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Minimum Spanning Tree Pose Estimation Kevin L. Steele, Parris K. Egbert { steele, egbert} @ cs. byu. edu Department of Computer Science, Brigham Young University 3361 TMCB, Brigham Young University, Provo, Utah 84602 Abstract The extrinsic camera parameters from video stream images can be accurately estimated by tracking features through the image sequence and using these features to compute parameter estimates. The poses for long video sequences have been estimated in this manner. How-ever, the poses of large sets of still images cannot be esti-mated using the same strategy because wide- baseline cor-respondences are not as robust as narrow- baseline feature tracks. Moreover, video pose estimation requires a lin-ear or hierarchically- linear ordering on the images to be calibrated, reducing the image matches to the neighboring video frames. We propose a novel generalization to the linear ordering requirement of video pose estimation by computing the Min-imum Spanning Tree of the camera adjacency graph and using the tree hierarchy to determine the calibration order for a set of input images. We validate the pose accuracy using an error metric that is functionally independent of the estimation process. Because we do not rely on feature track-ing for generating feature correspondences, our method can use internally calibrated wide- or narrow- baseline images as input, and can estimate the camera poses from multiple video streams without special pre- processing to concate-nate the streams. 1 Introduction External camera calibration consists of determining the external or extrinsic parameters of a camera matrix P, which are the parameters defining the camera location and orientation relative to a world coordinate frame. Much ef-fort in computer vision has gone into developing stable methods of estimating the external camera parameters in projective and metric spaces; see [ 5] for a rigorous treat-ment and a compilation of references. A related body of work describes the process of auto- calibration, the auto-mated estimation of a camera's internal parameters from a collection of uncalibrated images [ 1, 3, 12, 21]. Auto-calibration is often performed simultaneously with external calibration ( pose estimation). More recently research has focused on the use of video streams as input to pose estimation problems [ 4, 6, 7, 8, 11, 15]. Large numbers of camera poses can be successively estimated by tracking features through a sequence of video frames and using those features to estimate camera poses relative to their predecessors in the sequence. Dense pose estimation of this sort is an important precursor to recon-struction and visualization applications. The advantage to using video streams as an input to pose estimation, rather than taking still images of the same structure, is that the correspondence problem is simpler to resolve in a narrow-baseline setting. Hence, feature matches between image pairs and image triplets are more accurate, improving the pose estimation accuracy. However, several disadvantages exist to using video streams. Video pose estimation uses an implicit ordering to determine the estimation order— camera poses are esti-mated relative to immediate or close predecessors in the im-age sequence. Most algorithms are unable to exploit out- of-sequence image matches that would otherwise improve an estimate. It is also problematic to combine multiple video streams of a scene, since features are not propagated from one stream to another. We would also like the ability to es-timate the pose for large numbers of wide- baseline images that cannot be matched using robust feature tracking. In this paper we propose a generalization to the sequen-tial ordering scheme required by video pose estimation. Rather than calibrating cameras in a linear ordering, we uti-lize the camera adjacency graph [ 19] to determine the best images from which to extract match features for pose esti-mation. We compute the Minimum Spanning Tree ( MST) of the adjacency graph to determine the pose estimation or-der for the set of input images, and validate the pose accu-racy using a novel error metric that is functionally indepen-dent of the estimation process. The contributions of our proposed method are that it can utilize both narrow- and wide- baseline images as input, it Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission ( 3DPVT' 06) 0- 7695- 2825- 2/ 06 $ 20.00 © 2006 Figure 1. Six images of a park bench. The pyramids show the position and orientation of the cameras after their pose was estimated using the MST algorithm. The inset shows a small amount of the 3- D reconstruction. can include multiple video streams, and it can determine an optimal set of calibrated images to use as match generators in computing the next estimate. Our method has produced reliable pose estimates in scenes of over one hundred wide-baseline images without using feature tracking as a corre-spondence solution. 2 RelatedWork The goal of dense pose estimation ( the estimation of many related camera poses) has been addressed almost ex-clusively in the context of narrow- baseline imagery from video stream input. This is due largely to the existence of highly robust solutions to the correspondence problem in the narrow- baseline setting, where feature tracking can take a predominant role [ 20]. In this section we review the work on dense pose estimation from video streams ( video pose estimation). In [ 4] the authors present a method to track features through an open or closed sequence of video frames, and use successive frame triplets to estimate trifocal tensors. They then hierarchically combine the tensors to build a re-construction within a common world frame. While the ten-sor hierarchy promotes reliable 3D structure throughout the sequence to aid in matching, the matching order is still es-sentially linear in that images are matched to preceding or succeeding video frames. A generalization of [ 4] is pre-sented in [ 11] where registration of leaf- level trifocal ten-sors is delayed until the tensor hierarchy is complete. A set of spanning tensors ( wide tensors) are chosen from the hier-archy to represent the entire sequence, from which interme-diate views are registered and the structure is triangulated. In this way unnecessary video frames can be discarded. Still images have also been used for closed loops [ 8], but a linear ordering on the input images is still enforced, and a " quasi- dense" feature set is used to compute the fundamen-tal matrices and trifocal tensors, thus partially avoiding the difficulty of estimating wide- baseline camera poses. In [ 18] tracked features are used for video pose estimation, then the calibrated sequence is partitioned into rigid body clusters to simplify the bundle adjustment phase. There have been several attempts to utilize feature matches outside the conventional video frame order [ 6, 7]. In [ 6] the authors sweep a camcorder over the object of interest in a zigzag fashion, and construct a 3D polygo-nal mesh whose vertices are the viewpoints of the recon-structed cameras. Rather than restricting their fundamental matrix computations to the preceding frames, they exploit the zigzag nature of the sweeping pattern to find additional images with which to match. Their method backtracks at each frame to examine the 3D locations of previously esti-mated poses— any prior cameras within a distance threshold are used to update the current pose estimate. In [ 7] the authors sequentially predict a coarse pose esti-mate for the next video frame by using the epipole extracted from the fundamental matrix F to predict the new pose di-rection, and the residual correspondence error of the rec-tified image pair to predict the distance from the previous pose. Given this coarse pose estimate, they use a world-space distance threshold to find additional images to up-date the pose estimate. A deficiency of this method is that the video stream must be centered on one central object in the scene, since the coarse pose estimate cannot account for camera rotation. While these methods can successfully estimate the pose of many frames in their video sequences, they are still re-stricted to single streams, or streams that have been modi-fied to permit concatenation. We propose a unifying solu-tion to both still image and multiple video stream pose es-timation that does not require the robustness of inter- frame feature tracking. Some related work has been done to create 2D topolo-gies ( connected graphs) for image mosaics [ 10, 16]. In [ 16] the authors present a method to find the connected graph re-lating all the images of a mosaic or panorama. Their choice Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission ( 3DPVT' 06) 0- 7695- 2825- 2/ 06 $ 20.00 © 2006 ( 1) - Root ( 6) ( 5) ( 4) ( 3) ( 2) Figure 2. Camera adjacency graph and MST of Figure 1. The images in this figure are spatially oriented as shown by the pyramids in Figure 1. The edges of the adjacency graph are small dotted lines— in this simple example the graph is completely connected. The minimum spanning tree was constructed with image ( 1) as the root node, and the edges are marked with thick solid lines. of graph edges depends on two competing goals: to connect images with the best overlap, and to connect images that will best improve the global registration accuracy. In [ 10] the authors build upon [ 16] by creating a spanning tree of the 2D topology whose edges are determined as the mini-mum of the normalized distance between image centroids projected onto the mosaic being constructed. Both [ 10] and [ 16] illustrate the application of graph con-struction to optimize image/ camera placement. However, their application is specifically developed for the purpose of mosaic creation, where their cost function is related to image registration and their camera placement is about a common optical center. Our contribution, in contrast, is to use graph construction to determine the optimal ordering for camera placement in general position, requiring a novel cost function. Specifically, our cost function uses valida-tion on the 3D reconstruction to accurately determine edge inclusion, as developed in Section 3.1. 3 Minimum Spanning Tree The basic data structure we use is the camera adjacency graph [ 19], an undirected graph whose nodes are cameras and their respective images, and whose edges infer geomet-ric proximity between the cameras. Two nodes sharing an edge in the adjacency graph imply that the view frusta of the corresponding cameras overlap to include common scene structure, and thus the images share some amount of con-tent. In [ 19] each node of the camera adjacency graph is constructed from the k- nearest neighbors taken from GPS sensor data acquired at the physical camera location. For traditionally- acquired camcorder or still camera imagery, the adjacency graph could be constructed by determining the quantity or quality of feature matches between image pairs; edges in the graph indicate large numbers of accurate feature correspondences. Alternatively, we construct our graph based on the amount of image overlap between image pairs, determined from color histogram comparisons [ 14]. From each node in the graph ( each image of the input set) we add edges to the n nodes closest in histogram distance. Our primary contribution is to remove the linear cali-bration order requirement by using the Minimum Spanning Tree of the adjacency graph to determine the calibration or-der of the input cameras. We start by specifying the root node, either manually or heuristically ( a node attached to the smallest- weighted edge, for instance). We then proceed by using Prim's algorithm to construct the MST— nodes are iteratively added to the tree in the order of increasing edge weights [ 2]. The edge weights are the histogram distances between nodes, and the camera calibration order is the or-der in which nodes are added. Figure 1 illustrates a simple input set and its pose estimates, and Figure 2 shows the cor-responding adjacency graph and MST. The final spanning tree is guaranteed to be optimal in minimizing the total edge cost. We wish to transfer this optimality to the process of pose neighbor selection so that finding the MST means finding the optimal ordering. We define this optimality to be the following: At each step of the tree creation, the node added is precisely that camera which ( a) contains the most image overlap ( the minimum his-togram distance) with some node in the tree, and ( b) maintains a scene reconstruction consistent with that offered by the current tree ( see Section 3.1). By choosing the camera order based on maximum over-lap we pre- condition incoming nodes to have a high like-lihood of correct pose estimation. However, it is not suf-ficient to simply estimate the camera poses in the order of maximum image overlap. In practice, the histogram dis-tance estimator for image overlap is not perfect and will re-sult in occasional outliers. Additionally, there will be noise Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission ( 3DPVT' 06) 0- 7695- 2825- 2/ 06 $ 20.00 © 2006 and occasional outliers in the correspondence set as well, which propagates errors to the pose estimate computed from them. Therefore we need to add a validation of the pose es-timate that is independent of both the adjacency graph edge weights ( histogram distance) and correspondence set noise. 