. But that is all made possible by digital technology, which is quite different from the analog technology behind Marey's gun and those old, bulky VHS cameras from the 1980's.
In fact, the only thing analog and digital camcorders have in common anymore are the lenses. What once housed cassette tapes and compact VCRs, now houses microchips and memory cards.
Using Firewire, you can now plug your camcorder directly into your computer, upload all of the data to your hard drive, and begin the editing process immediately. You don't need scissors and glue to cut and paste. And projectionists at the local theater can spend more time browsing the internet on their smartphones without having to worry about keeping an eye out for "cigarette burns" in the corner of the screen. Indeed, they can even use their smartphones to make movies of themselves at the movies.
We're Gonna Need A Bigger Boat
Before purchasing a new camcorder, there's a few things you're definitely going to want to consider.
What are you filming?
Are you making YouTube videos mainly featuring your face?
Or filming a friend's wedding reception so you can laugh later at how drunk everyone was?
Then you probably don't need that HD camera you've been drooling over. Especially if you're going to be filming all day, that HD footage will chew through your memory card in less than an hour, as you can see by this nice little chart SanDisk put together showing how quickly your memory card will fill up if you film in HD.
Also, how much editing will you be doing?
If you insist on film in HD, you definitely want to think about whether or not you will want to edit your footage. If you're looking to make a movie with some friends, you're going to need a lot more than just a camcorder.
To edit HD footage, you're going to need a desktop computer with at least a dual-core processor and 8GB of RAM. Otherwise, you'll end up spending all of your editing time just waiting for the file to load, assuming of course you actually managed to install your editing software to begin with.
There's no sense in recording all that footage if you can't do anything with it after the fact.
After all, you can't hunt Jaws with a fishing boat.
The Evolution Of The Modern Camcorder
It's astonishing how today's camcorders seem so technological advanced than their predecessors. And they are, in so many ways.
Today, you can record your cat jumping on the neighbor's trampoline, upload it to your computer, slap on a Bohemian Rhapsody soundtrack, and share it with the world in as little as twenty minutes.
Remember when you used to go over to Grandma's house, so Uncle Bill could prop up the projector, load in his 8MM film, and show the family his grainy Niagara Falls footage? Of course you don't remember. Unless you're in the Generation X family.
If you're a Millennial, pre-1990s mind you, maybe your family had an RCA Camcorder that weighed as much as your six year old self. Lest I forget they recorded onto VHS. Good luck editing that on your Windows 98.
Even prior to all of the that, home users started recording on to 8MM film, which entailed loading the film in the small camera by threading it through without exposing the film. Once the film was used, you had to rewind it, and send it off to be developed.
If you wanted to edit your footage, then hopefully you had some scissors and tape on hand. Mind you there was no sound recorded either. We're talking mid-1930s here. I'm still confused when people refer to this era as "simpler times".
In the 1960s, Super-8 film hit the market as a more user friendly step up from the 8MM that didn't require threading the film. Not to be confused with this Super 8, or this one either.
In the 1970s, VHS (Video Home System) made a splash on to the scene, which popularized drastically well into the 80s and 90s.
At the turn of the millennium Mini DVs came around, which required a VHS converter.
Then at last, arrived the good ole memory card in the early 2000s. Actually, they appeared as early as 1995, but only offered 128MB of storage, which is utterly laughable now.
But even with all this history, we've barely scratched the surface. In between each of these inventions lies another camcorder that never popularized, or was secluded to the big filmmakers.
You may look at it and just see a camera, but maybe now that its years of evolution has been presented to you, you'll get a better understanding of them, and a greater appreciation. That being said, dear reader, happy shopping.


