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A drive system for an automotive vehicle, especially an industrial floor vehicle such as a forklift truck, comprises an internal combustion engine, preferably a diesel engine, whose speed-controlling element (e.g. fuel-injection pump) in connected to a speed-setting member (e.g. a drive pedal) and propels an externally energized direct-current generator which, in turn, is connected to an externally energized direct-current motor driving the load, e.g. at least one wheel of the vehicle. According to the invention, the speed-controlling element of the internal combustion engine is provided with a speed-setting signal generator, the output shaft of the internal combustion engine with an engine shaft-speed signal generator and the output shaft of the direct current motor with a motor shaft-speed signal generator. The signals from the speed-setting signal generator and from the motor speed signal generator are fed to a speed controller whose output is delivered to a power controller while the signals from the speed-setting signal generator and form the engine shaft speed signal generator are delivered to a comparator hose output is also supplied to the power controller which controls the field-coil excitation of the direct current generator.
1. A control system for an engine/generator/motor set for a vehicle propelled by said set, said set comprising:
an internal combustion engine having a speed-controlling element;
a speed-setting member operatively connected to said speed-controlling element, said engine having an output shaft;
an externally excited electric current DC generator connected to said output shaft; and
an externally excited DC electric motor electrically connected to said electric current generator and having a motor shaft connected to a load for propelling said vehicle, said control system comprising:
a speed-setting signal generator connected to said speed-controlling element for generating signals representing a setpoint value of no-load engine speed determined by the position of said speed-controlling element;
an engine shaft-speed signal generator connected to said output shaft and generating signals representing the speed of said output shaft;
a motor shaft-speed signal generator connected to said motor shaft and generating signals representing the speed thereof;
a speed controller receiving signals from said speed-setting and motor shaft-speed signal generator and having a speed-controller signal output;
a power controller receiving said speed controller signal output as an input thereto;
a comparator receiving signals from said engine shaft speed and speed-setting signal generators, said comparator being connected to said power controller and supplying an input thereto; and
means connected to an output of said power controller for controlling the excitation of a field coil of said electrical current generator.
2. The control system defined in claim 1, further comprising means for detecting electrical current flow between said electrical current generator and said motor for producing a feedback signal and for applying said feedback signal to said power controller.
3. The system defined in claim 2, further comprising means for controlling the current flow through a field coil of said motor.
4. The system defined in claim 2 or claim 3 wherein the current flow through a field coil of said motor is controlled in response to current flow between said electrical current generator and said motor.
5. The system defined in claim 1 wherein said speed-setting signal generator is controlled at least in part by said speed-setting member.
6. The system defined in claim 1 further comprising a current controller disposed between said speed controller and said power controller, said current controller being fed with the output signal of said speed controller and a signal respective to the amplitude of current flow between said electrical current controller limiting the signal delivered to said power controller upon attainment of a limiting value of a signal representing measurement of the current between said electrical current generator and said motor.
7. The system defined in claim 5 wherein said speed-setting member is an accelerator pedal and is provided with a pedal-setting signal generator connected through a variable program integrator to said speed controller.
8. The system defined in claim 7, further comprising means for varying the polarity of the signal outputted to said speed controller in accordance with the selected direction of travel of the vehicle.
9. The system defined in claim 1, further comprising a converter circuit between said power controller and the field coil of said generator.
10. The system defined in claim 9 wherein a polarity responsive switch is provided between said converter and a final stage controlling the energization of the field coil of said electrical current generator.
11. The system defined in claim 10 wherein said switch is connected to respond to the output polarity of the signal from said current controller.
12. The system defined in claim 1 wherein said engine shaft-speed signal generator is a pulse generator, further comprising a frequency/voltage converter between said pulse generator and said comparator.
13. The system defined in claim 5 wherein said pedal-setting signal generator is a galvanomagnetic device.
14. The system defined in claim 1 wherein the last-mentioned means includes a bridge circuit with four power transistors energized in pairs depending upon signal polarity.
15. A method of operating an engine system including an internal combustion engine, an externally excited direct-current generator connected to this engine, an externally excited direct-current motor electrically connected to said generator and a setpoint element for controlling the speed of said engine, comprising the step of exciting said direct-curent motor with an electric current controlled by a signal determined by the armature current thereof, the current control being subordinated to a speed control.
16. The method defined in claim 15, further comprising controlling the power at said generator and subordinating the current control thereto.
17. The method defined in claim 16 wherein the power controller is subject to maximum value limiting control.
18. The method defined in claim 17 wherein setpoints at actual value speed signals are generated, compared and utilized to control the excitation current through a field coil of said generator.
19. The method defined in claim 18 wherein the result of the comparison is superimposed upon a further comparative value resulting from a comparison of the setpoint speed of the engine and an actual value thereof.
20. The method defined in claim 17 or claim 18 wherein the armature current dependent signal is subordinated to the signal of the first mentioned comparison.
21. A method of operating an engine/generator/motor drive comprising:
an internal combustion engine having a speed-controlling element;
a speed setting member operatively connected to said speed-controlling element, said engine having an output shaft;
an externally excited electric current DC generator connected to said output shaft; and
an externally excited DC electric motor electrically connected to said electric current generator and having a motor shaft connected to a load for propelling said vehicle, said method comprising the steps of:
generating a first signal representing the position of said speed control element;
generating a second signal representing the speed of said output shaft;
comparing said first and second signal and generating a first output signal;
generating a motor shaft speed signal and applying said motor shaft speed signal to a speed controller together with an integrator signal representing the position of a pedal connected with said speed control emelement to generate a second output signal;
applying said second output signal to a current controller together with a further signal representing the current flow between said generator and said motor to produce a third output signal;
applying said first and third output signals to a power controller to generate a fourth output signal;
connecting said fourth output signal to a train of pulses; and
controlling the flow of current through a field coil of said generator to selectively excite said generator with said train of pulses.
22. A method of operating a drive set for a vehicle comprising an internal combustion engine, a direct current generator driven by said engine and having a separate excitation current source, a direct current motor energized by said direct current generator and having a separate excitation current source, and an accelerator pedal for said set for producing a setpoint signal controlling said generator, said method comprising:
generating a signal dependent upon an armature current of said motor; and
directly controlling the excitation of said motor with said signal dependent upon said armature current.
Our present invention relates to a propulsion control system for automotive vehicles and, more particularly, to floor-type industrial vehicles such as forklift trucks. The invention also relates to a method of controlling or operating such vehicles and to circuitry for this purpose. Specifically, the invention relates to the control of drive systems of the type in which an internal combustion engine drives a direct current generator and the electrical output from this generator is used to drive an electric motor which can be coupled to a load, e.g. the vehicle wheels. Such systems can be referred to as engine/generator/motor sets.
Engine/generator/motor sets have heretofore been provided in a variety of applications and, in one field of application of such power sets, the internal combustion engine is a diesel engine, the generator is a direct current generator and the motor is a direct current motor.
Such drive systems can be used to propel industrial vehicles, especially floor vehicles such as forklift trucks.
With such vehicles, a drive pedal serves as a set point input for the internal combustion engine which, in the case of a Diesel engine, can have a fuel-injector pump serving as the speed-setting element. The speed-setting element is thus connected to the drive pedal or setpoint member.
The direct-current generator which is driven by the output shaft of the internal combustion engine can be of the externally energized type and the direct current motor can also be externally energized and connected to at least one wheel of the vehicle.
In such drive systems, it is customary in controlling the vehicle speed to either set the internal combustion engine to the desired speed, to selectively control the direct current generator, or to selectively control the current flow to the motor or the energizing field for the motor. This field may be supplied by a vehicle battery or from a supply network connected to electrical means. Customarily only one of these selectively controllable actions is required to adjust the vehicle speed.
Consequently, all of these systems apply techniques long known in the control of engine or electric motor systems, i.e. to regulate the speed of the engine or, where appropriate, the current flow or field energization of a drive motor.
Such systems, while effective for stationary applications and under other clearly determined operating conditions in which the actual speed is invariably a function of the pedal position, may not always be satisfactory.
There are occasions when problems have been encountered with such systems, some of which are more noticeable than others. For example, in a vehicle whose speed is exclusively controlled by the accelerator pedal, for example, the maintenance of the pedal in a fixed position may result in changes in the vehicle speed as a result of variations in the terrain or conditions encountered by the vehicle wheels. Thus, for instance, when the vehicle climbs hills or travels downwardly along an incline, the speed of the vehicle may change markedly in spite of the fact that the accelerator pedal is held in place.
