text:
Splashing a bus stop.
by James Woodward, Press Association.
A motorist who was filmed drenching children at a bus stop by going through a
puddle could face prosecution, police said today.
Kerry Callard's driving in Plymouth, Devon came to the attention of officers
after a 30-second movie clip was posted on YouTube.
The footage from inside the car captures the drive down Weston Mill Hill and
through the large puddle where the group are waiting.
Police said the 29-year-old had contacted them voluntarily about the incident
last Thursday and the evidence was now being reviewed.
A male voice is heard commenting on the clip saying: "Here we go, ready to
drench the kids.." and later "That was Brilliant! Awesome!".
Although the extract has been removed from YouTube there are several other
so-called "happy splashing" videos on the internet.
A spokesman for Devon and Cornwall Police said today: "We had three complaints
from members of the public and as a result a 29-year-old woman was interviewed.
The file has gone to the CPS for consideration."
Charges of careless or even dangerous driving could be brought for this type of
offence, the force said.
The spokesman added: "Although driving through standing water may be seen as a
bit of fun, potentially it is very dangerous.
"Not only is it showing no consideration to the pedestrians who may get a
soaking, but it could result in the driver losing control of the vehicle due to
the force of the water snatching the wheel from the hands, or by the vehicle
Callard has claimed the children asked to be splashed and would not have done
it otherwise.
She told the Daily Mail: "The fun factor is mostly gone from life these days
but they were playing in puddles, like kids always have done.
"If the kids weren't saying 'Splash me, splash me', I certainly wouldn't have
done it. I'm not a serial splasher."
The force said the children's possible agreement to the stunt would make no
difference to how the standard of driving was judged.
A motorist from Somerset who soaked a workman by driving through a puddle was
prosecuted in 2005. He was fined #150 and given three penalty points by
magistrates in Yeovil after he admitted driving without due consideration.
The AA agreed that soaking pedestrians was both "anti-social" and potentially
dangerous. The Association also reminded drivers that angry victims could film
the perpetrators on their mobile phones as evidence.
Paul Watters, the AA's head of roads policy, said today: "Drivers have always
got to look ahead for the possibility of accidentally soaking someone standing
at the roadside. Not only is it anti-social and leaves them open to prosecution
but also because, ironically, pedestrians can be armed with mobile phone cameras
"Unfortunately, drivers can be caught out by poor road conditions, such as
potholes, drainage problems or just very heavy rain. In heavy traffic or poor
visibility, they may not spot the danger of splashing pedestrians until too late
or be unable to avoid the puddle.
"The best advice is to keep an eye on what's happening to the cars in front
and the state of the road. Drivers should slow down if pedestrians could be at
risk, particularly at bus stops."
- Previous
- Next
- 1. At 2:26pm on 14 Oct 2009, Lady_Sue wrote:
Small things...
- 2. At 2:31pm on 14 Oct 2009, GiulioNapolitani wrote:
She looked to be going a fair lick.
- 3. At 4:12pm on 14 Oct 2009, nikki noodle wrote:
?? If this turns out to be a crime, what is footage of a criminal offence being committed doing on this website?!
Is it me?! - 4. At 4:30pm on 14 Oct 2009, David_McNickle wrote:
When I was driving a delivery van in the winter and got snow on the windscreen/windshield, I discovered that I could clean it off by hitting a puddle the right way.
- 5. At 4:37pm on 14 Oct 2009, writingsonthewall wrote:
I'm so glad that this 'abuse of school children' is amusing to this chap - maybe he should be treated like other child abusers are and run out of town by a baying mob before being added to the child offenders register. I bet he wouldn't find that so funny.
I guess it's a reflection of the attitude of car drivers who instantly become selfish as soon as they get behind the wheel - which is exactly why there are proportinately more fatalities involving car drivers than any other form of transport. - 6. At 4:40pm on 14 Oct 2009, writingsonthewall wrote:
....oh and the idiot drivign clearly has never heard of aqua-planing either - such is the poor level of their driving knowledge. This story could easily have ended up as "driver crashes into bus stop killing several children"
....and we would have to listen to their sickening plea for lenience and their 'deep regret' in court - as we have done on so many other occassions... - 7. At 4:41pm on 14 Oct 2009, Joe Walker wrote:
I'm sorry, but I laughed like a drain when I saw - and heard - this. (It's nothing without the sound track).
Will I burn in hell? - 8. At 4:49pm on 14 Oct 2009, Scotch Git wrote:
Dunno. - 9. At 4:58pm on 14 Oct 2009, David_McNickle wrote:
JW 7, Not if somebody drives through a puddle near you down there.
- 10. At 5:19pm on 14 Oct 2009, David_McNickle wrote:
If you don't say it too carefully, it sounds like, "Splashing a bus top."
- 11. At 5:32pm on 14 Oct 2009, needsanewnickname wrote:
I've been splashed by careless drivers many times, often while waiting to cross a road.
It's unpleasant, infuriating and unnecessary. - 12. At 5:33pm on 14 Oct 2009, Lepus_Madidus wrote:
Old News Eddie. This was news on Saturday. I am pretty unimpressed that stale news from a local paper is being regurgitated here.
The Radio 4 PM Blog repeating what was done on The Herald website?
Search his name on them thisisplymouth website, and look them up on Facebook.
The front page of that paper today informs us of the driver of the Vauxhall Vectra in which Kimberley Grayson died on Embankment Road on the other side of Plymouth about a week earlier has been charged with death by dangerous driving. The roads aren't playgrounds are they? How many fatalities that have made big local news have happened when the roads have been wet? How wet will the roads of the South West be this winter? - 13. At 5:56pm on 14 Oct 2009, Lady_Sue wrote:
Gosh it sounds a bit like Lenny Henry, which I'm sure it wasn't.
- 14. At 6:02pm on 14 Oct 2009, Gods Bodkin wrote:
Sounds like Michael McIntyre commenting. Maybe he was running late for a gig.
- 15. At 6:04pm on 14 Oct 2009, valveheadwork wrote:
There are no speed limit signs, so it's reasonable to think this is a 30 limit. It looks like the car was doing 45-50 added to the due care and attention
- 16. At 6:08pm on 14 Oct 2009, ripley1970 wrote:
This is clearly an extremely dangerous thing to do. Others have mentioned the speed, the potential to aquaplane and other reasons why dangerous driving does appear to be an issue in this case.
However there is another side to this and I'd be interested to know whether there is any another potential outcome from the court case. The local authority/Highways Agency have a responsibilty to maintain the road. They ought to be forced to do something re such obvious potholes/drainage issues (i.e. get them fixed). I won't hold my breathe on that one though due to my own experience. For 5 years I reported to both agencies a huge dip in the middle of a dual carriageway coming into my city. For 5 years they put up roadworks in the summer and I presumed that the issue would get sorted out. In 2007 (hurrah) it finally got fixed but I dread to think how many cars were damaged as a result of this huge dip in the road. That doesn't excuse this driver's behaviour but it is an issue across the country. Our roads are a disgrace. - 17. At 6:14pm on 14 Oct 2009, Number Six wrote:
The Happy Splashing video will be seen by the Crown Prosecution Service.
If they laugh whilst watching it, the case should be dropped.
Like many people in the UK I'm getting grumpier and grumpier, and this clip has stopped me in my tracks. To hell with political correctness, let's have some fun and do stupid things occasionally.
If people getting wet ends up with their seeking counselling, then Britain has come to a sorry state. - 18. At 6:41pm on 14 Oct 2009, Lepus_Madidus wrote:
Recycling four day old 'news' is seriously endangers the reputation of the BBC?
- 19. At 6:43pm on 14 Oct 2009, Lepus_Madidus wrote:
There you go Eddie, a serving suggestion for iPM, is driving within the law politically correct?
- 20. At 6:52pm on 14 Oct 2009, InspectorSwiv wrote:
The Local Authority should be prosecuted for failing to maintain drainage and allowing the water to pool directly adjacent to the Bus Stop !!
Maybe the Police should consider doing something of real value here........ - 21. At 7:45pm on 14 Oct 2009, Jahloon wrote:
Hilarious! Send them down your honour, six months.
- 22. At 7:46pm on 14 Oct 2009, JohnGammon wrote:
I can't see how it's possible the children wanted this to happen. If this driver feels it's all a bit of fun, they really need to be consistent and to publish their address so that total strangers can throw buckets of water over them wherever they go.
- 23. At 8:00pm on 14 Oct 2009, Lepus_Madidus wrote:
'political correctness gone mad' is now a catch all excuse when caught committing a crime is it?