text:
- Yield
- 8 Servings
- Juice from 1 POM Wonderful Pomegranate,* or 1/4 cup POM Wonderful Pomegranate Juice
- 2 tablespoons orange juice concentrate
- 1 tablespoon balsamic vinegar
- 1/2 cup chopped parsley
- 1/3 cup whole grain mustard
- 10 sprigs fresh thyme leaves
- 1 4- to 6-lb. chicken
- salt and pepper to taste
- 1/4 medium onion
- 1/2 fresh orange, cut in two pieces
- 1. Prepare fresh pomegranate juice.* 2. Make glaze by combining pomegranate juice, orange juice, vinegar, parsley and mustard and half of the fresh thyme, leaves only. 3. Rinse chicken; pat dry. Place on a roasting rack in a shallow pan; sprinkle with salt and pepper. 4. Use half of the glaze mixture to coat the chicken. 5. Place remaining thyme leaves in the chicken cavity with onion and orange. 6. Cover the chicken loosely with foil and roast for 30 minutes at 350°F. 7. Remove foil and coat chicken with the remaining glaze. 8. Increase oven temperature to 375°F and continue to bake. 9. Bake for 30 to 40 minutes or until a meat thermometer in the thigh of the chicken reads 165°F and juices run clear. * For 1 cup of juice, cut 2-3 POM Wonderful Pomegranates in half and juice them with a citrus reamer or juicer. Pour the mixture through a cheesecloth-lined strainer or sieve. Set the juice aside.
Related Video
Nutritional Info
- Calories298
- Carbohydrates11 g(4%)
- Fat18 g(28%)
- Protein23 g(46%)
- Saturated Fat5 g(25%)
- Sodium433 mg(18%)
- Polyunsaturated Fat4 g
- Fiber3 g(12%)
- Monounsaturated Fat7 g
- Cholesterol86 mg(29%)


text:
(The Sports Xchange) - Miami Dolphins quarterback Jay Cutler remained in concussion protocol on Friday and was ruled out of Sunday's game against the New Eng
Jay Cutler was ruled out of Sunday's game at New England because of a concussion, and backup Matt Moore will make his second start of the season.
The Miami Dolphins and New England Patriots each had units ranked last in the NFL after three games this season. The Patriots figured out their problem. The Dolphins have not.
DAVIE, Fla. (AP) -- Miami Dolphins quarterback Jay Cutler has been ruled out of Sunday's game at New England because of a concussion, and backup Matt Moore will make his second start of the season.
Miami Dolphins quarterback Jay Cutler won't play Sunday against the New England Patriots due to a concussion he suffered in Week 11 against the Tampa Bay Buccaneers . Adam Beasley of the Miami Herald reported the news...
Jay Cutler hasn't been cleared in the concussion protocol, so the Miami Dolphins will start Matt Moore at quarterback against the Patriots on Sunday.
Tom Brady and a hot Patriots offense will test the Miami Dolphins Sunday. Previews, analysis and more for Week 12 in the NFL.
Revisit Tom Brady's incredible performance against the Miami Dolphins in 2007.
Dolphins wide receiver Jarvis Landry said this offseason that he expected his team to beat the Patriots twice this season and he isn't backing off of that with the first meeting between the teams on tap of Sunday. Landry said he wasn't surprised that his comments grabbed so much notice or that there
A look at the Miami Dolphins 2017 offseason shows the team wasted multiple opportunities and valuable cap room while trying to find a way to improve the team after a successful 2016.
The Dolphins aren't able to give thanks for quarterback Jay Cutler's exit from the concussion protocol yet. Coach Adam Gase said on Thursday that there is nothing new to report on Cutler's progress toward clearance for game action, which means Matt Moore continues to work with the first team ahead of
Infractions cost the Miami Dolphins a season-high 123 yards in Sunday's loss to the Tampa Bay Buccaneers.
Miami Dolphins coaches and players comment on their upcoming game against the New England Patriots.
Several of the Dolphins' second- and third-year players haven't improved as much as Miami had hoped.
New England Patriots superstar quarterback Tom Brady missed practice Wednesday due to an Achilles injury, but his availability for the Pats' home game against the Miami Dolphins at Gillette Stadium on Sunday is reportedly not in danger...
Matt Moore or Jay Cutler? The Dolphins would not say Wednesday. And it appears that the principals in this telenovela have grown tired of the conversation.
The Miami Dolphins are leaning toward starting quarterback Matt Moore at quarterback in place of Jay Cutler against the New England Patriots on Sunday.
The New England Patriots and the Miami Dolphins announce the following player injuries and practice participation.
NFL Network Insider Ian Rapoport and Mike Garafolo discuss the Miami Dolphins quarterback Jay Cutler.
As the Miami Dolphins spread out across two fields for the start of practice Wednesday, the air filled with the snap of the blocking sled and the thud of rap from the PA system. The problem has been getting worse, and a rapid remedy is needed if 16+-point underdog Miami (4-6) is to have any chance Sunday
Miami Dolphins quarterback Jay Cutler remains in the concussion protocol
DAVIE, Fla. (AP) -- Miami Dolphins quarterback Jay Cutler remains in the concussion protocol and is not practicing Wednesday, but he hasn't yet been ruled out of Sunday's game at New England.