3.1 Pose Validation We validate a new pose estimate by comparing the scene structure contributed by the new pose to the scene struc-ture provided by its parent in the MST ( we use internally calibrated cameras in our MST pose estimation algorithm, so there is no need to upgrade the reconstruction from pro-jective to metric). Rather than compare points triangulated from the correspondence set, we compare dense stereo cor-respondence between images. This results in a richer pose comparison and thus a more accurate error estimate. A good survey of dense correspondence methods is found in [ 17]. Given a pose candidate Cnew, its parent C 0 , and its grand-parent C 0 0 , we compute depth maps D1 and D2 by trian-gulating dense stereo between C 0 and C 0 0 , and between C 0 and Cnew respectively. Note that D1 and D2 are both com-puted from the viewpoint of C 0 to make depth comparisons meaningful. We define the reconstruction similarity S be-tween two depth maps as the sum of the Gaussian of depth differences: S( D1, D2) = X p 2 P e−( D1p− D2p)/ 2 2 p ( 1) where P is the set of all pixel locations in the depth maps D1 and D2. We choose separately for each pixel to be the camera space inter- pixel distance at the specified depth: p = Dp f C 0 q k P C 0 − p k 2 + f2 C 0 , p 2 P ( 2) where f C 0 is the focal length of C 0 and P C 0 is the principal point of the image from C 0 . Choosing separately for each pixel provides a more uniform depth comparison by factor-ing out projective scaling. As each new pose Cnew is added to the MST, its similarity S to the current reconstruction is retained as an attribute of Cnew. The similarity attribute is undefined for the first two nodes of the MST since they do not have grandparents, so when the third node is added to the MST, its similarity is propagated up as a special case. In the ideal case where both the pose estimate and the dense stereo correspondence are perfect, the similarity mea-sure is equal to the number of pixels that overlap between the three input images. This can be seen by considering three perfectly matched points from the input images of C 0 0 , C 0 , and Cnew. The two resulting triangulated 3- D points will coincide, and thus the difference in depth distances D1p − D2p will be zero for those points. The summation Figure 3. An image pair of a cluttered desk ( upper left pair). The upper right pair of im-ages illustrates a portion of the point corre-spondences used to generate the pose es-timate. The images were taken by hand at-tempting to restrict the camera motion to hor-izontal translation only, and the right image pose was estimated relative to the left. The left wireframe pyramid shows the left camera pose defined to be at the world- space origin, and the cluster of wireframe pyramids on the right shows the population of pose estimates from which the most probable pose was se-lected using Equation 5. Both the left camera and the final selected pose have their images texture mapped into the respective pyramids. Note that due to the large amount of detail in the images and hence the large number of accurate point correspondences, the cluster distribution is small relative to the baseline. P e0 from Equation 1 will then be equal to the number of common pixels from the three images. Realistically there will be two error classes that com-monly arise— dense correspondence error and pose error. Correspondence error typically arises in regions of low fre-quency, and hence good matches generally occur on edges, corners, and areas of high texture frequency [ 13]. Given a correct pose estimate, the correspondence error will be less in areas of high detail, and the similarity measure will cor-respond to the number of shared pixels with accurate point matches. This will be a reasonably high value given suf-ficient image detail ( see Table 1 for typical values). Pose error arises in the absence of accurate point matches in the pose estimation process, and a large pose error yields a very low similarity measure. Thus the reconstruction similarity S is a valid discriminator of correct or near- correct pose. Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission ( 3DPVT' 06) 0- 7695- 2825- 2/ 06 $ 20.00 © 2006 Figure 4. An image pair of a hallway in the same configuration as Figure 3. Both the left camera and the final selected pose have their images texture mapped into the respec-tive pyramids. Note that these images have less high- frequency detail, so the point corre-spondences are noisier, resulting in a larger cluster distribution than that of Figure 3. We consider a new pose to be valid if its similarity S is at least half that of its parent node. This constraint in-validates poses that are structurally inconsistent with valid MST nodes, and we have found this threshold to work well in practice. This condition can arise when a node's cor-respondence set has too much noise or too many outlying matches, or if the node has an incorrect neighbor in the ad-jacency graph. When a node is invalidated by failing the similarity com-parison, it is not added to the MST, and the algorithm pro-ceeds with the next node. The failed node can be added at a later stage of the algorithm, but it must be added to a differ-ent parent. In this way the pose order will be optimal with respect to both optimality properties ( a) and ( b). 3.2 Noise and Outlier Resolution To estimate camera pose P relative to the parent node, we use the eight- point algorithm to first estimate the essen-tial matrix E from point matches, then we recover rotation and translation from E [ 9]. Since no perfect point corre-spondence algorithm exists, there is always some amount of noise in the point matches, which transfers to the pose estimate. Worse, there may sometimes be severe outliers in the point matches that will lead to a completely erroneous pose. While the validation step of section 3.1 will detect Figure 5. An example of a multi- modal den-sity function. This image pair is the same as in Figure 4, but the camera poses are esti-mated using a smaller number of point corre-spondences as input to the eight- point algo-rithm [ 9]. With a higher probability of choos-ing outlying matches, the pyramid cluster distribution is large and the density function is multi- modal. An accurate pose is selected because in the correspondence set there is a larger proportion of correct point matches than outlying matches. most such pose errors, we can improve the chances of find-ing an initially correct estimate by first observing the effect of noise propagation in the eight- point algorithm. The effect of correspondence noise in pose estimation can be illustrated by treating the pose location as a continu-ous random variable X. 1 If we estimate pose from random subsets of the point correspondence set, we generate a pop-ulation of pose locations Xp = { x1, x2, . . . , xn}. By using a density estimator such as Parzen windows, we define a likelihood function for a 3D location x: L( x) = 1 n n X i= 1 W ( k x − xi k ) ( 3) and a probability density function for the random variable X: ( x) = L( x) R ! L( x) dx , ! = R3. ( 4) For the kernel W we use a Gaussian function with a con-stant factor of the desired pose baseline ( for instance, if the baseline is set to 1, = .1). 1Camera rotation could also be used as a random variable, but since we lack a Euclidean distance measure between any two rotations for use in a smoothing function, i. e., ( R1 − R2) 2 SO( 3) cannot be mapped to R1, it is more difficult to estimate density from a population of rotations. Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission ( 3DPVT' 06) 0- 7695- 2825- 2/ 06 $ 20.00 © 2006 Note that this formulation is not a RANSAC procedure, in which subsets of sampled data are iteratively and inde-pendently chosen to robustly fit a model to the sampled data. While both RANSAC and Equation 4 employ ran-domly chosen subsets of sampled data, we are simply using the random subsets of 2D point correspondences as input to the eight- point algorithm to establish hypothetical camera poses, and then using these discrete pose locations to de-fine a continuous function having higher probabilities near clusters of hypotheses. The shape of the pdf indicates the stability of the given correspondence set. A narrow, single- modal function is de-sirable and will generally yield a correct pose estimate. A multi- modal function is indicative of extreme outliers in the correspondence set. We take the pose to be the element of the population with the maximum value in : P = arg max x 2 Xp ( x). ( 5) This effectively chooses the most probable pose in the pop-ulation as the correct one. In practice we do not need to evaluate the denominator in Equation 4 since we only need to find a maximum. Figures 3 and 4 illustrate two exam-ples of noisy poses and our method of selecting the most probable pose from the pdfs. If the density function is multi- modal, resulting from match outliers for instance, then the maximum argument associates P with the mode of maximum density; see Fig-ure 5 for an example. This will be correct only if the ma-jority of the point correspondences are inliers. While this will be the case most of the time when using a robust point correspondence algorithm, it will occasionally fail. To fur-ther reduce the effect of outlier- propagated error, we aug-ment the node selection portion of Prim's algorithm from section 3 with the pose density estimation of Equations 4 and 5. Rather than estimating the pose of a new node only with its intended parent in the MST, we additionally esti-mate it with the k- nearest neighbors of the intended parent, constrained to similar gaze directions, creating a population of candidate poses. We then use density estimation again to determine the most probable pose, setting to a factor of the Euclidean distance between the intended parent and the intended grandparent. In practice this avoids nearly all pose errors resulting from outlying point correspondences. Any remaining erroneous poses are culled by validation, yield-ing very stable pose estimation. 