The MPs expenses furore is political correctness gone mad?
Speed = Distance divided by time. Given the length of the film and the repetitive commentary it should be able to determine if they were speeding on that wet road.
Give Callard and Goff a medal for making Plymouth infamous for something other than Vanessa Geoege? - 24. At 8:35pm on 14 Oct 2009, GiulioNapolitani wrote:
15. At 6:04pm on 14 Oct 2009, valveheadwork wrote:
There are no speed limit signs, so it's reasonable to think this is a 30 limit. It looks like the car was doing 45-50 added to the due care and attention
Good point. Lamp posts and no repeater signs = 30mph limit. A simple matter to do the run with a stopwatch and figure what speed she was actually doing down that hill. - 25. At 8:41pm on 14 Oct 2009, Lepus_Madidus wrote:
Plymothians have form for recording themselves committing crimes:
It begs the question if rednecks originate from Europe and whether the National Grid should have ended at Bristol. - 26. At 8:49pm on 14 Oct 2009, JohnnySco wrote:
certainly this is very anti-social behaviour and as someone who has been soaked on the way to work, a slight tad selfish as well. But what about other anti-social behaviour by some motorists - we are supposed to be encouraging children to walk to school to get more exercise but up and down the country pavements are used as extra parking spaces, in many cases meaning prams, children and wheelchair users have to walk on busy roads to get round them. Any in my home town of Dumfries the police actually enourage this because, guess what, if the cars parked on the road it might actually slow down the traffic and make the enviroment even more pleasant for pedstrians!
- 27. At 9:14pm on 14 Oct 2009, Thunderbird wrote:
Unfortunately you don't get a good view of the children so you can't tell if it was a racially motivated splash
- 28. At 10:02pm on 14 Oct 2009, Lepus_Madidus wrote:
The police should prosecute the local Council for not clearing the drains?
They're too busy building New Labour's Big Brother Databases aren't they!
'Mathew Repton was charged in December 2008 over a fatal crash when a driver crashed into his parked fire engine.
Police took his DNA sample as standard procedure following his arrest but all charges against him were dropped.
West Mercia Police said it was considering his request but could legally keep his DNA record until 2021.'
Why aren't all MPs DNA swabbed and on the database then?
Eddie, any chance you could get a statement from each of the 3 main parties about when they'll comply with that EU Court of Human Rights directive about removing those that haven't committed any crime from the DNA database?
Surely the time and money the police are spending collecting data for the DNA database could be better utilised convicting criminals? - 29. At 00:53am on 15 Oct 2009, Anti_Headlight_Glare wrote:
All very jovial to have Edmund King of the AA on yesterday to quote obscure legislation about puddle traffic offences but shouldn't you have him back to tell everyone about the sadly equally forgotten Road Vehicle Lighting Regulations 1989 about safe and proper and considerate use of sidelights and headlights? Especially at this critical time of the year when rush hours coincide with dawn and dusk twilight when sidelights really are the safer, glare-free, legal option.
Though we're all the poorer and less safe for most people forgetting it, the law calls for you to use sidelights in the first half hour after sunset and headlights thereafter, and in well street lit 30mph zones even at night sidelights are preferred in law and in common sense. The disadvantages of pretty much all but London black cabs failing to honour that rule are plain to see to anyone who drives in London. The vicious circle of trying to out-glare one another needs a drink-drive-style awareness campaign to break.
The blinding, disorientating, pedestrian-and-cyclist-and-indicator-obscuring, glare from modern headlights (and the demented modern day cult of showing off by blasting everyone full face with them) is rapidly becoming the most widespread and pressing road safety concern worldwide, as evidenced by the international websites groups such as the UK's www.dadrl.org.uk .
This is sadly heightened by the truly horrifying trend of even responsible, previously safety-leading, manufactures such as Mercedes jumping on the Daylight Running Light fad, their new E-class being a very serious cause for concern amongst anyone who has the misfortune to encounter its eye-piercing overly intense DRLs.
So puddles make a novel story, but the neglect of fundamental 'good neighbour' type traffic laws generally is a very much real live day to day problem. - 30. At 08:52am on 15 Oct 2009, Trevor Mansell wrote:
There have been cases in the past where drivers have been prosecuted for soaking people at the side of the road. This act is not new. It's called "Driving without due care and attention" This is not political correctness, it's just sheer selfishness and lack of consideration for others. Prosecute the driver, large fine and several points.
- 31. At 2:34pm on 15 Oct 2009, Tommo1985 wrote:
with regards to 27. At 9:14pm on 14 Oct 2009, Thunderbird. The children at bus stop were of caucasian origen......however the driver / partner cld well have been of ethnic origen. Dont rule out racial attack.
- 32. At 3:13pm on 15 Oct 2009, Lepus_Madidus wrote:
It's a white on white crime. Kerry Callard and Alec Goff are both on Facebook you can check their ethnicity there.
- 33. At 5:03pm on 15 Oct 2009, David_McNickle wrote:
T 31, So, they sounded 'other race' to you? I didn't listen to it, fill me in.
- Previous
- Next


text:
Similar Styles
- An irresistibly sophisticated execution, Jil Sander cultivates the wedge silhouette with a sleek sensibility. Plump in grey suede, the limb-elongating heel and tactile finish make these an investment to pair with your blackest skinnies and weathered leather. 85mm-3.5" heel. Upper: Calf leather. Round toe. Zipped side. Leather insole and sole.
- Green feather down padded jacket from Twin-Set Simona Barbieri featuring a round neck, long sleeves, a front zip fastening and four front pockets with white beaded floral trims.
- French Connection cotton vest is a summer staple. Wear it with cargo trousers for easy Sunday style. Au Revoir Jersey Vest has a scoop neck and faded print at front. True to size.
- Light-blue stretch-denim. Belt loops, five pockets. Button and concealed zip fastening at waist. 93% cotton, 5% polyester, 2% Lycra. Machine wash inside out to avoid color transfer. Designer wash: Redchurch St
- Shell: polyester/nylon; lining: nylon; fill: goose down/feathers; fur: natural Asiatic raccoon fur imported from Finland. Dry clean. Imported. Stand collar, zip-detachable hood with fur trim, concealed zip and exposed snap front, recessed rib knit cuffs with thumb holes. Two zip pockets at chest, belt looped waist with elasticized seatbelt-style belt, two zip pockets at hips, zip pocket at left sleeve.
- 95% Polyester, 5% Elastane, Flat Measurement of the Garment Not Worn: Centre Back to Hem 36cm/14", Armhole 18cm/7", Waist 29cm/11.5" (Measured from UK Size 10). Machine Washable.
- Donald J Pliner gives the desert bootie feminine edge with a serrated rubber platform that offers just the right amount of lift. Suede upper. 3"H shaft; 10" circumference. Round toe; lace-up front. Leather lining and insole. 2 1/2" rubber wedge. Lugged rubber sole. "Maka" is imported.
- Blue stretch-denim . Belt loops, five pockets, slightly faded, distressed, whiskering. Button and concealed zip fastening at front . 93% cotton, 5% polyester, 2% Lycra. Machine wash inside out to avoid color transfer. Designer wash: Runyon Canyon
- MCQ By Alexander Mcqueen delivers a cool edge to the Black Leather Wedge Bootie. Featuring soft leather upper with 'oil' effect, almond point toe, wedg platform heel that measures 5in/12cm, pyramid studded detail on the heel. Tonal stitching. Made in Italy.

subset: commoncrawl


text:
A Rock/Flying Type Pokemon and the evolved form of Archen. Unlike its flightless pre-evolution, Archeops is capable of flying, but is more adept at running. It's speed could even outrun a automobile.
There is seemingly no 'perfect' way to truly say goodbye. So I gathered a bunch of them!
Submissions can take several hours to be approved.