Fans are encouraged to bring new, unwrapped toys to Sunday's game. Toy drive donation bins will be located outside the entrance gates to Gillette Stadium and donors will receive a 10 percent discount coupon to the Patriots Pro Shop. Patriots players will help deliver toys donated by Patriots fans to children in need this holiday season.
The New England Patriots once trailed the all-time series with the Miami Dolphins 44-27. But with 21 wins over the last 29 meetings, including a season sweep last year, the Patriots have cut that deficit to 52-48...
DeVante Parker had a terrible time last week, including a game in which he was directly or indirectly responsible for two interceptions, and that is going to cost him money while rewarding teammate Jarvis Landry.
With Nick Buoniconti and Jim Kiick dealing with diminished cognitive skills, current and former Miami Dolphins are concerned about their own health.
Tom Brady wins Week 11 to grow his season lead, a new No. 2 rises to challenge, and the Dolphins' Jay Cutler tumbles in latest Miami Herald NFL quarterback rankings.
First, it was Tennessee that got jobbed by officials. Then, it was Washington. Now, we find out the Dolphins did, too. Needless to say, it was not a good weekend for the league's officiating crews with three high-profile blown calls. Hal Habib of the Palm Beach Post reported Tuesday that the NFL has
A look at the connections between the New England Patriots and the Miami Dolphins.
The Week 12 slate of NFL games runs the gamut. For starters, we have a handful of potential blowouts, led by the New England Patriots and Miami Dolphins...
Kenny Stills has an outstanding game for the Miami Dolphins against Tampa Bay but it could have been better.
Miami Dolphins linebackers have posted abysmal statistics in pass coverage. Plus, Dolphins notes.
Jay Cutler's availability Sunday for the Miami Dolphins at New England is uncertain because he's in the concussion protocol.
Miami Dolphins coach Adam Gase isn't sure when quarterback Jay Cutler will return but indicated he will start when healthy.
A few key takeaways from the Buccaneers' Week 11 victory over the Dolphins
DAVIE, Fla. (AP) Jay Cutler's availability for the Miami Dolphins on Sunday at New England is uncertain because he's in the concussion protocol, but he's expected to start if healthy.
Yeah, so, let's talk about Jay Cutler and how said trope applies to NFL quarterbacks, too. Cutler was the major casualty of the Miami Dolphins' horrible 30-20 loss to the Tampa Bay Buccaneers on Sunday. Cutler, who was replaced by Matt Moore, had already thrown three interceptions and completed six
Miami Dolphins linebacker Rey Maualuga was arrested on a misdemeanor battery charge at nightclub in Miami for refusing to pay his $40 tab.
The Miami Dolphins had 17 penalties and five turnovers against the Tampa Bay Buccaneers on Sunday. So, yeah, in losing their fourth consecutive game the Dolphins had 22 significant screw-ups.
Miami Dolphins wide receivers Kenny Stills and Jarvis Landry talk about their defeat to the Tampa Bay Bucs.
Jay Cutler said concussions are something he knows have to be taken seriously, and that he knows they can get trickier to deal with over time. The Miami Dolphins have plenty of problems, and the status of their starting quarterback is now among the foremost entries on that list. Cutler got what is
Watch the best plays from the week 11 matchup between the Tampa Bay Buccaneers and Miami Dolphins.
MIAMI GARDENS, Fla. (AP) -- Ryan Fitzpatrick threw for 275 yards and two touchdowns, Patrick Murray kicked a 35-yard field goal with four seconds remaining and the Tampa Bay Buccaneers snapped a six-game road slide by topping the penalty-prone Miami Dolphins 30-20 on Sunday.
Ryan Fitzpatrick threw for 275 yards and two touchdowns and the Buccaneers snapped a six-game road slide by topping the penalty-prone Dolphins.
This Miami Dolphins season is over. And this season deserves to die because of the four consecutive losses the Dolphins have suffered the past month, this was by far the most embarrassing.
It's time for the Dolphins to look to next season following a disastrous 30-20 loss to the Buccaneers drops Miami to 4-6.