4 Results We verified the stability of MST pose estimation using several sets of wide- baseline images taken from a still dig-ital camera. Figures 6, 7, and 8 show the pose estimates of three sets of input images. Each image set was taken by Figure 6. Images of a fire hydrant from an in-put size of 69 images. The pyramids illustrate the pose estimates for each image. The inset shows the pose estimates from a viewpoint close to ground level. The 3- D point clouds in the background of this figure and of Fig-ures 7 and 8 are shown only to illustrate the general position of the estimated poses rel-ative to the scene structure, and are not at-tempts to accurately reconstruct the 3- D ge-ometry. Hydrant Skull Lions ¯ S 15402.7 9769.8 15791.8 4219.9 4580.3 3586.9 Table 1. Mean and standard deviation of the similarity measure S for the examples in Fig-ures 6 ( fire hydrant), 7 ( fossilized skull), and 8 ( lion display). The values of ¯ S roughly corre-spond to the average number of consistently reconstructed 3- D points in image triplets as nodes are added to the MST, and thus can be comparatively used to indicate good pose. hand with a still digital camera. The examples show ten sample images from the input set ( each image is 640x480 pixels) and pyramids representing the position and orienta-tion of the final pose estimates. One image in each set was Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission ( 3DPVT' 06) 0- 7695- 2825- 2/ 06 $ 20.00 © 2006 Figure 7. Images of a fossilized skull speci-men from an input size of 160 images. The pyramids illustrate the pose estimates for each image, and the inset shows the pose es-timates from a higher viewpoint. The pyra-mids in this figure are necessarily small in order to show each image from the complete set. defined to be located at the world- space origin, and all re-maining image poses in each set were estimated in the same space using the MST pose estimation algorithm. We have listed the average values of the similarity measures for each example in Table 1. The camera poses in the examples are estimated fairly accurately, as shown in the figures by the positions of the pyramids and the sparse 3- D reconstruction. However, it is difficult to determine the exact accuracy of the pose esti-mates without measuring the extrinsic camera calibration using an external verification setup such as a gantry or robotic arm while photographing a scene. However, if the eventual goal of camera calibration is to perform 3- D re-construction or visualization where the success of the ap-plication is measured by the accuracy of the 3- D content, then the similarity measure of Section 3.1 is applicable and by definition is directly related to the accuracy of the pose estimation. Figure 8. Images and pose estimates of a taxi-dermy display from an input size of 67 im-ages. The lion shape evident in the recon-structed point cloud corresponds to the lion displayed in the top row of images. 5 Summary and Conclusions We have proposed a novel method, MST pose estima-tion, to estimate the extrinsic camera parameters, or pose parameters, for large collections of images. Our method generalizes on current methods which use narrow- baseline feature tracking to robustly estimate point correspondences and camera pose in a linear or hierarchically- linear order ( imposed by the linear nature of the video stream). MST pose estimation finds the minimum spanning tree of the camera adjacency graph and uses the tree node hierarchy to determine pose order. This enables pose candidates to be matched against a much larger number of images than just the immediate predecessors in linear video streams. We lose the robustness from narrow- baseline matching algorithms, but gain in the ability to pose generalized input: still images with multiple video streams. To compensate for the reduced robustness of point cor-respondences, we proposed a validation method based on reconstruction similarity to quantify the pose correctness. We additionally outlined a novel noise error compensation technique that reduces pose error propagated from corre-spondence noise. This technique is based on interpreting a population of pose estimates as a probability density func- Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission ( 3DPVT' 06) 0- 7695- 2825- 2/ 06 $ 20.00 © 2006 tion and using density estimation to retrieve the most prob-able pose from the population. Together with pose vali-dation, these techniques enable robust pose estimation for large collections of wide- baseline images. References [ 1] M. Armstrong, A. Zisserman, and P. Beardsley. Euclidean reconstruction from uncalibrated images. In Proc. British Machine Vision Conference ( BMVC ' 94), pages 509– 518, 1994. [ 2] D. Cheriton and R. Tarjan. Finding minimum spanning trees. SIAM Journal of Computing, 5: 724– 742, 1976. [ 3] O. Faugeras, Q. Luong, and S. Maybank. Camera self-calibration: theory and experiments. In Proc. European Conference on Computer Vision ( ECCV ' 92), pages 321– 334. Springer- Verlag, 1992. [ 4] A. W. Fitzgibbon and A. Zisserman. Automatic camera re-covery for closed or open image sequences. In Proc. 5th European Conference on Computer Vision- Volume I ( ECCV ' 98), pages 311– 326, London, UK, 1998. Springer- Verlag. [ 5] R. Hartley and A. Zisserman. Multiple View Geometry in Computer Vision, Second Edition. Cambridge University Press, ISBN: 0521540518, 2004. [ 6] R. Koch, M. Pollefeys, B. Heigl, L. Van Gool, and H. Nie-mann. Calibration of hand- held camera sequences for plenoptic modeling. In Proc. International Conference on Computer Vision ( ICCV ' 99), pages 585– 591, 1999. [ 7] R. Koch, M. Pollefeys, and L. Van Gool. Robust calibration and 3d geometric modeling from large collections of uncal-ibrated images. In DAGM, 1999. [ 8] M. Lhuillier and L. Quan. Quasi- dense reconstruction from image sequence. In Proc. 7th European Conference on Com-puter Vision- Part II ( ECCV ' 02), pages 125– 139, London, UK, 2002. Springer- Verlag. [ 9] Y. Ma, S. Soatto, J. Kosecka, and S. S. Sastry. An Invitation to 3- D Vision. Springer, 2004. [ 10] R. Marzotto, A. Fusiello, and V. Murino. High resolution video mosaicing with global alignment. In Proc. Conference on Computer Vision and Pattern Recognition ( CVPR ' 04), pages I: 692– 698, 2004. [ 11] D. Nist ´ er. Reconstruction from uncalibrated sequences with a hierarchy of trifocal tensors. In Proc. 6th European Con-ference on Computer Vision- Part I ( ECCV ' 00), pages 649– 663, London, UK, 2000. Springer- Verlag. [ 12] M. Pollefeys, R. Koch, and L. Van Gool. Self calibration and metric reconstruction in spite of varying and unknown internal camera parameters. In Proc. 6th International Con-ference on Computer Vision ( ICCV ' 98), pages 90– 96, 1998. [ 13] P. Pritchett and A. Zisserman. Wide baseline stereo match-ing. In Proc. 6th International Conference on Computer Vi-sion ( ICCV ' 98), pages 754– 760, 1998. [ 14] Y. Rui, T. S. Huang, and S.- F. Chang. Image retrieval: past, present, and future. In International Symposium on Multi-media Information Processing, 1997. [ 15] M. Sainz, A. Susin, and N. Bagherzadch. Camera calibration of long image sequences with the presence of occlusions. In Proc. IEEE International Conference on Image Processing ( ICIP ' 03), pages I: 317– 320, 2003. [ 16] H. S. Sawhney, S. Hsu, and R. Kumar. Robust video mo-saicing through topology inference and local to global align-ment. In Proc. 5th European Conference on Computer Vision- Volume II ( ECCV ' 98), pages 103– 119, 1998. [ 17] D. Scharstein and R. Szeliski. A taxonomy and evaluation of dense two- frame stereo correspondence algorithms. Inter-national Journal of Computer Vision, 47( 1- 3): 7– 42, 2002. [ 18] D. Steedly, I. Essa, and F. Dellaert. Spectral partitioning for structure from motion. In Proc. International Conference on Computer Vision ( ICCV ' 03), pages 996– 1003, 2003. [ 19] S. Teller, M. Antone, Z. Bodnar, M. Bosse, S. Coorg, M. Jethwa, and N. Master. Calibrated, registered images of an extended urban area. International Journal of Computer Vision, 53( 1): 93– 107, 2003. [ 20] C. Tomasi and T. Kanade. Shape and motion from image streams under orthography: a factorization method. Inter-national Journal of Computer Vision, 9( 2): 137– 154, 1992. [ 21] W. Triggs. Auto- calibration and the absolute quadric. In Proc. Conference on Computer Vision and Pattern Recogni-tion ( CVPR ' 97), pages 609– 614, 1997. Proceedings of the Third International Symposium on 3D Data Processing, Visualization, and Transmission ( 3DPVT' 06) 0- 7695- 2825- 2/ 06 $ 20.00 © 2006
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One of the ways people have responded to the horrors of Newtown has been through the use of social media. I don't know if my experiences are typical, but I actually learned about Newtown from posts on Facebook, and over the ensuing hours my Facebook feed was filled with responses to the tragedy.
My initial impression was that what started as an outpouring of grief and anguish began to crystallise into anger at the status quo, which in turn gave way to calls for political action.
Moving from the anecdotal to the more systematic, here is a list of the number of tweets featuring prominent trending hashtags and terms in the hours after the shooting. The data were collected starting at 7:00pm EST on Friday and run through the end of Monday, December 17.
Upon first glance, we can see that while there are over 700,000 tweets that include either the hashtag #prayfornewtown or some version of the town's name (example, the singer Nick Jonas tweeted: "My heart is heavy today hearing the news about Newton, CT. Praying for all the family and loved ones effected by this"), there are just as many tweets specifically referencing either the NRA or gun control (example, BBC newscaster Andrew Neil tweeted: "If brave teachers can stand up to a gunman - and lose their lives in the process - why can't US politicians stand up to the NRA?").
If we expand the political terms to include "guns" (example, commentator Charles Garcia tweeted: "Gov't regulates ladders which kill 300 Americans a year, more than guns, which kill 30,000!") then the number of (potentially) political tweets in the sample significantly exceeds those that simply refer to Newtown.
Perhaps more illustrative is to look at the use of these trends over time:
Two trends are worth noting. First, apropos of this previous post on The Monkey Cage about declining attention to gun tragedies, use of all of the terms drops dramatically after Americans go to bed on Friday, and never returns to the levels to which they originally rose. It is interesting to note that after a lull on Saturday, tweets begin trending upward again Saturday evening, throughout the day on Sunday, and then again during the day on Monday.
With the caveat here that we are only looking at trends over three and a half days - the data referenced in The Monkey Cage post is over the course of weeks - it does seem that Twitter offers another useful window into public attention to these types events.
If so, then we should be able to use Twitter going forward to learn if public attention can be sustained over a longer period of time now as compared to previous tragedies of this nature, or, to put it another way, if this time will be different.
Second, and perhaps more importantly, the data do seem to confirm my initial anecdotal impression of emotional responses morphing into more political ones. By far the most popular hashtag on the day of the shooting is #prayfornewtown.
However, as we get late into the day Sunday and throughout Monday, "gun control" and #NRA emerge as more popular tweets. While we of course need to get a better understanding of the content of these tweets before we make any definitive conclusions, at first glance this seems consistent with a picture of initial emotional responses giving way to a call for more political responses.
This observation is consistent with a growing literature on emotion and politics that suggests that anger and fear can motivate political participation. Whether political action is forthcoming in the aftermath of Newtown remains to be seen, but perhaps following Twitter in the coming weeks can provide important clues as to whether this will or will not be the case.
Note: Figures and tables by Pablo Barbera using data from the Social Media and Political Participation Lab at New York University.
Joshua A Tucker is a Professor of Politics at New York University, a National Security Fellow at the Truman National Security Project, and a co-author of the award winning politics and policy blog The Monkey Cage.
The views expressed in this article are the author's own and do not necessarily reflect Al Jazeera's editorial policy.
Content on this website is for general information purposes only. Your comments are provided by your own free will and you take sole responsibility for any direct or indirect liability. You hereby provide us with an irrevocable, unlimited, and global license for no consideration to use, reuse, delete or publish comments, in accordance with Community Rules & Guidelines and Terms and Conditions.