text:
Patent ReferencesGeneral purpose orthogonal axes manipulator system Task space angular velocity blending for real-time trajectory generation Patent #: 5602968 InventorsAssigneeApplicationNo. 10702673 filed on 11/05/2003US Classes:700/245, Robot control700/246, Combined with knowledge processing (e.g., natural language system)700/248, Plural robots700/250, Specific enhancing or modifying technique (e.g., adaptive control)700/251, Coordinate transformation700/253, Programmed data (e.g., path) modified by sensed data700/254, Compensation or calibration700/255, Collision prevention700/257, Based on user input700/259, Vision sensor (e.g., camera, photocell)700/260, Having control of force700/262, Using particular manipulator orientation computation (e.g., vector/matrix calculation)700/264, Having particular operator interface (e.g., teaching box, digitizer, tablet, pendant, dummy arm)219/124.33, Having electrode angle control219/125.1, With predetermined welding operation318/568.1, With program recording or composing means318/568.11, Multifunction manipulator (i.e., Robot)318/568.13, With particular program teaching method318/568.14, Manual lead through318/568.16, With particular sensing device318/568.21, Including end effector (e.g., gripping jaw, micromanipulator, etc.)318/568.23, Including program modification901/4, Manual lead through901/43, Spray painting or coating901/47, Optical414/749.1, LOAD CARRIED ALONG A HORIZONTAL LINEAR PATH (E.G., PICK AND PLACE TYPE)74/490.01, Robotic arm606/139Suture, ligature, elastic band or clip applierExaminersPrimary: Black, Thomas G.Assistant: Marc, McDieunel Attorney, Agent or FirmForeign Patent References
International ClassG06F 19/00DescriptionFIELD OF THE INVENTION The invention relates to a method for controlling movements of a manipulator, such as an industrial robot, comprising an interpolation of a given point sequence of poses (positions and orientations) by splines and a device, more particularlysuitable for performing the method according to the invention. BACKGROUND OF THE INVENTION Movements of controlled manipulators, e.g. industrial robots, are generally determined by a preestablished sequence of points in a multidimensional space. In the case of a multiaxial industrial robot each of these points incorporates theCartesian coordinates of positions and coordinates with respect to the orientation in three-dimensional Euclidean space and optionally coordinates of auxiliary axes. As a rule a robot movement is not rigidly predetermined, but instead merely has a number of fixed points, which are based on the operations to be performed, e.g. the taking up and setting down of workpieces, passing round obstacles, etc. Thefixed points are taught to the robot control used for movement control purposes in a manual manner by starting and storing the corresponding poses and are then available as a point sequence with respect to which the robot movement to be executed must beoriented, i.e. all the fixed points clearly define the resulting path curve. In order to obtain a handy, functional description in place of a point sequence and permit the continuity of the robot movement in all components of motion, the point sequence is generally interpolated. A functional description of the pointsequence obtained by interpolation serves a number of purposes. Firstly the data quantity is compressed and secondly it is possible to obtain informations with respect to values not contained in the point sequence, e.g. by extrapolation. Finally, ahigher evaluation rate occurs, because the evaluation of a function can often be implemented faster than a reference in a table. In the industrial practice of movement control for interpolating the aforementioned point sequences use is frequently made of spline functions, which satisfy tailor-made demands, particularly with respect to the smoothness of the curve obtained,the continuity and differentiatability of the first derivative thereof and the continuity of the second derivative thereof. As the first and second derivatives of a path curve can be identified with the speed or acceleration of an object moved along thecurve, said characteristics are of great importance for an efficient movement control of industrial robots. A known method for the movement control of industrial robots using spline interpolations is described in an article by Horsch and Juttler (Computer-Aided Design, vol. 30, pp 217-224, 1998). The contour of a robot movement is representedsectionwise by means of a suitable degree or order polynomial. In the known method for the movement control of industrial robots by spline interpolation, it has proved disadvantageous that in sections of the point sequence to be interpolated in which changes to the orientation, the Cartesian position andpossibly the position of the additional axes occur in widely differing form (e.g. minimum Cartesian changes with large orientation changes), undesired, uneconomic movement paths can occur. In particular, in such cases movement loops can occur, i.e. oneor more components of the robot movement locally lead to an inefficient moving backwards and forwards, because the movement guidance in this specific section of the point sequence is dominated by significant changes in other components of motion. It isalso considered disadvantage with per se fixed movement paths a subsequent pronounced change to individual components of motion, e.g. the subsequent programming of a strong reorientation, can have an effect on the behaviour of the other components ofmotion, so that e.g. as a consequence of the reorientation the Cartesian contour of the path also changes, which is unacceptable for the user. For the orientation guidance of Cartesian movements, which are e.g. in the form of splines, frequent use is made of quaternions. Quaternions are generalized complex numbers in the form of a number quadruple, which can be represented as areal-value scalar part and complex-value three-vector. Quaternions are closely linked with the matrix representation of rotations and are therefore preferably used for the orientation guidance in computer animations and for robot control purposes. Apoint sequence of robot orientations is consequently represented by a four-dimensional spline in the quaternion space. In order to obtain in this connection an optimum favourable, uniform parametrization of the orientation movement, the spline in the quaternion space should as far as possible be on the surface of the unit sphere. It is only in this way possibleto achieve a uniform parametrization of the projection of the quaternion spline on the unit sphere, because on converting quaternions into rotation matrixes each quaternion qi must be standardized. Through the reduction of the four-dimensionalquaternion spline to three degrees of freedom during projection on the unit sphere (standardization of the quaternion spline or the individual quaternions), the risk arises of a distorted parametrization of the standardized spline, which can in turn leadto an undesired movement behaviour of a robot controlled in this way. In the known spline interpolation method there is a parametrization of the movement or spline by means of a common parameter, often called the motion parameter t and which is related to the time coordinate τ (cf. Horsch and Juttler, topleft on p 221). For a given point sequence Pi, i=1, . . . , n, the length of the parametrization interval [ti,ti 1] is generally considered to be proportional to the spacing of the associated points Pi, Pi 1. Into said spacingis introduced both the Cartesian distance and changes to the orientation and optionally auxiliary axes. However, it has been found that a parametrization by means of only a single parameter gives to the aforementioned disadvantages. The problem of the invention is to further develop a method and device of the aforementioned type in such a way that there are no undesired, uneconomic path movements, such as loops or the like. In addition, movement or motion control is to takeplace in such a way that reorientation from point to point is at a minimum. SUMMARY OF THE INVENTION In the case of the method of the aforementioned type., the set problems are solved by the invention in that components of the motion are separately parametrized. In a device of the aforementioned type, the set problems are solved in that it hasan interpolation device, which is constructed for the separate parametrization of components of motion during interpolation. According to the invention, through the separate parametrization of all the components of Pi, which must not influence one another, e.g. the Cartesian position and orientation, the aforementioned disadvantages are avoided. According to a further development of the invention, the Cartesian positions of the manipulator are parametrized or parametrizable separately from the associated orientations. If