It wasn't what you'd call pretty. But considering they were supposed to have this week off, the Buccaneers will take it. Tampa Bay beat Miami 30-20 in the rescheduled date from the hurricane-postponed regular season opener, and both teams looked like they needed (and took) a week off. The Buccaneers
The Miami Dolphins announced on Sunday that quarterback Jay Cutler was ruled out for the remainder of the team's matchup against the Tampa Bay Buccaneers after being evaluated for a concussion...
Miami Dolphins quarterback Jay Cutler was taken out of the Sunday's game against the Tampa Bay Buccaneers at halftime and is being evaluated for a concussion. Matt Moore replaced Cutler at quarterback to start the third quarter.
Enter your email to get updates on this discussion.


text:
Energy Efficient Approach for In-Network Aggregation in Wireless Sensor Networks
The term Wireless Sensor Network (WSN) is nothing but collection of small sensor devices without any physical infrastructure used for communication. The communication in this network is done by radio frequencies and wireless routing. In WSN, data aggregation is main task which is used to collect information from sensor nodes on behalf of sink node. In-network aggregation is nothing but global process of gathering and routing information through a multi hop network, processing data at intermediate nodes with the objective of reducing resource consumption (in particular energy), thereby increasing network lifetime.
Provided by: Inpressco Topic: Enterprise Software Date Added: Aug 2015 Format: PDF


text:
This is the web site of O.W.L., LLC and we can be reached via email at firstname.lastname@example.com or you can reach us at 1-800-647-7017.
For each visitor to our Web page, our Web server automatically recognizes only the customer's domain name, but the e-mail address (where possible)
We collect the domain name and e-mail (where possible) of visitors to our Web page, the e-mail addresses of those who post messages to our bulletin board, the e-mail addresses of those who communicate with us via e-mail, aggregate information on what pages consumers access or visit, user-specific information on what pages consumers access or visit, information, volunteered by the consumer, such as survey information and/or site registrations, name and address, telephone number, fax number, payment information (e.g., credit card number and billing address).
The information we collect is used to improve the content of our Web page, used to customize the content and/or layout of our page for each individual visitor, used to notify consumers about updates to our Web site.
With respect to cookies: We use cookies to store visitors preferences, record session information. such as items the consumer add to thier shopping cart, record user-specific information on what pages users access or visit, alert visitors to new areas that we think might be of interest to them when they return to our site, record past activity at a site in order to provide better service when visitors return to our site, cutomize Web page content based on visitors' browser type or other information that the visitor sends.
If yo do not want to recieve e-mail from us in the future, please let us know by sending us e-mial at the above address.
If you supply us with your postal address on-line you may receive periodic mailings from us with information on new products and services or upcoming events. If you do not wish to receive such mailings, please let us know by calling us at the number provided above. Please provide us with your exact name and address. We will be sure your name is removed fromt he list we share with other organizations.
Persons who supply us with their telephone numbers on-line may recieve telephone contact from us with information regarding new products and services or upcoming events. If you do not wish to revieve such telephone calls, please let us know by sending us e-mial at the above address. Please provide us with your name and phone number. We will be sure your name is removed fromt he list we share with other orgainizations. With respect to Ad Servers: We do not partner with or have special relationshops with any ad servier companies.
From time to time, we may use customer information for new, unanticipated usess not previously disclosed in our privacy notice. If our information practices change at some time in the future we will post the policy changes to our Web site to notify you of these changes and provide you with the aility to opt out of these new uses. If you are concerned about how your information is used, you should check back at our Web site periodically.
Customers may prevent their informaiton from being used for purposes other than those for which it was originally collected by e-mailing us at the above address.
Upon request we provide site visitors with access to unique indentifier information(e.g., customer number or password) that we maintain about them, transaction information (e.g., dates on which customers made purchases, amounts an types of purchases) that we maintain about them, contact information (e.g., name, address, phone number) that we maintain about them.
Consumers can access this information by e-mail us at the above address.
Upon request we offer visitors the ability to have inaccuracies corrected in contact information. financial information, transaction information, communications that the consumer/Visitor has directed to the site. Consumers can have this information corrected by sending us e-mail at the above address.
With respect to security: When we transfer and recieve certain types of sensitive information such as financial, we redirect visitors to a secure server and will notify visitors through a pop-up screen on our site.