For many vehicles it is crucial to be able to have extremely fine control of the actual speed of the vehicle and, indeed, to determine or establish this speed precisely, both when the position of the speed-control pedal is held constant a and when the travel resistance can change markedly.
This is especially the case for floor-type industrial vehicles, e.g. forklift trucks. Such vehicles are often called upon to transport especially sensitive equipment and articles as in the case of pallets loaded with glass bottles or flasks containing combustible or toxic liquids, and in such cases and for sensitive electronic equipment or the like it is absolutely essential that an extremely fine and sensitive control be provided during transportation, pickup and deposit of the load.
It has already been proposed to provide a vehicle drive including an internal combustion engine which acts upon a stepless, generally hydrostatic, transmission and in which the accelerator pedal produces a signal which affects the setting of the steplessly adjustable variable-ratio transmission.
In this system, a further signal can be generated to represent the speed of the internal combustion engine and still another signal can represent the load applied to the transmission, these signals being processed with the signal from the accelerator pedal (see German Patent Document DE-OS No. 20 49 048).
In this arrangement, however, the internal combustion engine speed signal and the transmission load signal do not provide continuous effects upon the setting of the steplessly adjustable transmission but rather form limiting signals for controlling the acceleration and, therefore, preventing excessive acceleration which would carry the signals beyond certain limits.
U.S. Pat. No. 4,135,121, moreover, discloses a vehicle drive system in which the vehicle is propelled by a battery-fed externally excited electric motor through a steplessly variable hydrostatic transmission. In this case, the excitation of the shunt wound motor is made dependent upon the load upon the stepless transmission. In this case as well, the setting of the transmission on the one hand and the setting of the prime mover or propelling motor on the other can be independent and only under certain conditions will be superimposed one on the other or correlated.
It is the principal object of the present invention to provide a motor-control system, especially for an engine/generator/motor propulsion set, whereby disadvantages of earlier systems are obviated.
Another object of this invention is to provide a control system for such a drive set, especially for controlling the speed of a floor-type industrial vehicle such as a forklift truck, to allow finer control of the speed of the vehicle than has hitherto been possible.
Still another object of the invention is to provide a system for the purposes indicated which also will preclude overloading of the internal combustion engine by an excessive torque at the shaft of the direct current generator.
It is a further object of the invention to provide a method of controlling an engine/generator/motor set so as to improve the sensitivity of speed regulation at the output shaft thereof while precluding overloading within the drive set.
These objects and others which will become apparent hereinafter are attained, in accordance with the present invention, in a control system and method for an engine/generator/motor power set, especially for the sensitive and fine-control speed regulation of an automotive vehicle, e.g. an industrial floor vehicle such as a forklift truck, where the power system comprises an internal combustion engine, preferably a diesel engine, having a speed-setting member such as an accelerator pedal. In the diesel engine, the speed-control element is a fuel-injection pump. The engine output shaft, i.e. crankshaft, of the diesel engine is connected to the externally excited direct current generator and the direct current generator is electrically connected to an externally excited direct current motor which is coupled with a load, e.g. with the wheels of the vehicle.
According to the principles of the present invention, the speed-controlling element of the internal-combustion engine is provided with a speed-setting signal generator and the output shaft of this engine is provided with an engine speed signal generator. The shaft of the direct current motor is provided with a motor speed signal generator and the signals of the speed-setting signal generator and the motor speed signal generator are fed to a speed controller whose output signal is fed to a power controller. The signals of the speed-setting signal generator and the engine speed signal generator are applied to a comparator and the output of this comparator is also applied to the power controller. The power controller regulates the electric current through the field winding of the direct-current generator, i.e. varies the field excitation of the generator.
In the event the speed of the output shaft of the direct-current motor deviates from a setpoint value for the latter, a difference will be developed in the speed controller by comparison of the signals delivered thereto, the difference signal being applied to the power controller. This difference signal is effective to vary the excitation of the direct current generator to modify the electric current transmitted to the direct current motor in the sense that the shaft speed of the latter and the vehicle speed are restored to the setpoint values.
The signal produced by the speed-setting signal generator corresponds to the speed of the internal combustion engine in an unloaded state for this setting of the speed-control element, i.e. the fuel injection pump.
If the torque applied to the direct current generator increases to a level at which this torque tends to depress the speed of the internal combustion engine from the speed corresponding to the setting of the speed-control element, by a significant degree below that established by the latter element, a difference signal will be developed in the comparator between the signals of the speed-setting signal generator and of the engine speed signal generator and this difference signal will be applied to the power controller to vary the excitation of the direct current generator in a sense tending to reduce the torque developed and applied to the latter until the engine speed signal generator is restored to a value within a predetermined tolerance range corresponding to the set position of the speed control element and the corresponding predetermined engine speed.
By appropriate choice of the various circuits and control elements utilized as the integrator, speed controller, power controller and field-excitation current controller at installation of the control system or by making the same of variable or controllable design so that they may be adjusted during operation, we are able to obtain a vehicle drive system which has excellent characteristics capable of ensuring, for example, that the vehicle speed will always be proportional to the setting of the accelerator pedal and independent of driving resistance, inclines or the like.
In other words, for a given position of the accelerator pedal, the acceleration is predetermined and overload protection of the internal combustion engine is nevertheless guaranteed.
It is also possible to establish the operating characteristics at practically any desired level or pattern. For example, it is possible with the system of the present invention to obtain motor and engine characteristics which combine the advantages of hydrostatic transmissions with those of hydrodynamic drives.
In general, the system of the invention represents a vast improvement over conventional diesel electric drives utilizing series-wound electric motors.
The control process is of a priority nature, permitting speed control with subordinated current control and even further subordinated power control. The circuitry of the various elements according to the invention establishes limits for traction forces, vehicle speed and acceleration and permits the input power and the output power of the internal combustion engine to be established in predetermined relationships without difficulty.
The vehicle drive can operate in a four-quadrant mode, i.e. forward and backward and with acceleration and deceleration, optimally controlled, in each direction. In utility vehicles, especially lifting vehicles such as forklift trucks, there are special operating conditions, e.g. during the lifting of the fork or of a boom or beam, in which the internal combustion engine is operated at a higher speed although the direct current generator for vehicle drive has no power output or is only generating a relatively small power output.
Under these conditions, it is possible to provide speed control elements for the internal combustion engine with no direct affect upon the accelerator pedal but which can vary with the engine speed.
When the speed-setting signal generator is associated with the accelerator pedal, the signal from the latter does not always represent the setting of the internal combustion engine, especially when between the accelerator pedal and the speed-controlling element of the internal-combustion vehicle, a non-positive kinematic motion transfer linkage is provided.
This problem can be overcome, in accordance with the present invention, by providing a speed-setting signal generator directly in connection with the accelerator pedal, this signal generator (being hereinafter referred to as a pedal-setting signal generator) serving as a direct setpoint value generator.
In this case, the signal from the pedal-setting signal generator is delivered to the speed controller while the signal from the speed-controlling element, i.e. from the speed-setting signal generator, is delivered to the comparator for the comparison with the motor shaft speed while the engine speed signal generator delivers its signal together with the signal from the speed-setting signal generator to the comparator which supplies its difference signal directly to the power controller.
It has been found to be advantageous, moreover, to provide between the speed controller and the power controller, a current controller. The current controller receives an input which is in the form of a signal representing the current flowing between the direct current generator and the direct current motor. A feedback path can also be provided from this current sensor which can be a magnetoresistive device, to a motor field current controller which, obviously, controls the field current in the motor. The current controller can limit, upon attaining a threshold value of the measured current, the signal delivered to the power controller.
The current controller also serves to limit the maximum armature current in the direct current generator and since this armature current is also the armature current in the direct current motor, limits this as well.
In yet another feature of the invention, the signal from the pedal-setting signal generator is monitored to determine rapid changes therein and, in accordance with the invention, is fed to an integrator forming part of the speed controller. In this case, if the accelerator pedal is suddenly depressed so that a rapid change in the excitation field current will result in an impermissibly high armature current, the signal will be diminished or increased by integration in accordance with the predetermined program to prevent excessively high current flows in the direct-current generator or the direct-current motor while nevertheless allowing the speed of the direct-current motor shaft which is desired to be rapidly achieved.