the manipulator to be controlled has auxiliary axes, according to a further development of the invention, movements of auxiliary axes are parametrized or parametrizable separately from the positions and/or orientations of the manipulator. In order to utilize the known, suitable characteristics of quaternions in the description of rotary movements in space, according to a preferred development of the invention, an orientation guidance takes place by means of quaternions qi,i=1, . . . , n and the device according to the invention is set up for such an orientation guidance. Alternatively, according to a further development of the invention, an orientation guidance takes place by means of successive rotations with Euler angles Ai, Bi, Ci, i=1, . . . , n, and the device according to the invention isset up for such an orientation guidance and in each case directly succeeding rotations take place about axes perpendicular to one another. Preferably, in this connection, use is made of extended or expanded Euler angles with Ai, Bi, Ci.di-elect cons.R (R: quantity of real numbers). In this way, according to the invention, a uniform parametrization of the orientation is always ensured and for the representation thereof only three degrees of freedom are required. In this connection, the standard Euler angles are inventivelyexpanded to the total R3, which ensures minimum reorientations. It has surprisingly been found that by removing the limitation of the definition range of Euler angles, much more economic movement paths can be determined. BRIEF DESCRIPTIONOF THE DRAWINGS Further advantages and features of the invention can be gathered from the claims and the subsequent description of specific embodiments relative to the attached drawings, wherein show: FIG. 1a a path curve of a robot movement in two dimensions according to the prior art with undesired loop formation. FIG. 1b A path curve according to the invention of a robot movement in two dimensions without loop formation. FIG. 2a A rotation in the description with Euler angles. FIG. 2b The rotation according to FIG. 2a in a different description with Euler angles. FIG. 3 A rotation movement in the representation with standard Euler angles. FIG. 4 A representation of the rotation of FIG. 3 with extended or expanded Euler angles. FIG. 5 A flow chart of a method according to the invention when using the quaternion algorithm. FIG. 6 A flow chart of an inventive method when using the Euler angle algorithm. FIG. 7 A block diagram of the device according to the invention. DETAILED DESCRIPTION OF THE DRAWINGS In a simplified, two-dimensional representation, FIG. 1a shows a Cartesian motion contour B for the motion of an industrial robot. It is possible to see two Cartesian coordinates x(t), y(t), which are dependent on a common parameter t, which isgenerally related to a time coordinate. At S the path contour B has a loop, i.e. over the associated interval of parameter t, the robot performs a generally undesired, because uneconomic forward and backward movement in the x and/or y direction andwhich should be avoided in practice. Curve B interpolates a predetermined sequence of points Pi, which give the course of the robot movement in a multidimensional space. The points Pi can be taught the robot control responsible for the movementcontrol or this is obtained online during a manipulation process, e.g. from sensor informations or the like. For interpolating Pi during robot movements use is made of standard splines (Horsch and Juttler, loc. cit.). HereinafterPi=(Xi,Yi,Zi,Ai,Bi,Ci,El, . . . ,Em).di-elect cons.R6 m, i=1, . . . ,n are the robot positions to be interpolated (for a 6 axis robot with m auxiliary axes E1 to Em). Thus, what is sought is aparametrization of a spline Sp of the desired contour, i.e. Sp(ti)=Pi for all i=1, . . . ,n and ti<t2<t3< . . . <tn, which leads to an optimum smooth curve. In order to obtain a favourable contour, the lengthof the parametrization intervals [ti,ti 1] is generally chosen proportional to the spacing of the associated points Pi,Pi 1. Into said spacing must be introduced both the Cartesian distance and the orientation change and possiblyauxiliary axis changes. This procedure is intended to avoid undesired loops. A spline is generally a piecemeal polynomial interpolation with selectable characteristics of the polynomials at the junction points (e.g. continuity and differentiatability of the first derivative and/or continuous second derivative in the caseof cubic spline interpolation with third degree or cubic functions). A parametrization with only one parameter t can, as shown in FIG. 1a, in sections [Pi,Pi 1] where modifications to the orientation, the Cartesian position and possibly the auxiliary axes differ widely (e.g. minimum Cartesianmodifications with simultaneously a large orientation change), lead to a parameter interval [ti,ti 1], whose length is not simultaneously favourable for orientation guidance and the Cartesian position. In such cases loops can still occur (FIG.1a). Subsequently programmed, marked reorientations can also change, e.g. lengthen the common parameter interval [ti,ti 1], so that the Cartesian contour changes, which is not acceptable in practice. When interpolating a given sequence of points Pi through a single, continuous curve, in addition to the "taught" Cartesian positions (X, Y, Z), also the orientations (e.g. represented by means of Euler angles (A, B, C) and corresponding auxiliaryaxis positions (E1, E2, . . . )) are interpolated and simultaneously the reorientation from point to point is to be minimized. In addition, a pure change to the orientation must not modify the Cartesian curve or auxiliary axis contour and vice versa. Thus, the invention proposes the separate parametrization of all components of Pi, which cannot influence one another. For example, it is possible to separately parametrize the Cartesian position, orientation (independently of a description with Eulerangles or quaternions) and the different auxiliary axes, e.g.: Kar(ti):=(Xi,Yi,Zi),i=1, . . . n; ti.di-elect cons.R,ti<t2< . . . <tn Orio(oi):=(Ai,Bi,Ci),i=1, . . . n;oi.di-elect cons.R,o1<o2< . . . <onEk(ei):=Eki,i=1, . . . ,n,k=1, . . . ,m; eki.di-elect cons.R,eki<ek2< . . . <ekn. Through a monotonically increasing intermediate parametrization o(t) with o(ti)=oi for all i=1, . . . ,n ek(t) with ek(ti)=eki for all i=1, . . . ,n,k=1, . . . ,m the desired interpolation characteristic is guaranteed and acontour shown in FIG. 1b is obtained satisfying the desired requirements: Sp(t)=(Kar(t),Orio(o(t)),E=(e=(t)), . . . ,Em(em(t))). In order to maintain monotony of the intermediate parametrization for a given order of differentiatability, it is e.g. possible to make use of interpolating splines, which contain an additional parameter by means of which the spline can be forcedrandomly close to the associated polygonal course (cf. e.g. Helmuth Spath, Spline Algorithms, 4th edition, R. Oldenbourg Verlag 1986, Generalized Cubic Spline Functions). A pure orientation change in one point consequently only changes the parametrization or intermediate parametrization of the orientation, but not that of the Cartesian path or the auxiliary axes. Orientation guidance can take place with quaternions or Euler angles. 1. Orientation Guidance with Quaternions Each reorientation in space can be represented by a rotation about a suitable vector v.di-elect cons.R3 (with |v|=1) and angle φ. Between this pair (vector, angle) and the associated quaternion q, the following link exists: ƒ×φƒ×φƒ×φ.functio- n.×φ ##EQU00001## Thus, a rotation by -v with -φ not only leads to the same orientation, but also to the same quaternion. However, a rotation by v in the opposite direction, i.e. with -(2π-φ), naturally also leads to the same orientation, but -q is obtained as the associated quaternion (the sign contains the information concerning the rotation direction). Between the pair (rotation vector, angle) and the associated quaternions, the following association consequently exists: qV,φ),(-v,-φ) -q(v,-(2π-φ)),(-v,2π-φ). For the unit quaternions q=(. -.1, 0, 0, 0) φ=0 or 2π, and due to sin(1/2φ)=0 the vector v can be chosen at random. For all remaining quaternions on the unit circle it is always possible to determine two pairs (v,φ), (-v,-φ)with φ≠0 or φ≠2π. On converting into an orientation matrix the quaternion is standardized, i.e. all positive multiples of a quaternion differing from zero lead to the same orientation matrix and rotation direction. In order to discover an absolutely uniformly parametrized orientation control by means of a quaternion spline, which is always located on the surface of the unit sphere in quaternion space and where the dimension of the orientation spline isreduced by one dimension (from four to three), the invention proposes that for the determination of the spline successively the following steps are performed (hereinafter N is the quantity of the natural numbers and Z the quantity of the whole numbers):Representation of each quaternion on the four-dimensional unit sphere according to q(α,β,φ)=(cos(1/2φ), sin(1/2φ)v(α,β)) with (v(α,β)=(cos(α) cos(β), sin(α) cos(β), sin(β)), in whichα, β, (and r=1) give the spherical coordinates of the rotating vectors v=v(α,β) determination of motion-optimum pairs (vi,φi) by a) adapting the sign of qi, so that qiTq.sub.i 1≥0 for all i=1, . . .,n-1; b) for all i=1, . . . , n determination of a possible pair (vi, φi) with qi=(cos(1/2φi), sin(1/2φi)vi); c) choice of a random starting pair (ViStart, φiStart), with iStart.di-electcons.I:={i=1, . . . , n | qi≠(. -.1, 0, 0, 0)}, e.g. iStart=min{i.di-elect cons.I}; on choosing iStartI, the completely freely selectable rotary vector viStart would be unnecessarily fixed, which can lead to a suboptimum orientation,because the starting pair would itself no longer be adapted; d) for all j.di-elect cons.