If you feel that this site is not following the stated information policy, you may contact us at the above addresses or phone number.
O.W.L., LLC 1-800-647-7017 Fax: 1-877-282-4103 email: email@example.com


text:
|Aastra 51i IP Telephone A1751-0131-10-01
|Aastra 51i IP Telephone (A1751-0131-10-01) The Aastra 51i offers features and flexibility in an open-standards based, carrier grade basic level IP telephone. New: Quantity This product is eligible for 2 Year Platinum Protection! Aastra 51i Features 3 line LCD display 1 call appearance 4 navigational keys 9 configurable speed-dial keys using number keypad 9 fixed feature keys - Goodbye, services, hold, redial, save, delete, swap, speakerphone, and mute LED for call and message waiting indicator XML browser Full duplex speakerphone Enhanced call management (e.g. personal directory, callers log, redial list, shared call and bridged line appearances, call forward, transfer, and call waiting) Multi-lingual support - English, French, Spanish, Italian, German Built-in web administration server for maintenance and troubleshooting Mass deployment via central provisioning - TFTP, FTP, HTTP, HTTPS Integrated dual 10/100 Mbps switched Ethernet ports Static or DHCP addressing Supports IETF SIP (RFC3261) and associated RFC drafts Supports G.711 and G.729 codecs Integrated IEEE 802.3af Power over Ethernet (PoE) support Fully interoperable with leading SIP telephony platforms
CATEGORY-> Electronics -> Audio
BRAND-> Aastra
SKU/UPC-> aastra51i
STATUS-> instock
Price: 78.99


text:
Loading in 2 Seconds...
Loading in 2 Seconds...
If you are eyeing for the prompt solution to your problematic Microsoft , then you can contact us just by calling through Microsoft Tech Support 1-877-776-6261 at anytime from anywhere whether from your office or your home. We are rendering on-demand technical support services at the at the most reasonable rate. As quickly as you call us, you'll get the solution at the same pace. We are available 24X7 to cater all your needs. to know more visit- http://www.monktech.net/microsoft-help-line-number.html
Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.
Call on our toll free Microsoft Tech Support Number
1-877-776-6261 & get best solution from our executives.
Dial +1-877-776-6261 Toll-Free
Get Instant solution to your all queries related to your any Microsoft application. We have a toll free Microsoft Support Phone Number 1-877-776-6261 which is available in USA & Canada.
Call us at +1-877-76-6261
Get complete solution to your all queries related to Microsoft applications on Microsoft Technical Support Number
Get 100% result of your queries from our tech support executives.
Get Instant service from our executives We are available 24*7 in USA & Canada to solve your queries. Get 100% result of your queries from our technical support executives.
Call us on +1-877-776-6261
Facing any problem related to any Microsoft application contact us on our Microsoft Support Number 1-877-776-6261which is available 24*7 to help you in USA & Canada.
Visit Our Website:
Call Toll Free: +1-877-776-6261


text:
With Schwarzkopf is Gus Lee's remembrance of his mentor and friend H. Norman Schwarzkopf, and his firsthand account of how Schwarzkopf shaped his life. In 1966, Lee, a junior-year cadet at West Point, was bright, athletic, and popular. He was also on the verge of getting kicked out. Nearing the bottom of his class due to his penchant for playing poker and reading recreationally instead of studying engineering, he was assigned a new professor: then-Major Norman Schwarzkopf. Schwarzkopf's deeply principled nature and fierce personality took hold of the wayward cadet, and the two began meeting regularly and discussing what it meant to be a scholar, a soldier, and a man.
Lee's vibrant, witty narrative brings his more than forty-year relationship with Schwarzkopf to life. Listeners get an inside look at West Point culture; they see Schwarzkopf's bristling anger with his rebellious pupil as well as his tenacity, intellect, and moments of surprising emotional warmth; and they watch as Lee starts to absorb his teachings. As he left West Point and took on more professional and personal roles, Lee approached every crisis or difficult decision by channeling his mentor. Over the years, Schwarzkopf's instilled values, wise counsel, and warm conversations shaped Lee and brought the two together in an unlikely friendship. In With Schwarzkopf, Lee passes along the lessons he learned so future generations can hear Schwarzkopf's important teachings.
©2015 Gus Lee (P)2015 Brilliance Audio, all rights reserved.