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Would you like to book an appointment to see if they are the right real estate agent to sell your house?
After finding the perfect Realtor you're ready to find the perfect home. According to Zillow, homes in Ocean City on have an average value of $homeValueIndex and you can expect to pay $propertyTax on average in property taxes. It's also good to note that Maryland Mortgage rates are down to thirtyYearFixedRate% so you can better act fast!
Samantha M. Wichmann is one of a number of Ocean City Realtors who works in the Ocean City, Maryland office of the Atlantic Coast Realtors real estate brokerage.
What is Homethinking? Homethinking is a real estate agent search engine that helps you find a Ocean City Realtor. Ocean City Realtors are ranked by what and how many homes they have sold in the Ocean City area.
Nearby locations: Willards Realtors, Parsonsburg Realtors, Bishopville Realtors, Stockton Realtors, Showell Realtors, Whaleyville Realtors, Newark Realtors, Pittsville Realtors, Pocomoke City Realtors, Girdletree Realtors,


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Fast facts
Course type: Undergraduate degree
Course length: 4 years
Location: On campus
2013 Australian Tertiary Admission Rank (ATAR): 77.45
Guaranteed entry ATAR: 80.00
TAFElink: Diploma or above
Bonus points: Science and Maths, SEAS, RISAS
International students: Entry and English requirements
Course overview
The Bachelor of Engineering (Computer Systems) focuses on developing the specialised skills involved in designing and analysing hardware systems and algorithms for products such as PDA's, mobile phones, games machines through to aircraft flight control systems, unmanned vehicles, super computers and global telecommunications systems.
There is a strong and balanced emphasis on the development of theoretical concepts, practical engineering skills and teamwork.
We have developed close relationships with a number of private sector and government organisations and all students undertake Flinders' nationally recognised 20 week industry placement.
What will I study?
Refer to the course rule.
What is Computer Systems Engineering?
Computer systems engineering is a blend of electronic engineering and computer science.
Computer systems engineers build the computer-based systems required to meet the future needs of a world in which technology is constantly changing.
With computers performing ever more sophisticated tasks, these engineers must draw on their imagination, creativity and analytical skills to design and build tomorrow's computer systems.
Why study Computer Systems Engineering at Flinders?
The Bachelor of Engineering (Computer Systems) at Flinders:
- lets you participate in Flinders University's nationally recognised 20-week industry placement program
- is accredited by both Engineers Australia and the Australian Computer Society and is recognised internationally
- provides many opportunities for employment with computer systems integral to most aspects of modern life.
Professional Recognition/Membership
This program is provisionally accredited by Engineers Australia at the level of professional engineer. Full accreditation is normally granted when the first cohort of students graduate from the program.
Professional engineering courses accredited by Engineers Australia are recognised internationally under the Washington Accord. Once fully accredited graduates will meet the academic requirements for attaining chartered professional engineering status.
Combined degree options
You can combine this course with the following:
- Bachelor of Computer Science l 5.5 years l SATAC code: 214792
- Bachelor of Science l 5 years l SATAC code: 214792
- Master of Business and Technology l 5 years
Career opportunities
What can I do with my Bachelor of Engineering (Computer Systems) degree?
Study a language
Flinders also offers all students the opportunity to major in a language in conjunction with any undergraduate course. The Diploma in Language is designed to provide students with competence in a chosen language that adds greater portability to their qualifications. You will complete a total of one extra year of study and graduate with both your chosen degree and the Diploma in Language. You can apply for this at time of enrolment.
Entry requirements
Prerequisites: SACE Stage 2 Specialist Mathematics, Mathematical Methods, Mathematical Studies or equivalent. Knowledge of SACE Stage 2 Physics or equivalent is assumed.
International students are expected to have completed senior secondary mathematical methods/mathematical studies or equivalent. Knowledge of senior secondary physics is assumed.
Domestic students: You can qualify for undergraduate courses through: year 12 qualifications, adult entry (STAT/Bridging Program), TAFE/VET qualification, higher education transfers. Flinders also offers a range of special access schemes. Refer to undergraduate study applications.
International students: Entry and English requirements
Applications and annual fees
Domestic students | |
SATAC code: | 214791 |
Mid year entry: | Yes |
Applications: | SATAC Uniweb |
Annual fees: | Place type: Commonwealth-supported $8,569 |
International students | |
CRICOS code: | 064044C |
Mid year entry: | Yes |
Applications: | How to apply |
Annual fees: | |
Note: Domestic student fees are indicative only. Further information: How are these fees calculated?
Credit transfer
Refer to credit transfer for further information.
Related courses
- Bachelor of Engineering Science
- Bachelor of Engineering (Biomedical)
- Bachelor of Engineering (Civil)
- Bachelor of Engineering (Electrical)
- Bachelor of Engineering (Electronics)
- Bachelor of Engineering (Mechanical)
- Bachelor of Engineering (Robotics)
- Bachelor of Engineering (Software)
- Bachelor of Engineering (Biomedical) / Master of Engineering (Biomedical)
- Bachelor of Engineering (Robotics) / Master of Engineering (Electronics)
- Bachelor of Engineering Technology
Further study options
- Doctor of Philosophy (Research)
- Master of Engineering (Electronics)
- Master of Engineering (Research)
Course brochures
Domestic students |
Engineering (PDF 1MB) |
International students |
eBrochure: Undergraduate international prospectus |
Related links
School of Computer Science, Engineering and Mathematics
Technology Industry Association