The function of the integrator can be effected in accordance with a predetermined program and can be altered simply by changing this program. The programmable nature of the integrator has been found to be advantageous when one and the same drive system is utilized for various vehicles and under various conditions.
Most advantageously, the integrator can be set manually upon incorporation of the system in a vehicle.
A variation in the rate of change of the signal has the effect of changing the vehicle acceleration rate so that maximum vehicle accelerations or decelerations can be established and the driver's panel of the vehicle can be provided with levers for setting rough, hard, dry or other driving or road conditions to modify the integrator response rate accordingly. Values thus can be set differently under these travel conditions from those which apply to wet, slippery surfaces.
According to still another feature of the invention, the change function of the integrator can be made automatically dependent upon a signal depending upon the axle laod of the wheels driven by the direct-current motor so that with excessive axle loads and high friction between the wheel and the travel surface a greater acceleration is used, although with less loaded axle and thus with greater slip, the danger of skidding or nongripping of the wheels is reduced.
The variability of the integrator under the control of the driver or automatically has also been found to be advantageous because it allows varying loads to be transported with different sensitivities and thus the system can transport cast ingots on the one hand or sensitive thin glass flasks containing combustible or toxic liquids on the other.
The vehicle is provided with circuitry enabling its forward and rearward travel. This circuitry, of course, is responsive to a travel direction selector functioning as a signal generator for producing the direction-selection signal. While the direction-signal generator may be associated with the position of the accelerator pedal it has been found to be more advantageous to provide this signal generator as a separate element whose input is applied to the integrator and which affects the polarity of the output signal of the latter.
It has also been found to be desirable to feed the signal from the power controller to a circuit which is connected to the field coil of the direct current generator and regulates the current through this field coil to thereby control the excitation of the direct current generator.
This circuit has the function of transforming the input signal, which may be in the form of a voltage level, to a current pulse whose duration or whose "off" time is determined in response to the input voltage signal and, in turn, control the field excitation. This element, of course, provides pulse control of the direct-current generator.
In yet another feature of the invention, the final stage between this latter circuit and the field coil is polarity responsive and serves to energize the field coil selectively in either of two directions for selecting the direction of travel of the vehicle and thus the direction of rotation of the motor.
Thus the output from the power controller can be effective depending upon the absolute magnitude of its output signal and not a polarity thereof, the polarity of this output signal which is applied to the final stage being established by a switching circuit controlled by, for example, the output from the current controller.
According to the invention, the engine speed signal generator may be a pulse-transmitting generator of the rotary type in which the transduction between rotary movement and electrical output is effected either in terms of an alternating current or in terms of a sequence of light pulses which are transformed into corresponding electrical signals. It thus may have a continuous output which is a function of the speed of the engine or a pulse train whose frequency is a function of the engine speed. The engine can be formed with a flywheel having teeth which can form part of a pulse generator and, more generally, mention may be made of the fact that the engine speed signal generator can be a device utilizing exisiting parts of the engine. In the preferred mode of operation in accordance with the invention, the output of this signal generator should be a voltage signal and in the case where a pulse generator is used to measure the rate of rotation of the engine shaft, a frequency/voltage converter should be provided between this pulse generator and the circuit to which the engine shaft's speed signal is applied.
The pedal-setting signal generator can be provided in various configurations as well. For example, it can include a differential field plate sensor, e.g. a magnetoresisitve or galvanomagnetic device, fixed to the vehicle frame and affected by a magnet connected with the pedal. This signal generator can, however, be a device which selectively intercepts a light beam from a constant light source directed to a light-sensitive element such as a photodiode.
Advantageously, between the converter circuit and the field coil, a final stage is provided in the form of a bridge network of power transistors, rendered conductive in pairs, with collector emitter networks bridged by respective diodes.
The above and other objects, features and advantages of the present invention will become more readily apparent from the following description, reference being made to the accompanying drawing in which:
FIG. 1 is a circuit diagram and mechanical-connection diagram of an engine-generator-motor drive system embodying the present invention; and
FIG. 2 is a circuit diagram of the final stage thereof.
In FIG. 1, we have shown an internal combustion engine, preferably a Diesel engine 1, whose crankshaft forms the engine output shaft. This engine output shaft drives an externally excited direct current generator 3, 4 element 3 representing the rotor while element 4 represents the field winding of this motor.
The actual current supply to the field coil 4 is discussed in detail in connection with FIG. 2 and is represented only diagrammatically in FIG. 1.
Conductors 5 connect the generator 3 to a direct current electric motor 6, 7 which is externally excited and has an armature 6 and a field winding 7.
The field winding 7 of the motor is excited by a current flow through a conductive path represented at 9 by a motor field current controller represented at 8.
The Diesel engine 1 is provided with a fuel injection pump 10, constituting the speed-controlling element of this engine. This speed-controlling element is varied in its output by a lever 11, one end of which is connected by a lost motion linkage 12, 13 to the rod 14 which is pivotally connected to the accelerator pedal 15 of the vehicle. The accelerator pedal constitutes a speed-setting member according to this disclosure.
More specifically, the pedal 15 is pivotally connected at 15a to the vehicle chassis 15b and is biased upwardly and in the clockwise sense by a transmission spring 16, anchored at 16a to the chassis. The rod 14 is pivotally connected to the pedal 18 at 14a and, at its free end, has a slot 13 in which a pin 12 is slidably received to form the lost motion linkage with this slot. Pin 12 is carried by the lever 11. A further tension spring 17, connected to the chassis at 17a, can bias the lever 11 upwardly, i.e. in its clockwise sense.
The lever 11 is connected via a link rod 18 with a speed-setting signal generator, e.g. in the form of a potentiometer measuring the position of member 11 and hence the setting of the speed-controlling element. The output of the potentiometer, constituting a position-measuring signal generator, represents a setpoint signal for the engine speed. In other words, for every setting of the speed-controlling element 10, there is a predetermined engine speed which ought to be attained and measurable at the crankshaft 2 of the engine 1.
The use of the potentiometer as a position-measuring device for this purpose is described at Servomechanism Practice, McGraw-Hill Book Company, New York, 1960, pp 44ff, together with the output signals which are developed.
The accelerator pedal 15 is connected by a link rod 15c with an accelerator pedal setting signal generator 20 which can also be in the form of a potentiometer (see Servomechanism Practice, op. cit.).
Selection of the direction of travel is effected by a selector 21 whose signal is applied via line 22 to an integrator 23 connected to an electric current supply source represented at 24. The integrator can be of the type described in Operational Amplifiers, McGraw-Hill Book Company, New York, 1971, pp 213ff.
The signal from the pedal-setting signal generator 20 is also applied to this integrator via line 25 and the output signal of the integrator is delivered via line 26 to a speed controller 27.
The latter also receives an input 28 representing signals from a tachometer 29 (see pages 315ff of Servomechanism Practice, op. cit.) connected to the output shaft of the motor 6, 7 and hence to the load (not shown) which may be one or all of the wheels of the vehicle. Tachometer 29 thus represents a motor shaft-speed signal generator. This speed controller 27 can include a comparator (see pages 358ff of Operational Amplifiers, op. cit.) which compares the signals delivered at 26 and 28 to deliver via line 29a a difference signal to a current controller 30.
The electrical current passing through lines 5 between the generator 3, 4 and the motor 6, 7 can be detected by a current sensor 31 so that a signal corresponding to the current flow is delivered at 32 to the current controller 30 in a feedback loop which also is connected to the motor field current controller 8 previously mentioned via line 32a. The output signal from the current controller is delivered at 33 to a power controller 34.
The shaft 2 is also connected to a tachometer or other engine shaft-speed signal generator 35 from which a signal representing the crankshaft speed of the engine is delivered via line 36 to the comparator 37 which also receives an input 38 from the speed-setting signal generator 19.
In the comparator 37 these signals are compared and the deviation or difference signal is applied at 39 to the power controller 34.
The output signal from this power controller is delivered at 40 to a converter 41 and the output of the latter is fed via line 42 and a switching circuit 46 (represented schematically) to a final stage 43 which controls the excitation of the field coil 4 of the direct current generator 3, 4.
From line 33 between the current controller 30 and the power controller 34 a branch line 45 runs to the switch 46 and, depending upon the polarity of the signals in line 33 and in line 45, energizes the final stage 43 through either line 47 or line 48.