There are no reviews for this title yet.
Report Inappropriate Content
If you find this review inappropriate and think it should be removed from our site, let us know. This report will be reviewed by Audible and we will take appropriate action.


text:
STARmeterSEE RANK
Down 82,973 this week
J. Herbert Frank (1885–1926)
J. Herbert Frank was born on May 12, 1885 in New York City, New York, USA. He was an actor, known for Destruction (1915), Wise Husbands (1921) and Tempered Steel (1918). He died on March 7, 1926 in Los Angeles, California, USA. See full bio »
Born:in New York City, New York, USA
Died:(age 40) in Los Angeles, California, USA


text:
Traveling Luck for Interchange 159, Virginia, United States
Where is Interchange 159?What's around Interchange 159?
Wikipedia near Interchange 159
Where to stay near Interchange 159
The timezone in Interchange 159 is America/Iqaluit
Sunrise at 07:58 and Sunset at 17:56. It's Dark
Latitude. 37.7811°, Longitude. -77.8889°
Weather near Interchange 159; Report from Louisa, Louisa County Airport/Freeman Field, VA 32.4km away
Weather :
Temperature: 11°C / 52°F
Wind: 4.6km/h South/Southwest
Cloud: Sky Clear
Weather :
Temperature: 11°C / 52°F
Wind: 4.6km/h South/Southwest
Cloud: Sky Clear
Satellite map around Interchange 159
Loading map of Interchange 159 and it's surroudings
Geographic features & Photographs around Interchange 159, in Virginia, United States
- populated place;
- a city, town, village, or other agglomeration of buildings where people live and work.
- Gum Spring (1.2km)
- Deerwood (1.9km)
- Running Still (4.3km)
- Shelfar (4.6km)
- Countryside West (4.7km)
- Sandy Hook (4.7km)
- Tally Ho Estates (4.8km)
- Dongola (5.7km)
- Aldwyck (5.9km)
- Cheney Creek (6.3km)
- Orchid (6.6km)
- Mayos Woods (7km)
- East Leake (7.7km)
- Holly Grove (8.3km)
- Whitehall Acres (8.6km)
- Perkinsville (8.7km)
- Poplar Forest (8.9km)
- Three Oaks (9.1km)
- Dabneys (9.7km)
- Maidens Forest (9.8km)
- Othma (10km)
- Crosswoods West (10.2km)
- church;
- a building for public Christian worship.
- Providence Church (1.9km)
- Shady Grove Church (3.2km)
- Oakland Church (4km)
- Bagland Memorial Church (4.9km)
- New Line Church (7km)
- Elpis Church (7.6km)
- Holly Grove Church (8km)
- Fauquier Church (8.6km)
- Saint Marks Church (9km)
- Emmaus Church (9.8km)
- stream;
- a body of running water moving to a lower level in a channel on land.
- Owens Creek (5.4km)
- Redeye Creek (7.2km)
- Rocketts Creek (7.5km)
- Flemings Creek (7.7km)
- Cub Creek (8.8km)
- Old Miss Branch (9.2km)
- Leatherwood Creek (9.6km)
- Local Feature;
- A Nearby feature worthy of being marked on a map..
- Interchange 159 (0km)
- Sheltons Mill (historical) (6.4km)
- Busbee and Son Mill (historical) (7.7km)
- Three Square (10.2km)
- Gammons Store (10.3km)
- reservoir(s);
- an artificial pond or lake.
- Sheltons Millpond (6.4km)
- Orchid Lake (7.6km)
- Pruitts Pond (9km)
- Harris Pond (9.5km)
Accommodation around Interchange 159
- school;
- building(s) where instruction in one or more branches of knowledge takes place.
- Sandy Hook School (historical) (5km)
- Shelfar School (5.5km)
- Goochland Central High School (6.4km)
- Jackson Memorial School (historical) (6.9km)
- dam;
- a barrier constructed across a stream to impound water.
- Sheltons Dam (6.4km)
- Pruitts Dam (9km)
- Harris Pond Dam (9.4km)
- post office;
- a public building in which mail is received, sorted and distributed.
- Gum Spring Post Office (1.2km)
- Dabneys Post Office (9.7km)
- airport;
- a place where aircraft regularly land and take off, with runways, navigational aids, and major facilities for the commercial handling of passengers and cargo.