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DOH Home >> New Jersey Prevention Health Education Network |
Research Contacts |
The following professionals/organizations may be contacted for collaboration or consultation for research and program evaluation. To add a professional or organization to this list, please email . Eva Goldfarb, Ph.D. Philadelphia Health Management Corporation (PHMC) Robert L. Johnson, M.D. |
Department of Health P. O. Box 360, Trenton, NJ 08625-0360 Our Locations |
Last Modified: Tuesday, 10-Jul-12 12:02:04 |


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NFPA 2112-Certified Styles
Be sure to look for the label to know you have a quality Workrite NFPA 2112 certified style.
NFPA 2112-Certified Styles
We have the NFPA 2112-certified garments you need, with 64 new styles just added.
Workrite has been certifying garments to NFPA 2112 for over a decade to meet the demands of our oil & gas customers who wanted to be sure their garments used all FR components and thread, in addition to meeting other key specifications required for certification at the garment level. We have now added additional styles to our list, including FR cotton-based workwear and non-insulated jackets.
View a complete listing of Workrite certified garments by style.
See a review of the benefits of NFPA 2112 certification in our NFPA 2112 Brochure.
Cargo Pant - UltraSoft® Navy Duck
Product Code: 486UT11NB
Fabric: 11oz/yd2
Fabric Weight: Waist 28-34, Inseam 34" / Waist 34-42, Inseam 36" / Waist 44*-50*, Inseam 36"
Colors: Navy Duck
• Two front-slash pockets
• Two rear-welt pockets, one with a button
• Two large side cargo pockets with flaps to allow for generous storage
• Set-in waistband with belt loops and a solid brass zipper
Contact an account executive today to order.
*Size subject to surcharge
*No odd waist after 35"
Fabric to FR White Paper
See how Workrite builds a better FR garment. This white paper takes you through our processes that result in top quality, durable FR workwear each and every time.
FR Webinars
Join Mark Saner, Workrite's Technical Manager, for our in-depth webinars on all things FR.
Care Information/Tags
FR garments require specific maintenance to ensure maximum safety and durability. Care information for the fabrics we carry is available.
Evaluation Basics Video
FR Evaluation Basics: Learn The Truth about Flame-Resistant Apparel with our video outlining valuable tips for making an informed purchase
Evaluation Basics Video
With all the choices out there, developing a flame-resistant garment program is both challenging and expensive.
"FR Evaluation Basics" will help ensure that you know the truth about the FR apparel you may be considering.
How much do you really know about flame-resistant apparel? Our video "FR Evaluation Basics" may surprise you. It discusses three key areas of consideration when evaluating FR garments—protection, comfort and value. You'll learn about features that offer longer wear life, a key consideration when evaluating a fabrics' ability to deliver long-term protection; fabric comfort and proper sizing; and the total cost of ownership of FR clothing.
Meeting minimum industry standards may not be enough to ensure long-term employee protection. There are a lot of suppliers out there entering the FR arena; this video will give you important questions to ask both clothing manufacturers and suppliers regarding the integrity of the flame-resistant protection their garments are providing.
Blog Posts
Keep up with the latest changes in the industry, FR and Workrite news and opinions with the Workrite blog.
Tradeshows & Events
Check out our tradeshows and events dates to see when we're coming to a city near you.
Take a short survey for a chance to WIN! Congratulations to James Miller who won a jacket in our last quick survey.
Published Magazine Articles — Workrite's Voice in the Industry
Our blog contains the most recent publications by Workrite staff and executives on the basics and value of FR, new standards and laws, safety tips and more.
View our articles featured in some of the industry's most recognizable and important publications.
Petrochemical Technical Brief
Examine hazards, standards, and affected industries in the Petrochemical Technical Brief.
Combustible Dust Technical Brief
Combustible Dust: Examine risks, affected industries and new NFPA requirements.
NFPA 2112 Video
Watch our five minute video which outlines the NFPA 2112 standard and associated test methods, including video of ASTM F1930 (Thermal Manikin Test)
NFPA 70E Brief
Review applicable standards, hazards, industry links and more in our 70E Technical Brief.
Fabric to Station Wear White Paper
This white paper takes a comprehensive look at what Workrite does to create a superior firefighter station wear uniform.
Electrical transmission, distribution and generation. FR protection for utilities workers.
View MoreUtitlities - Electrical Transmission, Distribution & Generation
The Utilities market, largely governed by the National Electrical Safety Code (NESC), encompasses anyone working on electric transmission, distribution or generation. This market includes the thousands of linesmen potentially exposed to electric arc flashes on a daily basis.
Industry Specifics -
Station Wear
Fire service and NFPA 1975 standards. FR protection for fire departments.
View MoreStation Wear - Fire Service & NFPA 1975 Standards
Workrite's Fire Service station wear conforms to NFPA 1975 and gives firemen an added flame-resistant layer of protection under their turn-out gear. Made from DuPont Nomex IIIA, our station wear meets the highest standards of quality for sharp, professional appearance.
Industry SpecificsStation Wear Hub -
Drilling & Well Services
Oil and gas drilling and well servicers in active hydrocarbon zones, both on and off shore.
View MoreDrilling & Well Services - Oil & Gas Drilling & Well Servicers
OSHA issued a memo in March 2010 requiring the use of FR clothing for oil and gas drilling and well servicers while drilling into active hydrocarbon zones, both on and off shore.
Industry SpecificsDrilling & Well Services Hub -
Energized electrical equipment or work on energized electrical equipment.
View MoreNFPA 70E - Energized Electrical Equipment
NFPA 70E applies to any manufacturing environment with electricians or maintenance staff that perform work on energized electrical equipment. Workrite pioneered the use of external HRC labels on garments so there is no guessing what level of protection our garment will deliver.
Industry Specifics -
Combustible Dust
Select manufacturing and processing facilities with combustible dust hazards.
View More -
Potential arc flash, flash fire and thermal hazards in oil and gas industries.
View MorePetrochemical - Arc Flash, Flash Fire & Thermal Hazards
Our protective FR clothing is worn by workers across a wide range of industries that need protection from potential arc flash, flash fire or other thermal hazards at their workplace.
Industry Specifics


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Willed Body Program - Donation Forms
We appreciate your inquiry and interest in our Willed Body Program at UT Southwestern Medical Center. Each person who participates contributes substantially to the education of future doctors and to medical research.
If you are interested in becoming a member of the Willed Body Program
These donation forms are intended for healthy individuals that are capable of completing and understanding the forms. If you are completing these forms for someone under the care of hospice please contact our staff at 214-648-2221 and press option 1 to request consideration for donation.
The following forms will need to be printed off and completed. These are not online forms.
Willed Body Program Bequest Form, Personal Data Form, and the Medical Questionnaire.
The Willed Body Program Bequest Form must be signed by two witnesses. Once complete you can mail them back to the address listed below or fax them to 214-648-4506.
UT Southwestern Medical Center
Willed Body Program
5323 Harry Hines Blvd.
Dallas, TX 75390-9143
Upon processing the completed forms, a wallet card will be sent to you for your records.
For donations occurring at the time of death with no prior membership
After approval of the donation by a staff member, the following forms will need to be completed and faxed to our office at 214-648-4506.
On-the Spot-Form, Death Certificate Information Form, and the Medical Questionnaire.
Both forms shall be given to our staff at the time of removal.
If you have further questions or need assistance, please feel free to contact the Willed Body Program at 214-648-2221 or toll free at 1-888-905-9991.
Claudia Yellott
Manager, Willed Body Program
Note: With few exceptions, you are entitled on your request to be informed about the information UT Southwestern collects about you. Under Sections 552.021 and 552.023 of the Texas Government Code, you are entitled to receive and review the information. Under Section 559.004 of the Texas Government Code, you are entitled to have UT Southwestern correct information about you that is held by us and that is incorrect, in accordance with the procedures set forth in The University of Texas System Business Procedures Memorandum 32. The information that UT Southwestern collects will be retained and maintained as required by Texas records retention laws (Section 441.180, et. seq. of the Texas Government Code) and rules. Different types of information are kept for different periods of time.


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Sunday - December 09, 2012
30th Annual Las Posadas Nativity Procession
Holiday Luncheon TCWN
N.D.G.W. Bazaar & Christmas Boutique
Sounds of the Seasons
Tuttletown Trails Mountain Bike
<< Back to the Events Calendar
If you are a non-profit organization who does not spend dollars in other mediums to publicize your event, please fill out the event submission form Events will be posted in 1-2 business days on myMotherLode.com, we reserve the right to edit for space.
If you have further information or a correction for an event, submit a comment for that event and the moderator will be notified.
For a list of the wonderful annual events that happen each year in the Mother Lode visit the annual events page.


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Conte flattered by Chelsea interest
Serie A - 1 year ago
Watching: He took Juventus to a first official Serie A title in nine years, and now Antonio Conte is being sized up for a job in the English Premier League.
Hosted at msn.foxsports.com This video is provided and hosted from a 3rd party server. Our search functionality is helping you discover publicly available websites & their content. Footytube as a search engine does not host or upload this material and is not responsible for the content.
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Worried about Net neutrality? Maybe it's the FCC that should really concern you
The FCC may have lost its battle in federal court last week to enforce its Net neutrality rules, but the ruling actually gave the agency what some are calling unlimited authority to regulate almost every aspect of the Internet.
The decision by the US Court of Appeals for the District of Columbia was initially deemed a blow to the principles of an open Internet and to attempts by the Federal Communications Commission to enforce them. But the simple truth is that last week's decision marked a big victory for the FCC.
The reason: While the court deemed that the … Read more


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The classic documentary (1974) on carrier-based aviation produced by the U.S. Navy in 1974 - some amazing footage. It's serialized on YouTube, but also available at Archive.org and on DVD from Periscope Film.
Where is the "Like" button??
It's the green one with the thumb in it.
Good grief. I never noticed it. Boy is my face red.
Great stuff! Fantastic!