The final stage of the circuit of FIG. 1 has been shown in greater detail in FIG. 2 and comprises positive and negative busses 49 and 51 connected to a battery 50 which can be the vehicle battery or a special battery provided for supplying the circuitry described.
The circuit 43 also comprises four power transistors 52, 53, 54, 55 connected in a bridge circuit between these busses and the field winding 4 of the direct current generator.
A diode 56, 57, 58 or 59 is bridged across the emitter-collector network of the respective transistors 52, 53, 54, 55 so that, in effect, the transistors shunt the dials which are in rectifier bridge configuration. The bases of the transistors 52 and 55 are connected to line 47 here shown divided, for convenience, into lines 47a and 47b. Similarly, the transistors 53 and 54 which are switched alternately with the transistors 52, 55 by the switching circuit 46 are energized via line 48 here represented as lines 48a and 48b.
From the drawing it will be apparent that a signal on lines 47a, 47b will render conductive transistors 42 and 55 causing the current from the positive blocks 49 to flow through the excitation coil 4 from left to right. Similarly energization of lines 48a and 48b will cause transistors 54 and 53 to become conductive for reverse flow through the field winding 4 via the conductors 44a, 44b.
Thus depending upon the switching state of the switch 46, which can be any conventional electronic switch, the current flow through the field winding 4, is in one or the opposite direction so the field is polarized in one sense or the other to determine the direction of rotation and hence the travel direction of the vehicle.
The current measuring device or sensor 31 supplies the measured plate signal of the current (actual value signal) in the form of a direct-current voltage.
To this end the current detector may be a differential field plate sensor (see Galvanomagnetic Devices Data Book, 1976/77 Siemens AG, Munich, Germany)
The slider of the potentiometer 19 is angularly displaced in proportion to the displacement of lever 11 and supplies a direct current voltage proportional to the position of this lever 11. The magnitude of this voltage is a measure of the speed rate internal combustion engine in its solid state. Light-operated rate generator 35 supplies an output whose frequency is proportional to the rotary speed of the crank shaft of the engine and which is transformed in a frequency/voltage converter to a voltage proportional to engine speed. This voltage is thus a signal representing the actual value of the speed of the internal combustion engine 1.
As noted, the accelerator pedal 15 is connected by the linkage 14, 11 with the speed controlling element of the internal combustion engine 1.
A field plate sensor, e.g. a magnetoresistive device as described in Galvanomagnetic Devices can be used as the sensor 20 or can be fixed to the latter and can cooperate with a magnet which is displaced by the accelerator pedal 15 so that the voltage outputted by this magnetoresistive device is a voltage representing the setting or position of the pedal 15 and hence a setpoint value for the vehicle speed.
A plunger 60, which is used in a utility vehicle such as a forklift truck provided with the system of the invention, can be provided to actuate the lever 11 in a sense tending to swing the latter in a counterclockwise direction and shift the speed-controlling element 10 of the vehicle in the direction of greater power output when some additional power demand is required for the lifting operation but no change in vehicle speed is desired.
Of course, under these circumstances, a corresponding signal will develop at the speed-setting signal generator 19.
The electrical signal from the tachometer 29, which represents the engine speed, is also in the form of a direct current voltage and represents the actual value of the electric motor speed. Consequently, setpoint values and actual values for the speed of the direct current motor 6, 7 are compared in the speed controller 27.
The function of the power controller 34 is summarized below:
The speed-setting signal generator 19 supplies, as has already been noted, a voltage which is a measure of the speed of the unloaded engine, i.e. the nominal engine speed without loading, for a given position of lever 11 and setting of the speed-controlling element 10. This speed is the speed which the shaft 2 would achieve if completely disconnected from the load and represents the maximum speed of the shaft for the given setting of the lever 11.
This signal in the form of a voltage is compared with the instantaneously measured speed of the engine in the form of the signal from the engine shaft speed signal generator 35, the difference at 39 being a signal represnting the drop in the speed of the engine below the setpoint value resulting from loading. This difference signal is applied to the power controller 34.
The circuit 41 is a converter which transforms the output voltage of the power controller into rectangular pulses of variable on-time between 0 and 100% while the final stage 43 is the aforementioned bridge circuit with the requisite bridge halves 52, 55 or 54, 53 being activated alternatively.
The excitation current in the field winding 7 of the motor 6,7 is controlled by feedback in accordance with the armature current through lines 5 between 50% and 100% of the current maximum. Thus, the field current controller 8 functions similarly to the converter 41 to provide pulses of a duration between 50% and 100% and independently of the polarity of the signals in line 43 and from the polarity of excitation of the field winding 4. An advantage of this type of control is reduced heating of the field winding and hence a greater speed range between partial and full loading.
It is also possible in accordance with the invention to make the current regulator for the field coil 7 dependent upon or independent of other signals. For example, it has been found to be advantageous in some cases to permit the controller 8 to respond to the output of the motor speed signal generator 29 as represented by the dot-dash line 29a.
The control operation is best illustrated by detailing several operating modes. For example, upon acceleration, the direction of travel is selected by the selector 21 and the accelerator pedal 15 is depressed to establish a stepoint value for the vehicle speed via the signal generator 20 which vehicle speed setpoint is applied via line 25 to the integrator 23 and thence to the remainder of the speed controller. The amplification factor may be 1500 and hence any changes in acceleration as determined by movement of the pedal will result in practically complete control in acceleration of the vehicle.
The current controller 30 and the power controller 34 are similarly operated and the generator 3,4 is excited so that a current flows in the armature 3 and is delivered to the motor, this armature current amplitude being measured by the current sensor 31 whose output is applied to the current controller 30. When the maximum value of the armature current is reached, the current controller operates via the final stage to reduce the current or prevent excess armature current.
If the loading of the internal combustion engine 1 results in a drop of its speed, the power controller 34 is rendered effective by the output from comparator 37 and controls the current traversing the field coil 4 so that the engine is not overloaded.
When the speed of the vehicle reaches a speed corresponding to the setting of the pedal 15, the speed control function is resumed by the speed controller 17 which retains the desired speed at the output shaft of motor 6,7 and hence the desired vehicle speed.
If the operator backs off on the pedal intending to reduce the vehicle speed, the control by regulator 27 is in the opposite sense and the motor speed signal generator 29 will have an output greater than the output of the signal generator 20 connected to the speed-setting element.
The current controller 30 now operates in the reverse sense and the drive brakes with the braking moment being applied to the engine. In this braking state the motor 6,7 functions as a generator and the generator as a motor.
When the motor speed signal generator 29 provides an actual value signal which is greater than the setpoint speed signal of the engine produced at 20, i.e. when the setpoint signal is smaller than the actual value signal, a circuit represented at 50 can interrupt the conductive path 5 and electrically isolate the generator from the motor and allow the motor, now acting as a generator, to store electric current in a battery with a drop between the motor and the battery terminal sufficient to ensure a braking action.
For high accelerations, the battery 57 can be additionally connected with the armature 3 to the battery to increase the current flow through the latter.
Patent Citations
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Last night TV's finest -- which these days tends to include some of movie's finest too -- gathered for the Emmy Awards, while the the rest of us stayed glued to "Breaking Bad" and to some extent, the series finale of "Dexter." Either way, both options were better than that dubstep dance routine to "...Read More »
Before diving in, a bit of a disclaimer and/or explanation is in order. Thanks to TIFF taking me away from the television for a couple of weeks, followed by some bungling couriers and concluding in massive fatigue upon returning from Toronto, "The Newsroom" slipped off the immediate radar. And a sho...Read More »
We've been pretty hard on "The Newsroom" this season, to the dismay of some readers, but it's simply because the show hasn't lived up to expectations. If the first season was rocky, there was lots of promise, much of which has evaporated over the course of the last six episodes, with Aaron Sorkin's ...Read More »
Yes, I know — I missed an episode last week. A dual combo of screeners not arriving in time and a brief vacation keeping me away from the television led to that one getting missed out on, but really, not much happened in season two's fifth episode "Will McAvoy's News Night." Oddly enough, for such a...Read More »
If last week's "Willie Pete" was a narrative pit stop in an already shortened nine-episode season, "The Newsroom" kicked back into full gear on Sunday with "Unintended Consequences." Lawyer Rebecca Halliday (Marcia Gay Harden) returns to continue her deposition of the staff, with Maggie Jordan's (Al...Read More »
Occupy Wall Street! Operation Genoa! Uganda! Mitt Romney! Troy Davis! Netflix splitting into two companies! (Yep, a passing reference was made to that quickly aborted blunder). "The Newsroom" has had a lot going on across the first two episodes, so much so that Aaron Sorkin felt compelled to rewrite...Read More »
If last week's premiere was the small pebble, rolling down the mountain of the second season of "The Newsroom," you can start seeing the eventual massive snowball forming with the second episode. This new approach from Aaron Sorkin, with one large news story anchoring the narrative, is an interestin...Read More »
After a rocky first season, both compelling and cringe-worthy in equal doses, and sometimes all at the same time, Aaron Sorkin's "The Newsroom" is back for a second season and it has undergone some significant retooling. The writers' room was given a shakeup, and even as production got underway, Sor...Read More »

subset: commoncrawl


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Latest Articles
Ellen DeGeneres to Present GLAAD's Vanguard Award to Kerry Washington
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Ellen DeGeneres will present GLAAD's Vanguard Award, which is presented to media professionals who have made a significant difference in promoting equality, to the actress.... (more...)