{1, . . . , n} with the exception of j=iStart determination of in each case precisely one pair (vj,φj starting from a reference pair(vi,φi) in accordance with steps e) to g), in which i.di-elect cons.{1, . . . , n) is a neighbouring index, i.e. i=j 1 or i=j-1 and also either i=iStart or the reference pair has already been adapted according to steps e) to g); e)determination of k*, h*.di-elect cons.Z, so that φ×φ×φƒφ.di-elect cons.×φ×××πφ.di-elect cons.φ×φ×φƒφ.di-elect cons.×φ×××πφ.di-elect cons. ##EQU00002##f) subsequently for j.di-elect cons.I determination of dj,1=|arccos(viTj)| |φj,1(k*)-φi|, dj,2=|arccos(viT(-vj))| |(φj,2(h*)-φ.sub- .i| or for j.di-elect cons.Idj,1=|φj,1(k*)-φi|, dj,2=|φj,2(h*)-φi|; g) subsequently in each case choice of (vj, φj), where for ×φφƒ≤φƒ> ##EQU00003## ×××××φφƒ××.lto- req.φƒ××> ##EQU00003.2## vj can be in principle randomly selected forjI. The specific choice (vj=v.sub.i) is only provisional (until all (vj, φj) are adapted) and guarantees that in step d) there is always a complete reference pair and the freely selectable rotary vectors are ignored (i.e. skipped), sothat finally there is always a minimization of the spacing between neighbouring, not freely selectable rotary vectors. When all the pairs (vi, φi) are adapted according to steps e) to g), the freely selectable vi (with i.di-elect cons.I) are no longer required and can be deleted or cancelled; determination of pairs (αi, βi)from vi in spherical coordinate representation by: h) determining standard spherical coordinates (αi, βi) of vi for all i.di-elect cons.I: vi=(cos(αi) cos(βi), sin(αi) cos(βi),sin(βi)); i) definitions of J:={j.di-elect cons.I with vj≠(0,0,. -.1)}, L:={j.di-elect cons.I with vj=(0,0,. -.1)} and therefore definition of expanded spherical coordinates from R×R for i.di-elect cons.J:(αi,1(h),βi,1(k))=(αi 2hπ,βi- 2kπ),h, k.di-elect cons.Z; (αi,2(1),βi,2(m))=(αi π 2lπ, π-βi 2mπ),l,m.di-elect cons.Z; for i.di-elect cons.L:(αi(x),βi(k))=(x,βi 2kπ),x.di-elect cons.R,k.di-elect cons.Z (as βi=. -.π/2 for i.di-elect cons.L, supplies (αi(x) π, π-βi(k)) no further solutions); j) fixing a random startingpair (αiStart, βiStart) with jStart.di-elect cons.J, e.g. jStart=min {j.di-elect cons.J} (jStart.di-elect cons.L would be unfavourable, because the freely selectable parameter αj would then be fixed beforehand, which wouldlead to a suboptimum solution); k) for all j.di-elect cons.I with the exception of j=jStart in each case determination of expanded polar coordinates in accordance with steps l) and m), in which i.di-elect cons.I is an adjacent index of j, so that thereis no k.di-elect cons.I between i and j and also either i=jStart or the reference pair (αi, βi) has already been adapted according to steps l) and m); l) determination of j.di-elect cons.J of values h*, k*, l*, m*.di-elect cons.Zwith ×αƒαβƒβ××.di-ele- ct cons.××αƒαβƒβ ##EQU00004## ×αƒαβƒβ××.di-el- ectcons.××αƒαβƒβ ##EQU00004.2## ××××.di-elect cons.××××××××.di-elect cons.×× ##EQU00004.3##βƒβ×βƒβ.di-elect cons. ##EQU00004.4## m) subsequently choice of (αj, βj), in which ××.di-elect cons.×αβαƒβƒ≤α- ƒβƒ>××××××.d- i-elect cons.×αβαβƒ ##EQU00005##for j.di-elect cons.L, αj is in principle randomly selectable. The specific choice (αj=α.sub.i) is only provisional (until all (αj, βj) are adapted) and guarantees that in step l) there is always a complete reference pair and that freely selectable α angles areignored (i.e. skipped), so that the spacing from one α angle to the next (adjacent) not freely selectable α angle is minimized. When all the pairs (αj,βj) are adapted according to steps l) and m), the freely selectable αj (with j.di-elect cons.L) are no longer required and can be deleted; n) choice of a number of triples determinedaccording to steps a) to m) αβφαβφ××××.di-elect cons.××β×φ×××××.- di-elect cons.×××φ××××.times- ..di-electcons.× ##EQU00006## in which the components designated with * are randomly selectable; o) adapting the selectable components in the triples (αi,βi,φi); interpolation of the triples (αi, βi,φi) selected instep n) by a spline and--using the interpolation function in q(α,β,φ). Interpolated path curves for robot movements determined in this way more particularly avoid the undesired loop formation shown in FIG. 1a, even in the case of subsequent changes to individual components of motion, such as the orientation inspace, because such motion components have, according to the invention, their own parametrization in each case, which can be adapted without any negative effects on the other components of motion. The adaptation of the freely selectable components of (αi,βi,φi) takes place according to a further development of the above algorithm using: iMin:=min {i.di-elect cons.I} iMax:=max {i.di-elect cons.I} iMin:=min{j.di-elect cons.J} jMax:=max {j.di-elect cons.J}, so that αα××××××≤<.times- .×α××××××××<- ;≤ ##EQU00007## ##EQU00007.2##ββ××××××≤<×- ×β××××××××<.- ltoreq. ##EQU00007.3## It is also possible to select for adjacent i, j.di-elect cons.J for all i<p<j, i.e. p.di-elect cons.J αp=α.sub.i (p-i)/(j-i)(αj-α.sub.i) and correspondingly for adjacent i, jεI for all i<p<j,i.e. p.di-elect cons.I βp=β.sub.i (p-i)/(j-i)(βj-β.sub.i). The quaternion-based motion control according to the invention is compactly shown in the following table 1 and in FIG. 5 by means of a flow chart. TABLE-US-00001 TABLE 1 Quaternion algorithm Action Calculate orientation with rotary vectors and angles Calculate q1 q2 = (1, 0, 0, 0) q3 . . . qn - 1 qn = (-1, 0, 0, 0) quaternions adapt sign Calculate ( v1,φ1) ( v2, φ2) ( v3, φ3) . . . ( vn - 1, φn - 1) ( vn, φn) rotary vectors/ with with vn = vn - 1 angles v2 = v1 Minimize (v1, φ1) (v2, φ2)(v3, φ3) . . . (vn - 1, φn - 1) (vn, φn) changes between pairs Delete (v1, φ1) (*, φ2) (v3, φ3) . . . (vn - 1, φn - 1) (*, φn) freely selectablevi Action Calculate expanded polar coordinates for rotary vectors Consider v1 = (0, 0, -1) * v3 . . . vn - 1 = (0, 0, 1) * rotary vectors Calculate ( α1, β1) (*, *) ( α3, β3) . . . (αn - 1, βn - 1) (*, *) polar coordinates with α1 = α3 with αn - 1 = αn - 2) Calculate (α1, β1) (*, *) (α3, β3) . . . (αn - 1,βn - 1) (*, *) expanded polar coordinates Delete (*, β1) (*, *) (α3, β3) . . . (*, βn - 1) (*, *) freely selectable αi Action Represent orientation with "quaternion-polar coordinates"Calculate (*, β1, φ1) (*, *, φ2) (α3, β3, φ3) . . . (*, βn - 1, φn - 1) (*, *, φn) three- dimensional splines by 2. Orientation Control or Guidance with Euler Angles Whilst by definition the "classic" Euler angles are restricted to a part of R3 with [-π,π]×[-π/2,π/2]×[-π,π], according to the invention all Euler angle restrictions are dropped. Among all the possible variantsof the orientation representation with "expanded Euler angles" from R×R×R (R3) those leading to the minimum reorientations are sought. On successively performing three rotations by angles A, B and C, rotating in each case about an axis in the jointly rotated system, said angles are referred to as Euler angles. Independently of the sequence of the axes about which rotation takesplace, for each orientation there are twelve different types of Euler angles, e.g. X-Y-Z Euler angles, X-Y-X Euler angles, etc. If A, B and C are e.g. Z-Y-X Euler angles, then the total rotation R is obtained from R=rot(z,A)Rot(y,B)Rot(x,C), in which Rot(v,ω) designates a rotation about v with angle ω. The following considerations can be transferred to all Euler angle types. Thus, without restriction, there can be a limitation to Z-Y-X Euler angles. In this case, the target orientation is obtained from the starting orientation (referencesystem I), in that in reference system I rotation takes place about the Z axis with A (result: reference system I'); in the once-primed reference system I' rotation takes place about the y' axis with B (result: reference system I''): in the twice-primedreference system I'' rotation about the x'' axis