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First shots we've spotted of an iPad game
Secret Exit, maker of the popular and very odd iPhone game Zen Bound, announced Friday that not only is it porting the title to the iPad, but it's enhancing the game for the new hardware and including new levels and controls.
Zen Bound 2 is being billed as "both a sequel and a revision" to the original, which sounds interesting. Rebooting games for the iPad seems like a no-brainer for iPhone game developers, and Apple has said that it expects many developers to create updated versions of their games to take advantage of the tablet's larger … Read more


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Latest Stories
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PSN Store UK Update: Suit Up For Costume Quest
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Walmart Launches New Gamecenter Destination Online and Offers $50 eGift Card
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About This Game
- Summary
- Specifications
- Features
- Game Editions
Split/Second, an intense action racing game set within the world of a hyper-competitive reality television show. Competitors vie to be the first across the finish line in a made-for-TV city built for destruction, with the ultimate goal of becoming the season champion. Competitors in Split/Second don't just collide with other vehicles to knock them from the track -- they can also trigger explosive events that drastically alter the dynamics of the race. Players must use strategy and pinpoint timing to derail opponents, tactically alter the track or create entirely new routes.
- Supported Functions
- Online
- The City is Your Weapon -- Alter the dynamics of the race within a made-for-TV city rigged to blow
- Every Lap is Different -- Devastating events that change the track, create new routes and new obstacles
- Action Arcade Racing -- Fast paced, intense racing action


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The Psychology Newsletter for Spring 2013 (.PDF, 690 KB) covers updates for the Science IV and V Buildings, profiles some of our faculty and alumni (both Graduate & Undergraduate), and highlights our Honors students and awards winners from 2012.
Distinguished Professor of Psychology
Ph.D., Northwestern University
Areas: Behavioral Neuroscience; Cognitive Psychology
E-mail: firstname.lastname@example.com
Phone: 607-777-2663
Office: Science IV, Room 261
Curriculum vitae (.pdf, 484kb)
Past President of: International Society for Developmental Psychobiology, Midwestern Psychological Association, Eastern Psychological Association, and Behavioral Neuroscience Division (6) of American Psychological Association; Past Governing Board: Psychonomics, Board of Scientific Affairs; American Psychological Association.
Past co-Editor (American Journal of Psychology) and Associate Editor (Animal Learning and Behavior, Learning and Motivation, Hormones and Behavior); Editorial boards (several over the years; currently Neurobiology of Learning and Memory, American Journal of Psychology, Review of General Psychology.)
Multi-year terms as permanent member of NIDA, NIMH (Chair) and NSF (twice); ad-hoc member for various federal agencies, 1-3 times each year.
Our laboratory has had continuous federal funding for nearly 50 years, beginning at Rutgers in 1963. Several graduate students in the laboratory have had predoctoral NIH fellowships during that time and several postdoctoral associates have had postdoctoral fellowships or research grants of their own. We currently have three NIH grants, including two 5-year RO1 grants and one RO1 equivalent as part of an NIAAA Center based on faculty from Binghamton University and Upstate Medical School.
Developmental behavioral neuroscience; characteristics and neurobiological mechanisms of the ontogeny of alcohol ingestion and alcohol reinforcement during early ontogeny; very early learning and the ontogeny of memory.
Our research, supported by NIAAA, focuses on two issues: What in brain or environment determine the consequences of alcohol early in life, before and after birth, and how does early experience with alcohol influence later responsiveness to alcohol? We seek to understand (1) what determines alcohol ingestion and reinforcement early in life and how these determinants change as the animal develops from fetus to adulthood, and (2) how early experience with alcohol, prenatal and older, alters this responsiveness. Throughout this analysis we give special attention to the consequences of early learning about the sensory and pharmacological effects of alcohol, and developmental changes in neurochemical systems linked to alcohol ingestion and reinforcement.
A related continuous focus in our laboratory is how the processes of learning and memory change during development from the prenatal period throughout infancy. The central phenomenon in this work has been infantile amnesia, and the theoretical framework for conceptualizing it and related effects emphasizes memory retrieval. Experiments with rats of different ages, from infancy to adulthood, indicate that what is stored in memory changes dramatically with ontogeny and allow the feasibility of interpreting infantile amnesia in terms of an age-specific encoding that results in a failure in later memory retrieval. A related recent focus is in understanding the remarkable strength of memories acquired soon after birth and its relationship to neurochemical and hormonal effects induced by the process of birth.
Like many multidisciplinary laboratories, we take a team-based approach to both our research and graduate training. My primary research collaborator, Dr. Juan Carlos Molina, along with our two major senior collaborators, Dr. Elena Varlinskaya and Dr. Andrey Kozlov, plus three postdoctoral research associates, Dr. Michael Nizhnikov, Dr. Carlos Arias and Dr. Ricardo Pautassi, work as a team to provide graduate and undergraduate students the opportunity to develop ideas for experiments, conceptual frameworks and instrumentation and aid them in testing specific hypotheses as they see fit. The aim is to provide a congenial environment, stimulating but not oppressive, in which to study and engage in cutting-edge publishable research from the moment students arrive in the lab. The goal we emphasize is to ensure insofar as possible that students obtain the credentials (education, publications and papers presented) needed for the type of employment or further education they seek when they receive their degrees. Graduates of our lab have benefited from this in acquiring positions in industry, particularly pharmaceutical corporations, and in academia as professors, with several going on to become administrators as chairs or deans or vice-presidents and one as president of a major university.
All graduate students, postdocs and research collaborators during the past 10 years have been supported by federal grants or fellowships from the U.S. or other countries.
(* indicates student co-author)
For further background and publications, click on Dr. Spear's curriculum vitae.
266. Spear, N.E. & Molina, J.C. (2005). Fetal or infantile exposure to ethanol promotes ethanol ingestion in adolescence and adulthood: A theoretical review. Alcoholism: Clinical and Experimental Research, 29, 909-929.
309. March, S.M., Abate, P.A., Spear, N.E. & Molina, J.C. (2009) Fetal exposure to moderate ethanol doses: Heightened operant responsiveness to ethanol and ethanol-related reinforcers in neonates. Alcoholism: Clinical and Experimental Research, 33(11): 1981-1993.
311. Arias, C., Molina, J.C. & Spear, N.E. (2010) Differential role of mu, delta and Kappa opioid receptors in ethanol-0mediated locomotor activation and ethanol intake in preweanling rats. Physiology & Behavior, 99: 348-354.
313. Miller, S. & Spear, N.E. (2010) Mere odor exposure learning in the rat neonate immediately after birth and one day later. Developmental Psychobiology, 52: 343-351.
314. Acevedo, M., Molina, J.C., Nizhnikov, M., Spear, N.E. & Pautassi, R. (2010) High ethanol dose during early adolescence induces locomotor activation and increases subsequent ethanol intake during late adolescence. Developmental Psychobiology, 52: 424-440.


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Home Search Send Comments What's New Hottest 25 Legends Odd News Glossary FAQ Autos Business Cokelore College Computers Crime Disney Embarrassments Food Glurge Gallery History Holidays Horrors Humor Language Legal Lost Legends Love Luck Media Matters Medical Military Movies Music Old Wives' Tales Photo Gallery Politics Pregnancy Quotes Racial Rumors Radio & TV Religion Risqué Business Science September 11 Sports Titanic Toxin du jour Travel Weddings Message Archive |
Claim: McDonald's hamburgers contain worm meat.
Origins: Common sense should tell us this rumor is false. Pound for pound, earthworms cost more than beef — it doesn't make sense to use a filler that is more expensive than what's being replaced. Ah, but rumors don't rely upon common sense. It's the "yuck!" factor that gets us, and so the earthworm (sometimes kangaroo meat) additive rumor has long bedeviled McDonald's. (In some locales, the local Jack in the Box is fingered instead of McDonald's.) Dating to 1978 (it might well be older
Adding credibility to these tales, many corporate rumors include the names of television news or talk shows — either the rumor was investigated and found to be true by [name of investigative show] or the CEO of whichever company appeared on [name of talk show] and admitted [horrifying thing]. One wonders at all these CEOs with something to hide showing up on talk shows. One also wonders at the prescience of those who book the guests, for one wouldn't think a chat with the relatively anonymous CEO of a large corporation would make for that interesting a show. As to what kind of damage a rumor like this can do, the experience of one owner of four McDonald's in Atlanta, Georgia, was typical. Back in 1978 he saw his sales plunge by 30% and consequently had to lay off about a third of his employees. Corporate rumors aren't victimless. McDonald's did what it could to refute the lie.
[Newsweek, 1978]
Said the Financial Times in 1982: "The story gained such wide circulation that McDonald's held a press conference to rebut it and even obtained a letter from the U.S. Secretary of Agriculture attesting to the pure beef content of its burgers."
At an Atlanta press conference, McDonald's officials, backed by a regional officer of the U.S. Department of Agriculture, denounced the rumors as "completely unfounded and unsubstantiated," and swore that the company's hamburgers contain nothing but beef. Perhaps the final word on this subject should belong to Ray Kroc:
[Time, 1992]
Ray Kroc, who bought McDonald's from Mac and Dick McDonald in 1955, added his own assurances: "We couldn't afford to grind worms into our meat," he countered. "Hamburger costs a dollar and a half a pound, and night crawlers six dollars." Barbara "would you like fries with that?" Mikkelson Last updated: 28 January 2007 This material may not be reproduced without permission. snopes and the snopes.com logo are registered service marks of snopes.com. Sources:
Also told in:


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Before a cell can enter cell division, it needs to prepare itself by replicating its genetic information and all of the organelles. All of the preparations are done during the interphase. Interphase proceeds in three stages, G1, S, and G2. Cell division operates in a cycle. Therefore, interphase is preceded by the previous cycle of mitosis and cytokenesis.
G1 Phase
After mitosis is complete the new daughter cell begins to accelerate its biochemical processes which were slowed down by mitosis. The length of the G1 phase is the difference from fast dividing cells to slow dividing cells. The G1 phase can be slowed by reducing the nutrients available in a system - thus the cell will take longer to build up the resources necessary for cell division. If there is a severe depletion in nutrients the cells can virtually stop growing. It is interesting to note that cells that aren't growing are always stopped in the G1 phase, being mitotically arrested. This suggests that once the cell enters the S phase, it is committed to cell division, regardless of the external cell conditions.
S Phase
The S phase begins with the replication of the cellular DNA. This is described in further detail in DNA replication (link). When the cellular DNA has been duplicated, leaving the cell with twice as many chromosomes (each chromosome is made up of two identical chromatids), the cell moves onto the G2 phase.
G2 Phase
During this phase proteins, such as kinase (which catalyzes protein phosphorylation), which are necessary for cell division are synthesized at this time. The chromosome begins to condense and the proteins necessary for construction of the mitotic spindle also are synthesized. When the chromosomes become visible the cell enters the first stage of mitosis, prophase.
Continue on to Mitosis 1: Prophase
[ Top ] [ Discuss this topic ]


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Freaking almost forgot about this ad. Thanks, tumblr.
(Source: voiciclothing)
I'm supposed to write something here about the irony of my rocking ghetto-fab nails and making them super high fashion. Just a day in the life, I suppose. (Got them done by this really great freelance nail artist/DIY friendship bracelet maker/music blogger BTW)
Divine, Divine. The things I do for work sometimes… (i.e. spending 30 minutes trying to snap a photo of myself that perfectly portrays the pink-y/purple-y hues of this lip shade).
Style Radar: E-Shops Around the World. So I literally almost passed out upon my epiphany that this really cool store I visited in Singapore, The Editor's Market, sold online. I mean, everything was really awesome (REALLY.) and it had a steep pricing system, meaning the more you buy the less each item costs (!!). They also encourage you to share virtual baskets with friends to score the best deals (!!!!!!). Get obsessed people. I am. It already spawned this round up of the greatest international e-shops, ever.
Happy 4th of July! In celebration, read up on these four cool "Made in America" fashion labels I found (from a luxe jeweler in Kentucky to an indie designer in Illinois).
Resort 2013 Inspo: Stay Cool With Oscar De La Renta's Summer Suiting. Staying stylish throughout the summer months can become difficult when it's sweltering. What's even worse is when you're working a nine to five everyday and tossing on the old pair of denim cutoffs is simply not an option. Lucky for all the working women out there, Oscar de la Renta (the master of classic chic) has recently released a Resort 2013 collection that happens to solve the exact problem I just described. I'm calling the solution: Summer Suiting. (Read More)
Mojito Madness. Left: My mani with Essie's "Mojiti Madness" polish. Right: Our own Mojito Madness recipe.
Resort 2013 Inspiration: Rachel Roy Does Modern Day Mod. It seems as if the New Mrs. Draper effect has made its way to the fashion industry. And by that I am referring to the latest style star (and wife) of AMC's Mad Men, Megan Draper. Clad in colorful '60s ensembles from episode to episode, it was only a matter of time before a designer revamped Megan's look for the 21st century woman. And let's be thankful it was Rachel Roy – someone who knows a thing or two about feminine dressing. (Read More)
Y Ahora Estoy Aquí. I swear to God the only thing a decade's worth of Spanish classes left me with was the thorough ability to sing Shakria songs from start to finish. #YOLO Estoy Aquí, Shakira.
Chanel Resort 2013 Inspo: Chanel Brings Victorian Style to the Street. I'm kind of loving this concept. Bravo, Karl.


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George Allen apologizes for 'macaca' comment again
WASHINGTON (AP) — Former U.S. Sen. George Allen is again saying that he regrets using the term "macaca" to refer to a Democratic campaign volunteer of Indian ancestry in 2006.
Allen told the Faith and Freedom Coalition Conference on Friday that he "never should have singled out that young man working for my opponent, calling him a name." Allen said the volunteer videotaping his appearance at a rally was just "doing his job" and added, "I was wrong to do that to him."
The Republican is seeking to recapture the Senate seat he lost in 2006 to Democrat Jim Webb, who is retiring.
The term "macaca" is considered an ethnic disparagement in some cultures. Allen was widely criticized for the remark after the video was posted on YouTube and it went viral.
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Results 1 to 4 of 4
- 12-10-2012, 05:45 AM Thread Author #1
Re: [USC]~[PORT][ROM]Stock Touchwiz Jellybean 4.1.1~[USC]
This is awesome Billiard! Great work! I'm gonna flash it when I get home later tonight and test it out. I'd like to post a link on teamuscellular forums linking to this post, would you mind if i did, directing others over here to check it out? Once again, awesome work and thank you!
Edit: nevermind, people already posted a link to the rootzwiki post. sounds like they're all over it. thanks again! - 12-12-2012, 11:57 PM #4
Re: [USC]~[PORT][ROM]Stock Touchwiz Jellybean 4.1.1~[USC]
Anyone else have issues with the keyboard? As soon as I flashed it, when I went to sign into Gmail, the keyboard was way to big. Only showing like half the keyboard. I couldn't sign into Play Store to download Swiftkey to see if that would fix it or not but couldn't sign into Gmail...But overall if that was fixed I would love this. Good job man!
Running CyanogenMod 10 on my rooted Galaxy S3!
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Historical Passion
member for 7 years, 9 months, 12 days
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I've been a wife for 28 years and a mother of 2 remarkable young people. While I have been a nurse for more than 30 years, part of my life's dream was to be a history teacher. I love the things I can learn with finding graves, especially, when I am able to learn of the accomplishments of those people whose graves I photograph.
If there are any additions or corrections to be added to a memorial I have entered, please let me know.
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Photo permission
Would you mind if I used your photo of the First Presbyterian Church of Ewing on my ancestry.com family tree? Thanks for your consideration. Gwen
Added by
on Nov 24, 2013 11:19 AM
Joan Pacitti
Benjamin Raymond O'Toole's gravestone photo
Hi: Some time ago you kindly added a gravestone photo of my brother Benjamin Raymond O'Toole, Jr.'s gravestone on my memorial of him.
I wanted to tell you that since that photo was taken, unfortunately, there was damage done to the stone. Part of his birth year was "nicked" to the point where the 1 in 1931 was almost impossible to read.
I contacted the managers of the cemetery and asked if I could have another grave stone put him. The stone was rough also. Some were and some weren't. Well, since the stone was from a historic period, World War II, they weren't sure if they could replace it. They did replace it and now there's a new nice stone there. We took a photo of it, but can't seem to get it onto the computer. We will eventually. I'll let you know when we do. I would like you to keep yours there even when we put the new one up.
I just wanted to let you know.
Joan O'Toole Pacitti
Added by
Joan Pacitti
on Jun 01, 2013 9:14 PM
Bill Barnhill
could you please delete one of the photo of headstone. They are the same. Memorial# 2704528 Thomas W. Hoar or if you could transfer maintenance of this record I have many links to add. he was my Uncle.
Added by
Bill Barnhill
on Apr 09, 2013 2:34 PM
jesse gilbert
David hill and Lillian barlow hill
I was wondering if you would grant me permission to use your grave marker photo of the above mentioned couple for me to use on my tree in Ancestry.com..
Thank you for your time
Added by
jesse gilbert
on Mar 27, 2013 7:02 PM
Wayne Andrews
John and Mary Trouts_Morrisville
I was wondering if you would please link John Trouts in Morrisville Cemetery 15559689 with his wife Mary 15559701 and his parents Daniel Trouts 99953115 and Catharine Stoeckle Trouts 99953137 in Nockoamixon Union Cemetery.
John is the only child of Daniel and Catharine we are missing.
Thanks very much,
Added by
Wayne Andrews
on Mar 06, 2013 1:04 PM
jesse gilbert
I was wondering if I could have your permission to use Eden's photo for my tree on Ancestry. He was a cousin of mine ( a few times removed) thank you for your consideration and time.
Added by
jesse gilbert
on Mar 04, 2013 5:28 AM
2 Functions Missing Cemetery
Hi There,
thank you for your lovely work with this sight.
I seem to have spotted a bug, and dont know who to turn too... hoping you might be able to work it out, or know who to turn too.
In the following cemetery, under all the famous interments, the two functions:
1) ADD A PHOTO and 2) REQUEST A PHOTO
do not exist...
Maybe its a temporary glitch in the system...
First Presbyterian Church of Ewing Cemetery
Famous Interments (6)
in my case:
Natalia Pavlovna Paley;
any help would be appreciated. thank you.
Added by
on Jan 04, 2013 10:54 PM
Joan Pacitti
Benjamin Raymond O'Toole's memorial
Hi: I wanted to let you know that my brother Ben's stone is going to be removed and another will be put in its place. The reason this is being done is that since you took the photo of his stone in 2006, some damage was done to it by accident. I believe what happened is that when someone mowed near his grave, part of his birth year was chipped almost off. So instead of it saying 1931, part of the one is damaged. Also the stone is not as smooth as others around it. The cemetery has agreed to put up a new one and it should be up in about 40 days.
I'll let you know when it's up. I'd appreciate it if you would not remove yours until the new one is up and I can figure out how to download or upload the new stone photo.
I have really appreciated your kindness in taking a photo of his grave.
Take care.
Joan Pacitti
Added by
Joan Pacitti
on Oct 13, 2012 8:31 PM
Joanne Gross Vaughn
Vaughn family cemmie stones
Big thanks for taking and posting the pictures of the numerous Vaughn family members who are buried in Morrisville cemmie.
Great job
Joanne Vaughn
Ashland, Pennsylvania
Added by
Joanne Gross Vaughn
on Dec 10, 2011 9:28 PM
Ann Hart Burroughs
Meml number 12821283 you have a photo for Ann...I wonder if you have one for her husband James who should also be buried here along with his parents James and Ann?? Donna
Added by
on Mar 17, 2011 9:23 PM
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Gender Boy Girl Origin or Ethnicity First Letter A B C D E F G H I J K L M N O P Q R S T U V W X Y Z
Meaning: Its source is a Latin expression meaning "Brilliant."
Languages: This girl's name is used in German, English, Italian and Spanish.
Nickname For: Clarissa
Compound Forms: Clarabeth
Variant Forms: Claire, Clare, Claretha, Claretta, Claribel, Clarice, Clarina, Clarinda, Clarine, Clarissa, Clarita, Claritza and Clarizza
Non-English Forms: Chiara, Klara and Klára
Popularity: The name Clara ranked 311th in popularity for females of all ages in a sample of 2000-2003 Social Security Administration statistics and 144th in popularity for females of all ages in a sample of the 1990 US Census.
This name is highly rated in the 1990 U.S. Census popularity survey of all ages, but after 1960 does not appear in the state data listing the most popular baby names.
Narrative: Brilliance is a recurring name idea, as shown in this name, Bertha, Helen, and a form of the Chinese name Ming.
The breadth of the idea can best be understood by studying the pictogram that represents the Chinese name. It shows the sun with the moon reflecting its light, and stands not only for brightness and clarity, but also for understanding, aptitude and fame.
Flemish painter.
German pianist, teacher and composer. Wife of composer Robert Schumann.
American educator. Founded the American Red Cross in 1882.
American politician.
American silent-film actress known as ''The It Girl.''
Fictional character.
Fictional character
In Spanish, a clara is the white of an egg.
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yes that is most fine my mate zollnere of all dannyeres i look forward to our clash and hope i dont beat you too bad
excuse me do u remember me? i'm a korean, have a long(maybe) talked in the San diego WSC 2011. I wish to share the email with your's when last time. if, you check this messages, you send any answers. (in fact, i hard to search this foreign pokemon community.)
I see... I heard many smogonites lost at round 1 or 2 due to hax. I just wanted to be in the finalists area. I wouldn't go to nationals due to money. (If I had a job, then yes)
I remember seeing your user name a while back when I was lurking Dragonspiral or some other section. That's when it clicked to me that I have seen you way back. lol
I just do not see a point in getting obsessed with competitiveness in fighting games anymore I think, I would prefer to spend the time playing through Vagrant Story or something
Yeah whenever, I'll be here for two months, haha. Chili's sounds good, I've never actually been there. If we do it on Tue/Wed it'd have to be pretty late -- I don't get off work until 7:30-7:45, and have to stop home after I get off ;x But as I said, we've got time, haha.