Kerry Washington to Be Honored At GLAAD Media Awards
by TV News Desk - March 03, 2015
GLAAD, the nation's lesbian, gay, bisexual and transgender (LGBT) media advocacy organization, today announced it will honor Golden Globe and Emmy-nominated actress Kerry Washington at the 26th Annual GLAAD Media Awards in Los Angeles at the Beverly Hilton on March 21, 2015.... (more...)
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by BWW News Desk - February 15, 2015
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The winners of the '46th NAACP Image Awards' were announced last night during the live broadcast from Pasadena Civic Auditorium which aired on TV One (9-11 p.m. ET live/PT tape-delayed). The two-hour live special was hosted by Anthony Anderson. There was a one-hour live pre-show from the red carpet ... (more...)
VIDEO: Jimmy Kimmel & Megyn Kelly Talk Sony Hacking Scandal on KIMMEL
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BLACK-ISH, GET ON UP, Jennifer Hudson Among Nominees of 46th ANNUAL NAACP IMAGE AWARDS
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Brand new buckeye?
maryc77345May 21, 2013
Hi all!
I am totally new to this forum and would like some advice. I live in Ohio and have a brand new Buckeye that was found when weeding in the local park. It has two adult leaves and a very short taproot at this point. My daughter wanted to keep the tree rather than toss it with the other weeds, but I don't think my yard would be a good home for it. I am wondering if I can turn it into a bonsai, but I'm unsure of how I would go about that. Comments? Advice? Am I crazy?


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Should I shut the heck up about all things not green smoothie?…..Part 6 of 7
About Dr. L telling me I should not talk about toxic dental practices and stick to whole foods topics only? That is precisely the reason I have a blog in the first place. I don't want my readers to be as ignorant as I was when I was 27 years old and allowing doctors to […]8 Comments • Continue Reading →
The Hunger Games, and "Being the Change"….part 1 of 3
Ben and I saw The Hunger Games recently. I'd resisted the national obsession with reading the books. Partly because, call me a snob, I didn't want to read "kids' books" with my precious, limited reading time. I'm a grownup, and I want grownup challenges from my cerebral functions. Partly because I feel terribly guilty if […]6 Comments • Continue Reading →
Question authority and use your critical thinking skills
One of my readers, Amanda, sent me this exchange that got her labeled a 'Dissenter' and ejected from Joe Mercola's forum. Whey protein, including his, is a highly processed food with additives and flavorings you should avoid. Most Americans are overdosing on protein, but if you feel you need more, I hope you look to […]47 Comments • Continue Reading →
vaccine convos: in doctor's offices, at tennis
Today I hired a young newlywed named Trina, who trained in raw foods at Tree of Life Institute and whose mother is a friend of mine and neighbor who has been raw for over 10 years. (Thanks to everyone who applied–many of you are PERFECT, and I am keeping your contact info in case I […]31 Comments • Continue Reading →
deep down, are we all WEIRD?
At the gym the other morning, I walked into the locker room and there was a lady swimming in the pool wearing a tiara on her head. I'm not even kidding. Sadly, none of my three friends I work out with were there to see the festivities. You can bet I texted them, though: "We […]13 Comments • Continue Reading →
My oldest friend in the world is Laura.
She's not old. By that I mean is that we were best friends from the first day of 7th grade. I am in Piedmont, California right now visiting her (and teaching a class in Oakland Friday). I got this card from her a few weeks ago: "We are friends for life When we're together the […]3 Comments • Continue Reading →


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Batch Files Printing 3.0
Prints All files in batch process
Add Date:2012-07-30 Price: 49.00 Size: 1324 KB
BroadCast Batch Printing 2.1
prints all document files in batch process on multiple printers
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Wise Auto Shutdown 1.06
Wise Auto Shutdown helps with PC shutdown, logoff, restart, sleep, and poweroff.
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Automate everyday jobs with macros
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Z-Cron scheduler allows you to automatically execute tasks on computers.
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Save time by creating macros to automate boring, repetitive computer tasks.
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Automate any Windows task. Build, record, schedule and compile macros.
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Confirmation Link Clicker is a free multi-threaded Windows application.
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Confirmation Link Clicker is a free program that will click confirmation links.
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Create scheduled tasks on the server and manage them from any computer remotely.
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Macro Recorder Lite is a simple and low cost keyboard and mouse recorder.
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Awshow Auto Shutdown Software is the best overall Auto Shutdown Software
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This software is compatible with Memory Sticks
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Change Icon of exe, dll, folder, driver.
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AutoClick Robot 2.0
Auto Click Robot can perform mouse and key events,to automate a routine work.
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Puzzle creator 1.0.1
Scheduler for automation tool called Scrapebox. Schedule your SEO efforts
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Super DeDupe has a simple and clear.
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VirtualDrive 10 CD/DVD emulator copies CD.
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This software is compatible with Memory Sticks
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GS Auto Clicker 3.1
GS Auto Clicker is a useful tool to automatically click mouse instead of hand.
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Evovlen Configuration Management 4.0
Change management & Configuration management softwarefor the cloud
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Siena and San Gimignano Day Trip from Florence
- Day trip to Siena and San Gimignano from Florence, led by a tour escort
- Travel through the picturesque Chianti countryside in Tuscany
- Inside visit of the Basilica of San Domenico in Siena
- Explore Siena old town with your guide
- Visit one of Siena's contrade museums and learn all about the city's famous contrades
- Walk through San Gimignano 1300 Museum, see a craft demonstration and sample wine and sweets
Recent Photos of This Tour
Altar of cathedral in SiennaPhoto by: Austin C
Best Duomo in ItalyPhoto by: Michael W
SienaPhoto by: puchi
02 2015
SienaPhoto by: puchi
02 2015
Vue depuis San Gimignano, en ...Photo by: Jean Luc C
01 2015
Duomo Di ...Photo by: Juan H
09 2014
Neighborhood flags in SienaPhoto by: Kathy
07 2014
Tuscan countryside at San ...Photo by: Kathy
07 2014
SienaPhoto by: MEL M
New Zealand, 06 2014
San GimignanoPhoto by: Christiane B
04 2014
Daughter looking over TuscanyPhoto by: Melissa d
02 2014
SienaPhoto by: Mrs M A
02 2014
San GimignanoPhoto by: Mrs M A
02 2014
Palio di SienaPhoto by: yannaki
11 2013
SienaPhoto by: MARIA.A V
10 2013
San GimignanoPhoto by: MARIA.A V
10 2013
Catedral de SienaPhoto by: MARIA.A V
10 2013
La place principale de Sienne ...Photo by: Caroline B
10 2013
Narrow street in San ...Photo by: Thomas S
09 2013
La Massa RestaurantPhoto by: Thomas S
09 2013
What You Can Expect
Your first visit is the Basilica of San Domenico, a treasure chest of Renaissance dedicated to St. Catherine of Siena. Head inside the Basilica with your guide and admire its highlights. After marveling at the artwork, continue with your guide on a walking tour of the old town until you reach the Cathedral (exterior visit) and then stroll to one of the city's contrada museums.