with C (result: target orientation R). This is shown in exemplified manner in FIG. 2a for Z-Y-X Euler angles. Firstly the reference system I is transformed by a rotation with A=π/4 about the Z axis (positive counterclockwise rotation direction) is transformed into the referencesystem I'. Subsequently by rotation about the newly defined y' axis with B=π/3, the reference system I' is transformed into a new reference system I''. Finally, by rotating about the axis x'' with C=π/4, this passes into the desired targetorientation. On considering only the x'' axis in the reference system I'' (or in the case of target orientation), the angles A and B clearly represent the spherical coordinates thereof with respect to the starting orientation. The same x'' is obtained withthe angle pair (A π,π-B). However, in this case y'' and z'' are rotated by an angle π with respect to the case with (A, B, C). Thus, the same target orientation is obtained when using Euler angles (A π,π-B,C π). Thus, in the preceding example, in place of(π/4, π/3, π/4), the trio (5/4π, 2/3π, 5/4π). This is shown in FIG. 2b). According to the invention, such an Euler angle adaptation is brought about in that for minimum reorientation successively the following steps are performed and without restriction of the general nature, the Euler angles A,B,C indicate rotationsabout the instantaneous z axis, y axis or x axis: Representation of the orientations (Ai, Bi, Ci) by: a) determination of standard Euler angles (Ai, Bi, Ci), b) for I:={i=1, . . . , n|Bi≠. -.π/2 2kπ,k.di-elect cons.Z} and i.di-elect cons.I definition of (Ai,1(g),Bi,1(h),Ci,1(k))=(Ai 2gπ,Bi 2hπ,C- i 2kπ),g,h,k.di-elect cons.Z; and (Ai,2(1),Bi,2(m),Ci,2(o)=(Ai π 2lπ,π-Bi- 2mπ,Ci π 2oπ),l,m,o.di-elect cons.Z; c) for J:={i=1, . . . , n|Bi=π/2 2kπ, k.di-elect cons.Z} and i.di-elect cons.J definition of (Ai(t),Bi(h),Ci(k,t))=(Ai t,Bi 2hπ,Ci t - 2kπ),t.di-electcons.R,h,k.di-elect cons.Z (for i.di-elect cons.J the alternative representation (Ai(t) π, π-Bi(h), Ci(k, t) π) supplies no new solutions); d) for L:={i=1, . . . , n|Bi=-π/2 2kπ, k.di-elect cons.Z} and i.di-electcons.L definition of (Ai(t),Bi(h),Ci(k,t))=(Ai t, Bi 2hπ, Ci-t 2kπ),t.di-elect cons.R,h,k.di-elect cons.Z (for i.di-elect cons.L the representation (Ai(t) π, π-Bi(h), Ci(k, t) π) supplies no newsolutions); e) choice of a random starting pair (AiStart, BiStart, CiStart) with iStart.di-elect cons.I, e.g. iStart=min {i.di-elect cons.I}; iStart.di-elect cons.J.orgate.L would give a suboptimum orientation control, because the startingpair is itself no longer adapted and therefore the parameter t freely selectable for iStart.di-elect cons.J.orgate.L would have to be predetermined in fixed form; f) for all j.di-elect cons.{1, . . . , n) apart from j=iStart determination of expandedEuler angles (Aj, Bj, Cj) according to steps g) and h), where i.di-elect cons.{1, . . . , n} is an adjacent index, i.e. i=j 1 or i=j-1 and additionally either i=iStart or a reference pair (Ai, Bi, Ci) has already beenadapted according to steps g) and h): g) for j.di-elect cons.I determination of dj,1=min{|Aj,1(g)-Ai| |Bj,1(h)-Bi| |Cj,1(k)- -Ci|,g,h,k.di-elect cons.Z}; dj,2=min{|Aj,2(l)-Ai| |Bj,2(m)-Bi51 |Cj,2(o)-Ci|,l,m,o.di-elect cons.Z}; assuming the minimum for g*, h*, k* or l*, m*, o*; and choice of ƒƒƒ××××≤×.- times.ƒƒƒ×××>× ##EQU00008## h) for j.di-elect cons.J or j.di-elect cons.L definition ofdAj(t):=|Aj(t)-Ai| dBj(h):=|Bj(h)-Bi| dCj(k,t):=|Cj(k,t)-Ci| with h, k.di-elect cons.Z and t.di-elect cons.R; determination of h*.di-elect cons.Z with dBj(h*)=min{dBj(h), h.di-elect cons.Z};calculation of zero points of dAj(t) or dCj(k, t) with respect to t, in which ta0,j is the zero point of dAj(t) and tc0,j(k) is the zero point of dCj(k, t) dependent on the parameter k; choice of k*.di-elect cons.Z, so thatthere is a minimum spacing of the zero points, i.e. |ta0,j-tc0,j(k*)|=min{|ta0,j-tc0,j(k)|,k.di-elect cons.Z}; choice of t* random between ta0,j and tc0,j(k*), because there is always fulfilment there ofdAj(t*) dBj(h*) dCj(k*,t*)=min{dAj(t) dBj(h) dC.- sub.j(k,t),t.di-elect cons.R,h,k.di-elect cons.Z} and choice of (Aj,Bj,Cj)=(Aj(t*), Bj(h*),Cj(k*,t*)); interpolation of the triple (Ai, Bi,Ci) by a spline and use of the interpolation function in the rotation matrix R(A, B, C). According to a preferred development of the above-described algorithm, the parameter t* is chosen according to t*=1/2(ta0,j tc0,j(k*)). This leads to equal amount orientation changes in the A and C angles. The advantage of the above-described algorithm for the determination of expanded Euler angles is illustrated by the following example shown in FIGS. 3 and 4: There are two triples of Z-Y-X Euler angles (A0,B0,C0)=(0,π/2-1/2,π) (A1,B1, C1)=(π/2,π/2-1/2,0). If these values are guided linearly into one another, i.e. by linear interpolation, then for the associated coordinate rotations there is a configuration as shown in FIG. 3. FIG. 3 shows how the initial reference system I is transformed by linear interpolation of the angular overall change for each coordinate axis into a target orientation R. As a result of the limitation of the value range for classic Euler angles,in certain circumstances there are undulating movements for individual coordinate axes, as is apparent in FIG. 3 relative to the movement of coordinate axis Z. In the lower area of FIG. 3 reaches the boundary of its definition range and then returns tothe smaller value range, which brings about said undulation, which in the same way as the loop formation according to FIG. 1a, represents an uneconomic form of orientation control for robots and which must therefore be avoided. If instead (starting from the initial orientation) determination takes place of the adapted Euler trio, then we obtain: (-π/2,π/2 1/2,π)=(A1 π-2π,π-B,C1 π). As shown in FIG. 4, the associated rotation matrixes consequently pass into one another over the intuitively shortest path, so that the robot movement follows a much more economic course, which has a positive effect regarding the duration andspace requirement for manipulation processes. Characteristic undulations are avoided, unlike in the case of FIG. 3. The movement control by means of expanded Euler angles according to the invention is illustrated in table 2 and FIG. 6 by means of a flow chart and in compact form. TABLE-US-00002 TABLE 2 Algorithm with expanded Euler angles Action Determine expanded Euler angles Calculate ( 1, B1, C1) ( 2, B2, C2) . . . ( n-1, Bn-1, Cn-1) ( n, Bn, Cn) standardEuler B1 = π/2 Bn-1 = - π/2 angles Determine (A1, B1, C1) (A2, B2, C2) . . . (An-1, Bn-1, Cn-1) (An, Bn, Cn) expanded Eulerangles fromiStart ##STR00001## =(Aistart,Bistart, Cistart) ##STR00002## Represent orientation with expanded Euler angles. Calculate (A1, B1, C1) (A2, B2, C2) . . . (An-1, Bn-1, Cn-1) (An, Bn, Cn) three-dimensional spline by By means of a block diagram, FIG. 7 shows a possible development of a device according to the invention and which is suitable for controlling the movements of a manipulator in accordance with the above-described method. A manipulator is shown inthe form of an industrial robot 1 having an associated control means 2, which according to the invention in particular has computing means 3, which are set up in the form of a compiler/interpreter 4 and interpolation unit and through which theaforementioned algorithms for movement control can be implemented from the control standpoint in that the computing means 3 act within the control means 2 on drive means 6 of robot 1. By means of a manually operable control unit 8, an operator 7 can acton the sequences in the control means 2, specifically in the computing means 3, e.g. by a subsequent programming of reorientations of robot 1. * * * * * Field of SearchRobot control |


text:
- Style: Traditional Remove This Item
- › Blacks & Greys (2)
- › Blues (108)
- › Browns (2)
- › Burgandies (1)
- › Greens (1)
- › Multi (1)
- › Reds (6)
- › Tans & Ivories (6)
- › Nylon (1)
- › Olefin (6)
- › Polyproplyne (6)
- › Synthetics (29)
- › Wool (67)
- › Large: 8'-11' (95)
- › Medium: 5'-8' (100)
- › Oversize: Over 11' (19)
- › Runner (40)
- › Small: Under 5' (93)
- › Capel Rugs (14)
- › Chandra Rugs (2)
- › Loloi (12)
- › Momeni (10)
- › Oriental Weavers (13)
- › Radici (9)
- › Radici USA (6)
- › Safavieh (22)
- › Shaw Living (6)
- › Surya (12)
- › TransOcean (1)
- › $0.00 - $999.99 (73)
- › $2,000.00 - $2,999.99 (4)
- › $3,000.00 and above (1)
Blue Area Rugs
Capel Rugs Bella Reserve-Mahal Collection Dark Blue/Red Rug
75% Indian Wool, 25% New Zealand Wool Hand Knotted Rugs constructed in India Learn More
Radici Alba Collection-1769 Grey
100% Durable Olefin Rugs Machine Made in Italy Learn More
Oriental Weavers Salerno Collection 2872g Traditional Blue Rug
Salerno offers the timeless look of traditional patterns in updated colors and a luxuriously soft feel underfoot. From Persian patterns in antiqued color ways to modern twists on classics using fresh shades, this collection is sure to inspire. Learn More