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Cute and nice material
By shopper
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Hey, why didn't she offer the thirteenth spirit? Or did that one actually die for good?
Hey, why didn't she offer the thirteenth spirit? Or did that one actually die for good?
Fox Mr. Sinister (holding Rogue's chin): "So beautiful, yet so strong."
Fox Wolverine: "Well, I always did think I was kinda cute. Nice of you to mention it."
Official Board Ostrichizer
I'm glad Gray admitted that he was aware that Juvia liked him and that he's just choosing not to do anything about it.
The first few pages I was laughing hysterically as my half-joking prediction came true (she still offered the keys even if Lucy turned them down). Anyway I feel Natsu will probably lose, though whenever I've made these predictions in the past I've been dead wrong so I'm not really sure. But anyway, if he does lose I hope he's out of commission long enough for a new FT mage to come in as a sub real quick maybe Cana redeeming herself (in fans eyes as being competent) or something.
Freaking awesome chapter!
Lucy being a reasonable person and turning down the keys made me smile/smirk. Especially in light of recent discussions.
I have newfound respect for Yukino for being able to hold it all in for so long before letting it all out. You go girl.
Heh. We're actually getting some development in the Gray/Juvia bit. Happiness!
And those last few pages. That's the reason I like Natsu. This should be fairly interesting as it's Natsu's first serious fight since the power-up. Personally I'm hoping that Makarov shows up and ends the fight before things get too much out of hand.
I'm glad they acknowledged that it's kind of crazy for Lucy to have all the keys and there still be other stellar spirit mages out there. So they're the last two left?
"A fast low flying Power Girl could take out a platoon of soldiers without even throwing a punch."
-someone on the DC forums
You know, I'm pretty sure that when Ze4ref actually does show up, he'll be like "Guys, wtf is going on? Nobody told me about this. What's with you morons and trying to "help" me behind my back. I"m seriously tired of this shit. Acnologia, do your thing."
"I checked the abandoned warehouse, only to find it abandoned..."
Depends on how he's been affected during these seven years. If his evil's been activated again he may very well be sitting on a throne doing the dark overlord bit.
Or maybe he's been trying to hide away once again and is struggling to keep his dark self under control and this Eclipse thing is what will draw out his full evil.
Either way I never got the feeling that he had any actual say in what Acnologia did.
In terms of looks I think Sabertooth's Master is more intimidating than Hades.
"It's your parting gift. In that it will part you; part of you over here, part of you over there, part of you way over there, staining the wall!" Lord Shen
This is the one time I want Natsu's hero aura to kick in just because it's a given Gemma is going to thrash him, and no one would ever see it coming as a (partial) resolution to the arc.
If Natsu were to beat him, would he force him to get naked in front of everyone?
"A fast low flying Power Girl could take out a platoon of soldiers without even throwing a punch."
-someone on the DC forums
i'm hoping natsu gets so pissed he simultaneously activates dragonforce


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© Office du tourisme de Québec
Get free advice to plan your stay in the region
Geographical Area: Côte-de-Beaupré zone Category: Cross-Country Skiing and Snowshoeing
This cross-country ski centre tucked away in the Laurentian forest is the largest in Canada, with 200 km (124.3 mi.) of trails, of which 156 km (96.3 mi.) are for ski skating. Only 7 km (4.3 mi.) from the downhill ski lodge, the centre is accessible by car or by following the cross-country ski trails. Inn, rustic chalets, cafeteria-style restaurant, shop, equipment rental and waxing room onsite. Here you will also find 60 km (37.2 mi.) of snowshoeing trails.
Downhill SkiingHikingMountain BikingParks, Reserves and ResortsSpecial Events
Free outdoor car parking on site, Pay outdoor car parking on site, Free outdoor bus parking on site, Free outdoor bike parking on site
Schedule and rates are subject to change frequently and without notice. You should always visit their website or contact them before going.
Open year-round. Visit www.mont-sainte-anne.com or call 1-888-827-4579, extension 0.
Minimum duration of a visit: 02 h 00
Rate your experience
[ 1=poor, 5=outstanding ]
4 of 5 stars
Sébastien, Québec Monday, May 03, 2010
Vraiment une journée parfait comme je les aimes
Stéphanie Pouliot, Québec Monday, May 03, 2010
Wow, journée tout simplement magique de ski de printemps! Très bel endroit.
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Porto hotel reviews: Guesthouse
1 cheap hotel in Porto reviewed by EuroCheapo (See more hotels in Porto by doing a CheapoSearch)
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Address Avenida Dos Aliados 214, 2º Andar (Centro Histórico Do Porto)
Located across the street from a metro station, the two-star Hotel Paulista (formerly the Residencial Paulista Guest House) sits smack-dab in the center of Porto's historic district.
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Smores Flavored Coffee (1lb Bag)
Get ready to enjoy a delicious gourmet coffee tailor-made for summer—our new Smores Flavored Coffee! When you're out camping you always make smores over the campfire; now you can enjoy that same flavor with your coffee! Just imagine waking up to the warm aroma of chocolate and graham crackers, smoothed by the delicate essence of vanilla. The taste is too good to be true!
Whether you'd like Smores Flavored Coffee first thing in the morning, as a dessert, or even sitting by a campfire in the middle of the woods, it's going to taste amazing each and every time. You just won't be able to get enough of this incredible coffee! Order Smores Flavored Coffee, the perfect summer treat, today!
Smores Flavored Coffee (1lb Bag) | Smores Flavored Coffee (5lb Bag) |
4 Stars
I would recommend this item to a friend. |
September 30, 2013
SMORES coffee was very good but not as "marshmallow-y" as CAMPFIRE coffee I bought elsewhere
4 Stars
I would recommend this item to a friend. |
Smores for Breakfast !!
June 11, 2013
This coffee had the perfect smores flavor!! It went well with my mocha, cinnamon, and vanilla creamers!!
5 Stars
I would recommend this item to a friend. |
Love this coffee!
July 18, 2012
I think this is one of the best flavored coffees we have tried from here...our usual favorite is Highlander Grogg. It's not too overpowering, but subtle hints of chocolate and graham cracker. Yummy!
Winston-Salem NC
4 Stars
I would recommend this item to a friend. |
Very Enjoyable
July 11, 2012
This coffee kind of reminded me of the tiramisu flavored coffee, only without the alcohol flavor. Very enjoyable.