The museum is dedicated to information about Siena's famous contrades, and as you browse the exhibits, your guide will talk to you about their origins. Loosely translated as districts, the contrades have individual legacies of traditions and each one boasts their own flag and anthems. Learn of the contrades' role during Siena's legendary Palio horse race, and browse the historical documents on display.
After a break in Piazza del Campo for lunch (own expense), board your coach and travel to San Gimignano, roughly an hour away. Head inside San Gimignano 1300 Museum, which showcases life in the city 700 years ago, and watch a crafts demonstration where miniature models of San Gimignano buildings are made. Learn about the different techniques in ceramic production from hand decorating to firing the clay, and then sample a glass of white wine made from the locally renowned vernaccia grape. Try a selection of medieval sweets, too, such as ricciarelli (rich biscuits) and panforte (moist and sumptuous fruit cake).
Enjoy free time to explore the museum and town, and then return to your coach for your journey back to Florence, finishing your tour at the start point.
Please note: When the Museum and the Oratory of the Contrada are not accessible, it will be replaced with the interior visit of the Cathedral or another site of particular historic and cultural interest.
Customer Reviews
March 2015
This was a beautiful and enjoyable trip. I would recommend it to be a "must do" trip! Siena was amazing and our guide even more so. With all the background information we had obtained from the internet sites it was much better to have a person to tell us about places and things to enjoy. It was smooth and hassle freee.
March 2015
Wonderful trip, history, local sites, Tuscan scenery, tour guides! Thanks so much; treat yourself, after seeing the David, this was my favorite part of the Florence trip.


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Spilo Pre-Cut Professional Foil
We know you want the goods as soon as possible, which is why orders received by 3pm ET leave our warehouse the very same day. We'll send you an email that day to confirm shipment and the email will include your tracking information.
Our warehouse is closed Saturday & Sunday, so orders received after 3pm ET on Fridays will not ship out until Monday.
Based on 2 Reviews
Dale UlkinsBaton Rouge, LASpilo Pre_cut Professional FoilYou asked for a review. Here it it. We use this fine product in our Geotechnical lab to cover small bowls of grated soil for a test called an Atterberg Limit. We used to use regular aluminum foil on rolls, but found this to be a real pain in the butt to continually cut. Then one day while getting a haircut, I saw the pop-up foil squares. Eureka! I found the answer. So for several years now, my lab technicians have enjoyed the convenience of this great pop-up foil.2 out of 3 shoppers thought this review was helpful.
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NeilNew York NYDoesn't Come Out Of The Box EasilyThe sheets of foil do not pull neatly out of the box (maybe I got a bad batch) The foil itself is fine, but the whole point of this product is the pre-cut "easy to use" dispenser box..and that doesnt really do what its meant to do!4 out of 4 shoppers thought this review was helpful.
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Colors that condition and shine. Last longer on chemically treated or bleached hair.New Price:


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WPPB Pledge Drive Encourages Online Giving
Mar 25, 2015 -
WPPB 88.3 FM, the East End's public radio station and only NPR affiliate, is holding its Spring Pledge Drive. In a new video, Peconic Public Broadcasting President Wally Smith and on-air personalities Bonnie Grice, Michael Mackey, Brian Cosgrove and Ed German encourage listeners to support the station. For more information, visit peconicpublicbroadcasting.org
Tags : 2015, 88.3 FM, Bonnie Grice, Brian Cosgrove, Geir Magnusson, peconic public broadcasting, Public Radio, WPPB, WPPB 88.3 FM
Video By : Geir Magnusson


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Andrew Crooks
MFA University of New Mexico 2008
BFA University of Northern Iowa 2005
Andrew Crooks is currently living and working in a small village in Japan. Backdrops and sets are built and painted by the artist. Images are shot with a 4x5 view camera, scanned and printed digitally.
Find me at: http://www.andrewcrooks.com
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Through my backdrop images I explore the idea of simulated reality, my own life and the role of the camera.
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Q: has anyone bought the leash and cuff quick connect straps wondering how they work in real life
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Latest Açaí Palm Stories
FISHERS, Ind., Jan. 6 /PRNewswire/ -- As nearly every nutritionist and diet expert agrees, the key to losing weight is to consume fewer calories and increase one's daily intake of fruits and vegetables. All well and good.
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LOS ANGELES, Dec. 18 /PRNewswire/ -- In a few short weeks, millions of Americans will resolve to get healthier in 2009. But if history is any indication, shortly thereafter, they'll break that resolution.
Acai has gone from being a mostly unknown Amazonian fruit to a global sensation as a something of a wonder berry, threatening forests, conservationists say.
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Researchers in France report that apples, purple grapes and juices made from the fruits, protect against the development of clogged arteries.
The good team at Snapple recently sent us several flavors of their Antioxidant Water for review. Launched late last year, Snapple Antioxidant Water is available in 20-ounce single bottles for $1.39 to $1.59.
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Stolen base hero Roberts to miss Friday's Fenway Park ceremony
Sorry, Boston.
Much as Dave Roberts would like to be there to help celebrate his legendary 2004 stolen base at the 100th anniversary celebration for Fenway Park on Friday, he's respectfully declined the organization's invitation because he feels like he shouldn't skip out on his coaching duties for the Padres, even for a day.
The Red Sox have applied the full-court press in their recruiting efforts, even phoning Roberts Thursday to see if they could talk him into taking a last-minute flight.
"To be a part of something like that would be amazing," Roberts told CBSSports.com of the impending Fenway Park celebration. "To be asked to come back is a huge honor.
"But right now, where we're at, I want to be with these guys."
In his second season as San Diego's first-base coach and with the Padres scuffling off to a 3-10 start, Roberts said he didn't even bother asking manager Bud Black or general manager Josh Byrnes about a leave of absence. Duty calls, and he feels he's where he should be.
"I understand they have a great vision," Roberts said regarding what have been top-secret plans on how the Red Sox will orchestrate Friday's ceremony. "It's good for the game and it's good for the fans, what they're trying to put together.
"The more I think about it, the more it overwhelms me that I'm part of something so special."
Baseball historians and fans unanimously rank Roberts' swipe of second in the ninth inning of Game 4 of the '04 American League Championship Series as one of the handful of greatest moments in Fenway Park history. On the verge of being swept by the Yankees, Kevin Millar drew a leadoff walk against Mariano Rivera in the bottom of the ninth, and manager Terry Francona sent Roberts in as a pinch-runner.
"I just remember the way the night was starting to script itself toward me getting an opportunity late in the game," Roberts said. "Knowing that if I got the opportunity, don't chicken out. Don't be afraid to fail."
Roberts drew three throw-overs from Rivera, and then broke for second on the first pitch to Bill Mueller. He beat the throw, Mueller struck a game-tying single and the Red Sox were on their way to the greatest comeback in their history.
Funny thing, too, just the other day when the Padres were playing the Dodgers, Los Angeles shortstop Dee Gordon told Roberts that he remembers watching Game 5 of that ALCS with his father, Tom "Flash" Gordon working in relief for the Yankees in the eighth inning when Roberts ran for Millar again.
"He told me he's never seen his dad so nervous," Roberts said, breaking into a grin. "Flash was lightning quick. That was cool to hear."
The Sox were trailing 4-3 in the eighth and, though there would be no theft here, Roberts did go first to third on Trot Nixon's single. He then scored the tying run on Jason Varitek's sacrifice fly. The Red Sox won Game 5 in 14 innings, 5-4.
Eight years later, he still gets flooded with fan mail referencing the Game 4 steal.
"Absolutely," he said. "Obviously, not the same amount as when I was a player. But every day, I come to the ballpark and see mail sitting on my chair."
Now 39, Roberts had a health scare a couple of years ago when he developed Hodgkins lymphoma. He beat it with several rounds of chemotherapy and, not coincidentally, that battle is one the thing that has him feeling most guilty about skipping the Fenway fete. Larry Lucchino, Red Sox president and CEO, was in touch with him often during that time.
"I've got my hair back and I feel as good as ever," Roberts said. "One tough thing, Larry was so good to me when I was going through my radiation treatment, I'd love to return the favor. That was the one thing pulling at me.
"But I'm here, and I want to stay with my guys."


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Our special coverage of the closest race for years
Explore the personal stories of Syrian refugees in Lebanon
18 Aug 2014 17:08 GMT | Politics, Africa, US & Canada, Kenya, Somalia
An international human rights group says there is strong evidence that Kenya's anti-terrorism police unit has carried out a series of extrajudicial killings and enforced disappearances.