Loloi Rugs Bogart Collection BG-03 AQUA / IVORY
The new Beymen Collection celebrates handwoven kilims by showcasing them in a patchwork design. Made in India, the rugs feature a deep dying technique that imparts a worn, antique look with a color palette that makes sense for today. Transitional in feel, the collection is awash in a selection of warm to cool colors, each with distinctive shading. Learn More
Shaw Sheridan Vintage Blue
Starting at:
Century is inspired by the elegant styles and timeless colors of centuries past. Learn More
Momeni BE-04 Belmont Collection
Starting at:
Inspired by Persian textiles and antique rugs, Belmont is traditional collection power-loomed of polypropylene, with machine finishing. Many designs feature a drop-stitch technique that adds texture and depth. Learn More
Safavieh EM824B Empire
The Empire Collection, with its rich colors and floral motifs, evokes classic European rugs of the late 19th and early 20th centuries. The collection is hand-tufted of 100% wool, hand-carved and washed to achieve a beautiful sheen. Learn More
Capel Rugs Elsinore-Scroll Collection Blue Rug
100% Olefin Machine Woven Rugs constructed in Belgium Learn More
Oriental Weavers Ariana Collection 2153d Traditional Blue Rug
Ariana features high quality construction, incredibly soft touch, ruck colors and detailed patterns, and the fibers are inherently stain resistant Learn More
Surya Cypress Collection CYP1006 Classic Rug
Surya Cypress Collection CYP1006 Classic Rug Learn More
Loloi Rugs Vernon Collection VN-01 ESTATE BLUE / IVORY
The hand-knotted Vernon Collection is at once sophisticated and trendy. Made in India of 100-percent fine wool, Vernon's traditional designs are inspired by Turkish Oushaks. Note the meticulous antique finishing, which gives each rug in the collection a distinctive, Old-World patina. Vernon takes traditional rug fashions up a notch. Learn More
Safavieh AT21E Antiquities
The elegant designs and rich colors of these rugs are inspired from 19th century antique Persian rugs. A special herbal wash gives these rugs their luster and an aged patina. This collection is hand tufted in India of 100% hand-spun premium wool. Learn More
Safavieh HG811B Heritage
With rich, luscious detailing and a vibrant feel, Safavieh's Heritage collection brings life to any space. Hand-tufted of pure wool with strong cotton backing, these traditionally beautiful rugs can withstand even the most highly traveled areas of your home. Learn More
Radici Alba Collection-1426 Grey
100% Durable Olefin Rugs Machine Made in Italy Learn More
Oriental Weavers Knightsbridge Collection 711u Traditional Blue Rug
Exquisite styling, unsurpassed beauty, and luxurious softness and texture encompass the Knightsbridge Collection. Reflecting the intricate details of fine, museum quality rugs, Knightsbridge captures the distinctive features of legendary antiques with up to 117 variations of rich, sophisticated colors. These timeless patterns are woven on the most advanced electronic Axminster looms using only the finest quality materials including premium Wools of New Zealand brand fibers. Learn More
Chandra Pooja Collection POO437 Traditional Rug
Hand-knotted Traditional Rug Learn More
Couristan Mystique Collection 0596-0004 Casual Blue Mercury Rug
Starting at:
These captivating, modern-day handmade treasures for the home have been designed to inspire your decorating flavors and provide you with the options you'll need to design that certain environment in your home that represents individuality. Learn More
Safavieh BRG174A Bergama
The Bergama Collection includes beautiful reproductions which are hand-tufted to create the same symmetrical knots used in the antique rugs in Safavieh's private archival collection of Peshawar rugs. Made in India, the pure wool rugs in this collection recreate the design and quality of Peshawars made for the top end of the market to a broader base of customers with superior hand tufted quality. Learn More
Capel Rugs Monticello-Mahal Collection Blue Slate/Cream Rug
100% Wool Hand Tufted Rugs constructed in India Learn More
Oriental Weavers Ariana Collection 113b Traditional Blue Rug
Ariana features high quality construction, incredibly soft touch, ruck colors and detailed patterns, and the fibers are inherently stain resistant Learn More
Surya Caesar Collection CAE1052 Classic Rug
Surya's best selling creations have been infused with possibilities as the Caesar collection takes on new life. Designer color combinations including deep browns, charcoal gray, and muted red make these time-honored pieces suitable for any interior. Hand tufted in India of 1% wool, each rug is available in over 2 sizes, and in a variety of styles such as round, square, oval and mansion-sized. Learn More
Loloi Rugs Maple Collection MP-38 BLUE / BEIGE
Transform your home into a manor steeped in elegance and tradition with the majestic Maple Collection. These timeless Persian designs carry the rich heritage of centuries of carpet making in each arabesque, stylized flower and intricate border. Maple Collection rugs are hand-tufted in India of 100-percent wool so they are eco-friendly and mindfully crafted with sustainable materials. With colors as rich as these, you will feel like nobility every time you walk into your home. Learn More
Momeni MC-33 Mahal Collection
Starting at:
Mahal is hand-tufted in India from fine wool. These beautiful reproductions of traditional Persian designs are hand tufted and washed in our special "luster wash", which enhances the colors and gives the patina an exceptional sheen. Learn More
Safavieh AN544D Anatolia
Anatolia Collection brings old world sophistication and quality in new tufted rugs. This collection captures the authentic look and feel of the decorative rugs made in the late 19th century in this region. Hand spun wool and an ancient pot dying technique together with a densely woven thick pile, gives Anatolia rugs their authentic finish. Learn More
Safavieh CL359A Classic
In creating the Classic Collection, careful attention to each critical element of design, material, color, and workmanship was painstakingly undertaken to meet Safavieh's award winning standards. Some of the finest Persian and European exemplary designs are reinterpreted in the Classic Collection. The use of 100% pure premium wool and a luster wash gives the pile a plush, soft feel. Hand-tufted. Made in India. Learn More


text:
Faith and the Human Rights: Christianity and the Global Struggle for Human Dignity - Slightly Imperfect
- All Products
- Bookshttp://www.christianbook.com/Christian/Books/easy_find?event=EBRN&N=5401&Ne=1014644&Nso=1&Nu=product%2Eendeca%5Frollup&Ns=product%2Enumber%5Fsold
- Theologyhttp://www.christianbook.com/Christian/Books/easy_find?event=EBRN&N=5401&Ne=1014654&Nso=1&Nu=product%2Eendeca%5Frollup&Ns=product%2Enumber%5Fsold
- Bookshttp://www.christianbook.com/Christian/Books/easy_find?event=EBRN&N=5401&Ne=1014644&Nso=1&Nu=product%2Eendeca%5Frollup&Ns=product%2Enumber%5Fsold
Other Formats
Product Description
Faith and Human Rights argues that the idea of human rights is not exclusively religious, but that its realization in practice requires urgent action on the part of people of all faiths---and of no faith. The authors contend that while faith has much of value to contribute here, the world's religions will require vigilant reappraisal if they are to function as genuine partners in the global struggle for human dignity. Acknowledging the ambiguous moral legacy of their own tradition, Christianity, the authors draw on Christological themes to draft blueprints for a culturally sensitive "theology of human rights."
Richard Amesbury is Associate Professor of Ethics at the Claremont School of Theology, California.
George M. Newlands is Professor of Divinity and Principal at Trinity College at the University of Glasgow.
Product Information
Format: Paperback Number of Pages: 144 Vendor: Fortress Press Publication Date: 2008 Dimensions: 7.25 X 4.25 (inches) | ISBN: 0800621328 ISBN-13: 9780800621322 Availability: In Stock Series: Facets |
Product Reviews
Product Q&A
Other Customers Also Purchased
Jesus the Fool: The Mission of the Uncoventional Christ - Slightly ImperfectSave 89%
$14.95$1.59 -
The Majesty of God in the Old Testament: A Guide for Preaching and Teaching (slightly imperfect)Walter C. Kaiser Jr.Save 70%
Find Related Products
- Academic >> Slightly Imperfect
- Academic >> Theology >> Ethics >> Human Rights
- Books >> Slightly Imperfect
- Books >> Theology >> Ethics >> Human Rights
- Slightly Imperfect >> Academic >> Theology >> Ethics >> Human Rights
- Slightly Imperfect >> Books >> Theology >> Ethics >> Human Rights
- Start A New Christianbook.com Search


text:
Come on in! Join Pinterest today...it only takes like a second or so.