- Bachman Farm Ultralight Airport (5.9km)
- Rose Retreat Farm Airport (8.8km)
- administrative division;
- an administrative division of a country, undifferentiated as to administrative level.
- second-order administrative division;
- a subdivision of a first-order administrative division.
- Goochland County (7.2km)
Wikipedia entries close to
Interchange 159
- Manakin-Sabot, Virginia city city o
- Columbia, Virginia city city o
- Mineral, Virginia city city o
- Wyndham, Virginia city city o
- Short Pump, Virginia city city o
- Louisa, Virginia city city o
- North Anna Nuclear Generating Station landmark nuclear faci
- Palmyra, Virginia city city o
- The West End (Richmond, Virginia) city city o
- Tuckahoe, Virginia city city o
- Mosley, Virginia city city o
- Ashland, Virginia city city o
- Battle of North Anna landmark military
- Laurel, Virginia city city o
- Glen Allen, Virginia city city o
- Dumbarton, Virginia city city o
Airports close to Interchange 159
Richmond international(RIC), Richmond, Usa (72.6km)
Quantico mcaf(NYG), Quantico, Usa (116.6km)
Washington dulles international(IAD), Washington, Usa (165km)
Felker aaf(FAF), Fort eustis, Usa (165.8km)
Ronald reagan washington national(DCA), Washington, Usa (172km)
Airfields or small airports close to Interchange 159
Tipton, Fort meade, Usa (214.7km)
Photos provided by Panoramio are under the copyright of their owners.


text:
Swarming the planet
"Since 1700, the amount of cultivated land on the planet has increased from 7 to 40 per cent, according to researchers at the University of Wisconsin-Madison," writes Dave Foreman, author of Man Swarm and the Killing of Wildlife, on Grist.org. "Spin a globe. More than a third of what you see that is not water or ice has gone from neighbourhoods for wildlife to croplands for humans or grazing lands for our livestock."
Who says logic is dull?
"The rumour that Smith College was going entirely vegetarian, and that it would only buy food from local growers, started a ruckus on the school's Massachusetts campus. There were protests and counter-protests last week at the prestigious women's college in Northampton, slogans pro and con written on walkways, and personal criticism of the manager of dining services," Associated Press reports. "It turns out it was a hoax, cooked up by two professors as part of their introductory class in logic. Prof. Jay Garfield tells The Boston Globe the prank was a way to liven up a dry topic. He and Prof. Jim Henle have started false rumours in the past. Smith president Carol Christ added to the exercise, saying Monday [that]Garfield and Henle had been fired. That, too, was a hoax."
Sleep and taking tests
"Sleep … plays a role in test performance, but in two unexpected ways," says The Wall Street Journal. "Review the toughest material right before going to bed the night before the test. That approach makes it easier to recall the material later, says Dan Taylor, director of a sleep-and-health-research lab at the University of North Texas in Denton. And don't wake up earlier than usual to study; this could interfere with the rapid-eye-movement sleep that aids memory, he says. A common study habit – the all-nighter – is a bad idea. Although 60 per cent of college students stay up all night at some point in school, the practice is linked to lower grades, says Pamela Thacher, an associate professor of psychology at St. Lawrence University in Canton, N.Y., based on a 2008 study of 120 students. It also impairs reasoning and memory for as long as four days."
Built for peak performance?
"Neanderthals had shorter lower legs than we do, leading scientists to theorize that this was an adaptation to the cold times in which they lived, even if it slowed them down," LiveScience.com reports. "But two scientists offer a new explanation for those short lower legs: They allowed these early humans to move efficiently across the sloped terrain of their mountainous homes. Instead of being at a disadvantage on rugged terrain, as was generally thought, Neanderthals even may have been at an advantage, depending on the nature of the slope, they found. The research team also found the same connection between shorter lower-leg bones and mountain life among modern animals." The research was published online in the American Journal of Physical Anthropology.
Cars reading text messages
"Two and a half years into the [U.S.]crusade against distracted driving, auto makers are equipping vehicles with new technology that might circumvent the 34 state laws that prohibit text messaging behind the wheel, which 95 per cent of Americans say is dangerous," reports The Washington Post. "The manufacturers say the new hands-free text-messaging systems will reduce the risk of distraction. Safety advocates aren't so sure. … The latest wrinkle is an advancement in Ford's voice-activated Sync system, which is standard in most of the company's 2012 models. Now, using a Bluetooth wireless connection with a cellphone, the vehicles can read text messages aloud. The driver can tap a touch screen to send one of 15 preset responses, including 'I'm running a few minutes late,' 'I can't talk right now,' and 'I'm on my way.' BMW offers a similar system. Vehicles with General Motors' OnStar will read text messages and Facebook statuses to the user and transcribe spoken messages into text or Facebook messages."
Thought du jour
"The vision of a champion is someone who is bent over, drenched in sweat, at the point of exhaustion, when no one else is watching."
- Anson Dorrance (1951-), coach of women's soccer at the University of North Carolina


text:
United Airlines is coming under fire for overbooking a flight and then taking drastic measures to remove passengers.
A video posted to Twitter and Facebook on Sunday shows a man being pulled out of his seat and dragged down the aisle by three security officers as fellow passengers express their fear and outrage. According to the Courier-Journal, the incident occurred as a result of United Airlines overbooking a flight by four people.
Flight 3411 was preparing to take off when passengers aboard the craft, transiting from Chicago O?Hare Airport to Louisville, Kentucky, were informed too few seats were available. According to Audra Bridges, who was aboard the plane and posted one of the viral videos to Facebook, a flight attendant informed the passengers that four people would need to give up their seats for four United employees who were needed in Louisville the next day. Reportedly, a $800 voucher was being offered as an incentive.?When no one volunteered to give up their seats, a manager came aboard and declared that passengers would be randomly selected and asked to leave.
Please share this video. We are on this flight. United airlines overbooked the flight. They randomly selected people to kick off so their standby crew could have a seat. This man is a doctor and has to be at the hospital in the morning. He did not want to get off. We are all shaky and so disgusted. #unitedairways -To use this video in a commercial player or in broadcasts, please email email@example.com-
Posted by Audra D. Bridges on Sunday, April 9, 2017
The man in the video is a doctor who became visibly upset when he was asked to leave. Reportedly, he had patients he needed to treat on Monday, therefore, refused to give up his seat. Management then informed him?that security would be called if he refused to leave the plane. Shortly after, three security guards removed him from his seat while passengers yelled their disgust and fright.
@United overbook #flight3411 and decided to force random passengers off the plane. Here's how they did it: pic.twitter.com/QfefM8X2cW
— Jayse D. Anspach (@JayseDavid) April 10, 2017
After the incident, passenger Jayse D. Anspach posted a series of tweets about what developed.
He later informed followers that the doctor was later allowed back on the plane but appeared to have a ?bloody face.?
@united @CNN @FoxNews @WHAS11 Man forcibly removed from plane somehow gets back on still bloody from being removed pic.twitter.com/njS3nC0pDl
— Tyler Bridges (@Tyler_Bridges) April 10, 2017
Another passenger captured the physician?s bloody face as he re-entered the aircraft, shares BuzzFeed.
#flythefriendlyskies @united no words. This poor man!! pic.twitter.com/rn0rbeckwT
— Kaylyn Davis (@kaylyn_davis) April 10, 2017
It didn?t take long before the Department of Transportation announced it would be launching a Federal investigation to review whether or not United followed consumer protection regulations. According to a statement by theDepartment of Transportation, "While it is legal for airlines to involuntary bump passengers from an oversold flight when there are not enough volunteers, it is the airline's responsibility to determine its own fair boarding priorities."
When approached by the press, United Airlines released the following statement:
?Flight 3411 from Chicago to Louisville was overbooked. After our team looked for volunteers, one customer refused to leave the aircraft voluntarily and law enforcement was asked to come to the gate.?We apologize for the overbook situation. Further details on the removed customer should be directed to authorities.?
Shortly afterward, the CEO of United Airlines, Oscar Munoz, ?issued an apology statement. He stated:
"This is an upsetting event to all of us here at United. I apologize for having to re-accommodate these customers. Our team is moving with a sense of urgency to work with authorities and conduct our own detailed review of what happened."
"We are also reaching out to this passenger to talk directly to him and further address and resolve this situation," he added.
While responses to the ordeal have been mixed, overall, it seems the public is both baffled by how the passenger was treated and infuriated that despite possibly following legal protocols, United Airlines didn?t demonstrate more care to its customers. What are your thoughts? Please comment below and share this news!