A Human Rights Watch report said on Monday that research conducted between November and June documented at least 10 cases of unlawful killings and 10 cases of enforced disappearances carried out by the unit.
At least 11 cases of mistreatment and harassment of suspects were also documented.
The police abuse reportedly rose sharply after Kenya was hit by a series of attacks by al-Shabab, an armed group based in neighbouring Somalia. Shabab apparently started launching attacks in the country after Nairobi backed AU security forces fighting the group in Somalia.
The HRW report said suspects were shot dead in public places, abducted from vehicles and courtrooms, beaten badly during arrest, detained in isolated blocks and denied contact with their families and access to lawyers, the group says.
Several Muslim clerics have been shot dead on the coast, including leaders accused of backing al-Shabab fighters.
'Under government's nose'
"Kenyan counter-terrorism forces appear to be killing and disappearing people right under the noses of top government officials, major embassies, and the United Nations," said Leslie Lefkow, the deputy Africa director.
The HRW report also said that the unit "has been conducting abusive operations for years, sometimes very openly, yet the Kenyan authorities have done nothing to investigate, much less stop these crimes".
"In some cases, members of the anti-riot forces known as the General Service Unit , military intelligence, and National Intelligence Service were implicated in abuses by the counterterrorism unit," the rights group added.
The counterterrorism police unit receives significant support and training from the United States and the United Kingdom, HRW added.
"Donors need to carry out their own investigations of these abuses and suspend their assistance to abusive forces, or risk being complicit in Kenya's culture of impunity," the rights group said.
Source: Agencies
Local governor in court on allegations of having links to a spate of killings in June, which were claimed by al-Shabab.
Beyond the politics, the blame game, the shenanigans – Kenyans continue to live in fear – nowhere seems safe anymore.
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Critics say the UK's home secretary is using Muslims as a 'political punchbag' in a bid to shore up right-wing support.
Human Rights, Politics, Racism
2014 was the worst year in more than a decade for polio infections, with at least 306 new cases reported.
Polio, Asia, Pakistan
Recent court ruling finds police unit not guilty of rounding up and executing 42 Muslim men during 1987 communal riots.
Human Rights, India, Asia
Nigerians are flooding home for Saturday's vote, but fears of violence grow amid the too-close-to-call election.
Nigeria Decides, Nigeria, Africa
Yemen's president calls on rebels to surrender their arms and for their leaders to turn themselves in at Egypt meeting.
War & Conflict, Middle East, Yemen, Saudi Arabia, Houthis
Dozens reported killed by suspected Boko Haram fighters in the northeast as millions turn out in tight poll.
Politics, Africa, Nigeria Decides, Nigeria, Boko Haram
It is a source of sustenance but also of tension and new political realities are now increasing uncertainty.
Egypt, Sudan, Middle East
A media post-mortem into the UK's surveillance report. Plus, why five years on in Argentina the media looks so familiar.
Media, Edward Snowden, Security
The untold story of how the Lebanese community overcame the odds and found their place in multicultural Australia.
Asia Pacific, Australia, Lebanon
How to keep a telenovela profitable and demanding sponsors happy while inspiring the production team to stay passionate.
Arts & Culture, Mexico, Latin America


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Game Results
Sweden Finishes Last in Channel One CupSubmitted by pete on December 17, 2007 - 18:20
Sweden finished 0-3 in the Channel One Cup on the Euro Tour yesterday. Lightning prospect Johan Harju appeared in the tournament for the Swedes posting an assist and 6 penalty minutes largely in fourth line duty. Russia finished atop the tournament table at 3-0 led by former Lightning prospect Fedor Fedorov.
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- 602 reads
BCHL, CHL Weekend: 12/15-12/16Submitted by chad on December 17, 2007 - 15:40
North American junior game results from Saturday and Sunday:
NHL Game Night 12/15: Capitals at LightningSubmitted by pete on December 15, 2007 - 23:11
Losing sucks.
Johan Holmqvist allowed 3 goals on 32 shots for the loss.
First Period
Tampa Bay 4:28, Paul Ranger 6 (Vincent Lecavalier)
Washington 14:26, Tomas Fleischmann 5 (Michael Nylander, Alexander Semin)
Second Period
Washington 0:08, Dave Steckel 2 (Brian Pothier)
Tampa Bay 5:50, Vincent Lecavalier 22 (Vaclav Prospal)
Third Period
Washington 5:06, Brian Pothier 3 (Matt Pettinger, Tomas Fleischmann)
Mathieu Darche was -1 in 16:28 with 2 penalty minutes, 3 shots, and 2 hits.
Mike Lundin continues to get minimal ice time, playing 11:39 tonight with a -1 rating a 1 blocked shot.
Blair Jones played 1 shift. 9 seconds. Someone do the math how much money he made on a per second basis tonight. Talk about easy money.
Box score and extended statistics from NHL.com.
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- 919 reads
AHL Game Night 12/15: Phantoms at AdmiralsSubmitted by pete on December 15, 2007 - 23:00
Pretty sad when your goaltender only lets one in and you still lose.
Karri Ramo allowed just 1 goal on 27 shots but the punchless Ads were unable to give the young netminder a sliver of goal support. Ramo drops to 2-4-0 on the season.
First Period
Second Period
PHI Powe, (2) , 10:08 (SH)
Third Period
Game sheet from TheAHL.com.
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CHL, BCHL Game Night: 12/14Submitted by chad on December 15, 2007 - 10:11
Friday night's highlights:
- Jung continues to play well for Kelowna
- Fadden and Lethbridge make their Top-10 debut
- Tyrell and Prince George struggling


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We make music licensing simple
All Music is cleared forever!
In Your Face and On Your Knees! Bow to the Guitar God of Glasgow as he rips through a Classic Metal Cue that would make Rob Halford jump on his Harley and run away. Sick soloing and a smoking rhythm track makes this a perfect sports cut.
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Forces of Nature
It is one thing to contemplate the immense power of nature, another to experience these forces first-hand. Forces of Nature will showcase the awesome spectacle of earthquakes, volcanoes, and severe storms as we follow scientists on their groundbreaking quests to understand how these natural disasters are triggered. Audiences will learn what is... Lea másCOMPRAR ENTRADAS PARA 01/04/2015
The Greatest Places
A film created by Science Museum of Minnesota that depicts seven amazing locations in the world - Amazon, Greenland, Iguazu, Madagascar, Namib, Okavango and Tibet. Lea másCOMPRAR ENTRADAS PARA 02/04/2015


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Our special coverage of the closest race for years
Explore the personal stories of Syrian refugees in Lebanon
03 May 2012 16:32 GMT | Health, India
A series by Paul Roy.
This unique observational documentary series shines a light on Indian society as it is rarely seen. In six one-hour programmes it illuminates the complexities and dilemmas of modern India through the extraordinarily varied lives of patients and medical staff working at the Narayana Hrudayalaya Hospital Complex in Bangalore. This huge hospital comprises a 1,000-bed specialist cardiac unit, a 500-bed eye hospital, a 1,400-bed multi-disciplinary and cancer hospital as well as a combined orthopedic and trauma hospital. They service an average of 7,000 outpatients a day and employ over 5,000 staff.The series examines how the hospital has made advanced hi-tech medicine available to the masses in the city of Bangalore, as well as the surrounding rural areas where four million farmers are enrolled in an innovative health scheme.
It reveals how the hospital has achieved economies of scale through its huge purchasing power, and through close monitoring of operating costs, innovative staff employment conditions, and developing new models of delivering cost-efficient healthcare. The Walmartisation of medicine - a world first. This hospital is also unique in India in that the very poorest of the poor patients are treated for free or are heavily subsidised by the treatment of rich patients from India and abroad who are charged full fees and have the choice of luxurious accommodation - a Robin Hood approach to medicine. The series follows the individual stories of both patients and staff. Each person in their own way offers an insight into life in today's India: whether they live in a shed on a building site, or a modern high-rise apartment; whether they are a heart surgeon, a floor cleaner or a slum dweller; a successful businessman or a person getting by taking in washing; Hindu, Muslim or Jain. What they have in common is they have been drawn to this hospital and their lives will be forever touched by it.
Live Box 20125313537367377
Source: Al Jazeera
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Recent court ruling finds police unit not guilty of rounding up and executing 42 Muslim men during 1987 communal riots.