Inspiring interiors and all things lovely for the home (I have a separate board for projects)
Love this vintage inspired interior
Watercolour wallpaper inspired by winter morning walks by Scandinavian designers Sissa Sundling and Karolina Kroon. sulia.com/...;
Cristocal Balenciaga's estate


text:
Hello dear readers! I thought I'd let y'all know there's a new video clip up on Shellie TV. It's a Toilet Booger story I shared with the Cowgirl Convention in Tyler, TX!. I hope y'all enjoy! Do feel free to share and warn your loved ones of the dangers lurking out there. Hugs, Shellie … [Continue]
Valentine's Day Post. Belles, Make Sure Your Bubbas See This
Hey y'all! Addressing Valentines Day was not on my agenda when I woke up this morning. The ATS Bellerina Czars are camped out here while their mommy sees some clients and I've got to leave for a speaking engagement this evening. It's not that I haven't been thinking about the potential for a Valentines Day disaster, and what I could do to help … [Continue]
LOVE is in the air today on ATS LIVE with Special Guest Jonathan Wiggins!
Hey y'all! I'm in a full out run today after a weekend of lovely chaos and tremendous celebration! Shall fill y'all in on all the details this evening on ATS LIVE! I hope you're planning to join me today. I'm looking forward to spending an hour with y'all LIVE and introducing y'all to a great friend. My special guest today will be Jonathan … [Continue]
Writer/Director Corbin Bernson visits ATS LIVE tomorrow/Jan.28th
Hey y'all! I'm fresh in from speaking at the Cowgirl Convention in Tyler, TX. My BFF traveled with me and we had a crazy good time. I'll tell y'all more about it tomorrow on ATS LIVE the radio show! And speaking of-- I hope you're making plans to join me. My special guest tomorrow is writer/director Corbin Bernson, who will be with me talking … [Continue]
Touring The Redneck Radio Studio
Hey y'all! I'm making good on a promise I made a while back to let y'all tour the Redneck Radio Studio. Back story-- every Monday morning I set up the Redneck Radio Studio to tape a week's worth of the All Things Southern daily radio features. These three-minute segments will then be mixed and sent to my radio affiliates across the country. ( A … [Continue]
The Show Must Go On — (and it will!)
Isn't that what they say? I don't know who "they" are and I don't always listen to them, but for today at least, I"m going with the familiar adage. Due to icy road conditions, traveling is perilous in these parts, but I'm refusing to cancel the show! ATS LIVE will be airing from my house on the banks of Lake Providence, LA! Two big reasons I … [Continue]


text:
Advanced Search
Conference Overview
Educational technology professionals from across the country will get hands-on introductions to the latest computer systems, software and equipment at the 13th Annual Technology + Learning Conference, November 10-13 in Dallas, TX. Sponsored by the National School Boards Association's (NSBA) ITTE: Education Programs and co-sponsored by more than 25 national education organizations, the three-day conference brings educators the latest ideas, solutions and innovations from school districts across the country.
More than 150 school workshops and roundtables will provide practical tools and tips for finding educational technology solutions. School district workshops will showcase real-life stories from educators in the field. Topics range from issues in distance learning to urban issues in technology to the role of the school board in technology implementation. Experienced school leaders will lead discussions to help educators assess how well their technology programs function.
More than 300 of the nation's top education technology suppliers will exhibit at the conference. Visitors to the exhibit hall can compare the latest educational technology products, from multimedia instructional tools to distance learning systems to administrative applications. Companies slated to exhibit include Apple Computer, America Online, Compaq, Comp USA, Corel, Dell, IBM, Intel, Lucent and Microsoft. New to the exhibit hall this year is the Technology Incubator, where nine start-up technology firms will be showcased in a special section.
For more information on the conference, visit: www.nsba.org/T+L.
Featured Speakers
Highlighting the conference are general and showcase sessions featuring nationally recognized speakers in educational technology. These speakers include:
Steve Case, Chairman and CEO of America Online, Inc. will share his ideas for integrating technology into schools.
Mae Jemison, the first woman of color to go into space, will talk about her innovative projects including an international science camp to increase science literacy for students.
Daniel Burrus, one of the world's leading technology forecasters will talk about how educators can get all members of their districts involved in creatively utilizing new technology.
Inventive School Districts to Receive Salute at Technology + Learning
Deer Valley Unified School District in Ph'enix, Ariz., Cherry Creek School District in Englewood, Colo., and North Kansas City School District in Kansas City, Mo., are being recognized by NSBA's Technology Leadership Network for their progress this year in improving academic achievement supported by the use of technology. Each district will be showcased in a short video at one of the conference general sessions and is given the opportunity to share their approaches during a special session.
Cherry Creek is being recognized for its "solutions," packages of hardware, software, professional development and model curriculum designed to enhance student achievement. North Kansas City, following a $35 million bond election, established a community technology advisory board to offer advice on system design, hardware purchases, networking and operating standards. Deer Valley Unified has a mission to maximize the resources available to educate students for life-long learning. By the year 2000 the district will give every student access to multimedia computers in both classrooms and labs, each loaded with a suite of productivity software.
This article originally appeared in the 11/01/1999 issue of THE Journal.
February 2014 Issue Available Now
Free Subscription to THE Journal
Issue Archive
A school system in Florida was in the process of building approximately 8,000 new classrooms. Focusing on their upcoming school year, they wanted the classrooms to be equipped with the latest projectors and multimedia equipment. They had approximately 1,000 large classrooms to install in a short amount of time. Read this whitepaper to learn how the school system achieved huge labor savings and modular cable installations. Read more...
all white papers


text:
I've been ordering from MisterArt for my classes and for my own work for 7 years. I search all kinds of sites, check in local stores for good sales. MisterArt has EVERYTHING at the best price. Plus they are quick. I have been extra pleased every time I've ordered from them.
More Testimonials »
How to Airbrush Tattoos -- DVD
by Show Offs Body Art
From $18.30
Trading Faces -- DVD
From $22.77
Coral Reef Coloring Book
by Dover
From $3.99
Lettering Books
by Speedball
From $3.37
Comic Strip Layout Boards
by Blitz
From $6.59
Cartooning Pad
From $5.68


text:
It's been two days since America saw Bachelorette bad boy Bentley Williams trash Ashley Hebert on national TV, but Hebert says she can't wait to put the incident behind her.
VIDEO: Bentley disses Ashley, calling her an "ugly duckling"
"Part of me just wants this to all be in the past and move on," the 26-year-old dental student told Jimmy Kimmel in an interview Tuesday, still reeling from Williams' surprise exit.
Watching Monday's episode brought the memories flooding back to Hebert, who web chatted with Kimmel from her home in Pennsylvania.
VIDEO: Must-see moments from Monday's show
"In the moment, I felt so much sincerity," Hebert said of Williams, 28. "I know [fans will] say my radar's off, but I felt in my heart he was being genuine. I looked for the good in him and I gave him a shot. Watching it, I'm thinking, 'Why didn't I see that?' I saw what I wanted to see and that was my big problem."
PHOTOS: See the guys left to fight for Ashley's affections
Choosing to believe Williams instead of heeding the warning offered to her by former contestant Michelle Money, who said Williams was only on the show to promote his business, Hebert knows she's indebted to Money.
"I haven't spoken to [Michelle], but I owe her a phone call. And a big thank you," Hebert said.
By Allison Corneau for Us Weekly. For more Channel Surfing, click here.
Get more Us! Follow us on Twitter, Friend us on Facebook, Subscribe to Us Weekly
Sarah Michelle Gellar talks to Wonderwall's Chris Gardner about "terrifying" paparazzi, growing veggies with her daughter, why she never went to rehab.
The Rock flexes massive muscle while getting sentimental on Celebs Gone Social hosted by Wonderwall editor Chris Gardner.
Kendall and Kylie take Wonderwall behind the scenes at a photo shoot and chat family, embarrassing style moments and more!
Find out where Drew Barrymore and Reese Witherspoon are and what they're doing on their latest "girl's trip" on Celebs Gone Social.
From Mila Kunis to Mary-Kate Olsen, get the scoop on all the engagements in Hollywood on Replay.
Hank Azaria talks about his new documentary series "Fatherhood," his family and more with Wonderwall.
A pregnant Soleil Moon Frye sits down with Wonderwall editor Chris Gardner to talk about prepping for a baby boy and her busy career ...
From Reese Witherspoon to Hugh Jackman, see some of the best celeb bikini bods.
Mariah Carey does her best impression of a mermaid on Celebs Gone Social.