Human Rights, India, Asia
Nigerians are flooding home for Saturday's vote, but fears of violence grow amid the too-close-to-call election.
Nigeria Decides, Nigeria, Africa
More than 800 people were killed and 65,000 displaced in religion-based election violence in 2011 in the central city.
Nigeria Decides, Nigeria, Goodluck Jonathan
More than 100 people were gunned down in Maidan Square a year ago, but investigations have failed to bring prosecutions.
Human Rights, Politics, War & Conflict
It is a source of sustenance but also of tension and new political realities are now increasing uncertainty.
Egypt, Sudan, Middle East
A media post-mortem into the UK's surveillance report. Plus, why five years on in Argentina the media looks so familiar.
Media, Edward Snowden, Security
The untold story of how the Lebanese community overcame the odds and found their place in multicultural Australia.
Asia Pacific, Australia, Lebanon
How to keep a telenovela profitable and demanding sponsors happy while inspiring the production team to stay passionate.
Arts & Culture, Mexico, Latin America


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See 3 easy ways to roast peppers, and get tips for peeling, slicing, & dicing.
Oven roasted peppers add smoky flavor to recipes. In this video, you'll see how to roast peppers. You'll learn how to roast peppers in the oven under a broiler, on a gas stove using metal tongs, and on an outdoor grill. Roasting your own peppers is so easy, you'll wonder why you ever spent money on expensive prepared roasted peppers. Learn what makes hot peppers hot and discover ways to protect yourself from getting scorched when handling them! You'll also learn tricks for removing the skins, membranes, and seeds. Roast your own peppers and save money; it's a hot idea! Check out top-rated recipes for peppers.
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Bunny cakes, lamb cakes, chocolate eggs, and carrot cakes to nibble on.
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ExtraHop's Director of Systems Engineering Matt Cauthorn spoke today about how Ixia's Visibility Architecture helps them provide accurate network data to their customers.
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Review for: Pure Pennsylvania Maple Syrup
from: Epler Farms Maple Products
loved it
By: Barbara Weaver Barber (Aug 19, 2010)
I'm from the south and never really like maple syrup until I tried yours. Now I know what REAL maple syrup taste like. I love it and can't wait to get some more.
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Welcome to the Official Site of the Bossier Parish Police Jury. This site is intended to be used as a communication tool with Parish Residents. Below is a small listing of some of the information which can be found on this site:
We hope you find the site useful. If there is anything missing that you would like to see please let us know by using our Comments & Suggestions page.
Fairview Point Road Bridge Closure (03/26/2015)
Beginning Monday, March 30, 2015, the Fairview Point Road Bridge, located approximately 4.8 miles north of Highway 154, will be closed for repairs. It is anticipated that the bridge will re-open on Friday, April 3, 2015.
Alford Road Bridge Open (03/20/2015)
The Alford Road Bridge is now open effective today, March 20, 2015.
Alford Road Bridge Closure (03/16/2015)
Beginning immediately, the Alford Road Bridge, located approximately 1 mile east of Highway 157, will be closed for repairs. The repairs are expected to take approximately one week to complete.
The repairs to the Alford Road Bridge are being made in preparation for the bridge to be used as a detour route when the Department of Transportation and Development closes two bridges located on Highway 157 in the near future.
Bodcau Dam Road Closure (03/10/2015)
Effective immediately, March 10, 2015, Bodcau Dam Road will be closed due to emergency repairs to the levee. It is not known at this time how long the repairs will take to complete.
Still House Road Bridge and McCance Road Bridge Open (03/06/2015)
The Still House Road Bridge and McCance Road Bridge are now open effective today, March 6, 2015.
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April 1, 2015
Reliance, Tenn. (AP) -- Dry weather is cutting into whitewater rafting in southeastern Tennessee.
Mike smith of Hiwassee Outfitters says a cutback in water sent to hydroelectric generators upriver from Reliance will have an effect on recreation.
But Smith says there will still be four days of good water on the Hiwassee each week.
Water from the Apalachia Reservoir is sent through two large pipes to the generating station, then into the river. Smith says there will be full water on Fridays through Sundays and again on Tuesdays from 11:00 a.m. To 5:00 p.m.
The outfitters plan to meet with TVA again in mid-June to talk about July scheduling.
There are no planned cutbacks in scheduled water supplies to the nearby Ocoee River, which has up to Class-5 rapids. It's where the 1996 summer Olympic whitewater events were held.
TVA is facing the driest January-through-April period across the Tennessee Valley region in 118 years.
(Copyright 2007 by the Associated Press. All rights reserved.)
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Volk's 3-pointer in final seconds lifts Trinity to 5th place
MINOT -- Jacob Volk didn't feel good about the shot he launched from 30 feet off one foot with 2 seconds remaining on Saturday.
The 6-foot-3 senior guard from Dickinson Trinity was hoping to break a 54-all tie after a set play fell apart with time winding down.
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There is noting that smells or tastes better than a naturally hairy pussy. Ladies please keep it "NATURAL".....some of us love you just the way you are.
comment July 12, 2012
her name is Lenny
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love that hairy pussy
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not "extra hairy" remember. This is natural... and hell yeah... I would!
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would tongue both hairy holes
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i want that hairy cunt on my face
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- Gorgeous milf gives a seductive striptease and turns her hairy pussy into a camel toe then spreads it open for a good old fashioned finger fuck


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Ask the Megling
Senior Member
Ask the Herald
See you there, then.
{{ Holy sh*t! I just found out that Viktor and Twisted Fate share the same voice actor!
And this video is proof!
And does it surprise anyone else that Viktor owns a Mac? }}
{{ Should I just make a new thread so people know who this is?
Or does nobody care about Viktor anymore? :< }}
((Nobody loves you!
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New Release: Pillars of Eternity, a new RPG perfect for fans of Baldur's Gate and Icewind Dale!
Intro Movie - Someone's going to be kidnapped...
Intro Movie
First Level - Stealth Attack
Intro Movie - They transform a man in a cyborg agent.
Intro Movie - Inserted in his neck, the CHIP is able to change his perception of the reality, to control him.
Title Screen
Killer Marketing Director
Victory Screen
Intro Movie - A new agent for your crime syndicate.
Main Menu
Mission Debriefing (Only one dead civilian)
Evacuating after Successful Mission
Mission Brief
Mass Carnage
Mission Selection
Smoldering Cop
Burning Cop, Take Two
I'll kill you for running over 4 -- come back here!
Between the missions, start new technology researches.
Between the missions, update and equip your 4 agents.
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What's the newest performance secret of endurance athletes everywhere? Beet juice. It turns out to not only be loaded with beneficial antioxidants but also substances called nitrates, which improve the efficiency of oxygen being delivered to exhausted muscles. Big time. Studies conducted at England's Exeter University have shown a performance bump on the order of 16 percent in athletes who drank a half-liter of beet juice. America's fastest marathoner, Ryan Hall, swears by it. If you're not such a beet fan, you can also get a somewhat smaller nitrate kick from carrots, spinach, or radishes. And there are synthetic nitrates on the market, but you should know that they can cause side effects like "cardiovascular collapse, coma, and death." Which makes the beet juice sound a little more appealing. [Outside]
Beets: Better Than You Thought
Esquire's Guide to Whiskey 2015
Forget the so-called whiskey shortage, there's still plenty of good whiskey out there to drink. Here's where to find it.
Presenting the Ultimate Cocktail for the Common Cold
Because Hot Toddys won't cut it.
What Your Drink Says About Your Age
Let's all be grateful that our Everclear days have passed.
What's the Deal With Sustainable Seafood?
Chef Jonathon Sawyer explains.
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Davis, William H. 1879-1964
Davis, William H. (William Hammatt), 1879-1964
Davis, William Hammatt
VIAF ID: 48791748 (Personal)
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- 400 1 0 ‡a Davis, William Hammatt, ‡d 1879-1964
- 400 1 _ ‡a Davis, William Hammatt ‡d 1879-1964
|DAB, c1981:
|Dealing with the War labor board
|Industrial relations in England and Sweden;
|The National recovery administration. Message from the President of the United States transmitting a report on the operation of the National recovery administration, which has been prepared by those members of the Committee of industrial analysis who have no official relationship to the government.
|The reminiscences of William H. Davis [MI] c1972: