text: Examensarbete 20 poäng D-nivå INCORPORATING AN AIBO ROBOT INTO THE PEIS ECOLOGY FRAMEWORK Reg.kod: Oru-Te-AUT067-Mag101/06 Daniel Offrell Automatiseringsprogrammet 160 p Örebro vårterminen 2006 Examinator: Boyko Iliev Incorporating an AIBO Robot into the PEIS Örebro universitet Örebro University Institutionen för teknik Department of technology 701 82 Örebro SE-701 82 Örebro, Sweden Daniel Offrell 20P Examensrapport Magister Automatisering 160P Abstract The goal of this project has been to enable the incorporation of an AIBO robot into the intelligent computer network called PEIS by converting existing software to function on AIBO's operating system. This report introduces you to AIBO and the PEIS-Ecology and follows the work on learning how to use the programming tools for AIBO and what had to be done to convert the software that runs the PEIS. Målet för det här projektet var att inkorporera en AIBO-robot i det intelligenta datanätverket PEIS genom att konvertera den befintliga mjukvaran så att en fungerar i AIBO's operativsystem. Den här rapporten beskriver AIBO och PEIS-Ecology och följer arbetet med att lära mig använda programmeringsverktyget för AIBO och vad som behövde göras för att konvertera PEIS's mjukvara. 1(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P INDEX 1 INTRODUCTION.......................................................................................................................... 3 1.1 PROJECT OBJECTIVES ............................................................................................................... 3 1.2 METHODOLOGY ....................................................................................................................... 4 1.3 OUTLINE OF THIS DOCUMENT .................................................................................................. 4 2 BACKGROUND ............................................................................................................................ 4 2.1 ABOUT AIBO .......................................................................................................................... 4 2.2 HARDWARE ............................................................................................................................. 5 2.3 OPEN-R.................................................................................................................................. 5 2.3.1 Object Messaging .............................................................................................................. 6 2.4 PEIS-ECOLOGY ....................................................................................................................... 7 2.4.1 Vision ................................................................................................................................. 7 2.4.2 Architecture ....................................................................................................................... 8 2.4.3 Test bed ............................................................................................................................ 10 3 OVERVIEW OF THE PROTOTYPE ....................................................................................... 11 4 OBJECTS IN THE PROTOTYPE ............................................................................................. 12 4.1 P2P........................................................................................................................................ 12 4.1.1 Porting of the PEIS-kernel............................................................................................... 12 4.1.2 Interface ........................................................................................................................... 12 4.1.3 RecBuff - my sockets ........................................................................................................ 13 4.2 UDPCOMM............................................................................................................................ 14 4.2.1 Wireless communication in OPEN-R ............................................................................... 14 4.3 IMAGEOBSERVER .................................................................................................................. 16 5 ISSUES WITH PORTING OF THE PEIS-KERNEL .............................................................. 16 5.1 IP COMMUNICATION .............................................................................................................. 16 5.2 TESTING ................................................................................................................................ 17 6 DISCUSSION AND CONCLUSION.......................................................................................... 20 6.1 ACHIEVED ............................................................................................................................. 20 6.2 PROBLEMS WITH THE FINAL VERSION .................................................................................... 20 6.3 ALTERNATIVE SOLUTIONS ..................................................................................................... 20 6.4 FUTURE WORK ....................................................................................................................... 21 7 APPENDIX ................................................................................................................................... 21 8 GLOSSARY OF TERMS ............................................................................................................ 25 ACKNOWLEDGEMENTS ................................................................................................................. 26 SOURCES ............................................................................................................................................. 26 2(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P 1 Introduction The AASS Mobile Robotics Lab of Örebro University is working on the development of a network of Physically Embedded Intelligent Systems (PEIS). The vision is to create an environment that provides services in your daily life through the use of independent robots and electronic systems in various parts of your home that communicate with each other. Instead of inventing a super-robot that can act as a servant, these independently simple devices will cooperate to perform potentially complex tasks. This is called a PEIS-Ecology. 1.1 Project objectives This ex-job project will deal with the AIBO robot-dogs from Sony. At AASS they have built a prototype PEIS with some interconnected devices, for example two robots, cameras in the ceiling and a fridge with an embedded computer device, and they would now like to incorporate the AIBO's into it. The AIBO's will need to be interfaced with the existing infrastructure of the PEIS and a set of programs needs to be written to make them exhibit some useful functionalities. After that they need to be tested in a few experiments, the nature of which will be decided during the project. Examples of experiments are: (1) the dog is requested by another robot to go somewhere, take pictures, and send them back; (2) the dog moves around the home and it takes information from the ceiling cameras to know its own position. In (1), the second robot might possibly be replaced by a human using a palm computer to talk to the AIBO. Thus the original objectives of this exjob project were: 1. Design and implement a software interface between the AIBO and the PEIS Ecology framework, in compliance with the "PEIS Middleware" standard used in that framework. 2. Design and implement a small library of programs that allows the AIBO to perform a basic set of sensing and control functionalities. These may include: acquire an image, moving to a given location, changing posture, acquiring and producing sounds, etc. (The actual set of functionalities will be decided during the execution of the project.) 3. Run a set of experiments in which the AIBO is incorporated in a PEIS-Ecology together with other robots and/or a human user, to perform some simple tasks. (The details of the experiments will be decided during the execution of the project.) As it will be explained, these original objectives turned out to be very ambitious, given 3(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P the complexity of both the AIBO and the PEIS middleware. As a consequence, the objectives had to be scaled down during the execution of this project. In particular most effort was put on the first objective, while providing simplified solutions for objectives 2 and 3. It should be stated that objective 1 is the most important and critical one. 1.2 Methodology - Learn to use tools for programming the AIBO - Survey what functionalities AIBO has and decide which to implement. - Learn about the PEIS Middleware standard and tools. - Implement the AIBO interface to the PEIS Ecology. - Experiment using the AIBO incorporated in a full PEIS Ecology. Revise the interface and functionalities. - Evaluate the results. 1.3 Outline of this document This report begins by introducing you to AIBO and the PEIS-Ecology in Chapter 2. Chapter 3 gives an overview of how the OPEN-R objects in the prototype interact. Chapter 4 describes what the OPEN-R objects in the prototype do. Chapter 5 describes the work on learning about OPEN-R, the making of objects to provide communication and some functionality and converting the PEIS-kernel to run in OPEN-R. Finally Chapter 6 discusses the result. 2 Background This chapter introduces you to the main elements of AIBO, OPEN-R and the PEIS- ecology, providing the background needed to understand this report. 2.1 About AIBO AIBO is a toy-robot in the shape of a little dog developed and sold by Sony (its production has now been discontinued). It is an autonomous robot that can walk around by itself, detecting and interacting with its environment. In its commercial use it is programmed to act like a real dog. It interacts with and learns from its owner and develops through different alternative personalities depending on the interaction with its owner. Sony has also released programming tools for AIBO: r-code, which is intended for hobbyists, and OPEN-R, for more advanced low level control. In the research area of robotics many have found AIBO to be a suitable platform for 4(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P AI-research at a reasonable price and there is a "Sony Four-Legged Robot League" in Robocup (football tournament for robots) where AIBO dogs are used. Sony made several series of AIBO before discontinuing it. Each new version added some new features in its design and software. 2.2 Hardware For this project I had an AIBO of model ERS210 equipped with a LAN wire-less network card. Its head has three degrees of freedom: one joint for tilting back and forward at the base of the neck and two joints for panning and tilting from side to side respectively at the connection of neck and head. The head is equipped with a camera, two microphones, a speaker and a range sensor. Its ears can flip back and forward between two positions and its jaw can be opened and closed indiscreetly. AIBO of model ERS210 The legs have three degrees of freedom each: one knee joint and two joints at the legs connection to the body for swinging the legs in parallel to the body's vertical plane or perpendicularly to it. The soles under its feet act as touch sensors so that it can detect if it is standing on the ground or being lifted. The tail has two degrees of freedom, being able to waggle left, right, up and down. Input devices are the microphones on the head, the touch sensors under its feet and four touch sensors (buttons) on its back, torso, cheek and the top of its head. Output devices are the speaker, seven LEDs in its face, one LED on its chest and one LED on the tail. If you like you can count the ears, jaw and tail as output devices as well, as they have no other practical function. 2.3 OPEN-R The operating system for AIBO is a real time OS named Aperios that can run several processes simultaneously. OPEN-R is the interface promoted by Sony for developing software for AIBO. Sony released it for non-commercial use only. It is modular and uses "OPEN-R objects" 5(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P (hereafter referred to merely as objects) which are not to be confused with C++ objects, although OPEN-R is programmed using C++. Each object runs a process. There is no main() in an object to start the process; instead it has a number of entry points. Firstly the methods doInit() and doStart() is run (in consecutive order) after booting of the AIBO, while doStop() and doDestroy() is run at shutdown. Secondly there can be methods that are run when a message is received from another object. Special entry points also exist. Each Aperios object is defined in a "core class" that is actually an ordinary C++ class, which inherits from the base class OObject. There are also a number of embedded objects in the OPEN-R system that provides services; among others those that deal with moving the joints and delivering image information from the camera. You get information from and send commands to joints, camera and microphone etc. through message passing with these objects. Messaging to and from these is done in the same way as between objects created by the user. 2.3.1 Object Messaging To send messages between objects you have to set up the connection between them in an external description file, where it is defined which objects are communicating with each other and what kind of data they send. Outgoing connections from an object are called subjects while the connections receiving messages are called observers. Each connection works only in one direction and is an entry point for the receiving object, which needs a method that is run when a message is received where the data can be retrieved: the observer. You can set up several connections between two objects for different types of messages. When the subject wants to send a message it sends a 'NotifyEvent' to the observer. The observer answers with a 'ReadyEvent' that tells the subject if the observer is ready to receive or not. If the observer is ready the subject proceeds to send the message data. The objects are single threaded and can therefore only process one message at the time. Any additional messages sent to an object that is currently processing a message will therefore have to be put in queue. You can even set up connections like these between objects running on different processors (in different dogs or on a computer running an emulation of Aperios) through a 'TCPGateway' object. In this case you actually define a connection from subject to the TCP/IP layer, and in the receiving system from the TCPGateway object to the observer. 6(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P All objects on both hosts are executed as if part of one program. It is possible to run the whole program controlling an AIBO from a PC (a remote host) in this way, where only the connections between the embedded objects in Aperios and the TCP layer need be defined in the AIBO. This is called remote processing. Since the PEIS-kernel (the PEIS-kernel implements the PEIS-ecology, see chap. 2.4.2) is developed and run on a Linux platform, there was a possibility (and might be easier) to use remote processing for incorporating an AIBO as a PEIS-component. The PEIS-kernel would then run on a Linux PC while the rest of the program could lie in the AIBO itself. The disadvantage of this solution is that you would always need a PC present and running as interface between the AIBO and the PEIS-ecology. A much more satisfactory solution would be if the PEIS-kernel could be run directly on the AIBO and make us of TCP or UDP protocol to connect to the PEIS-Ecology without the need of an extra computer, which is what I have tried to do. 2.4 PEIS-Ecology The AASS Mobile Robotics Lab of Örebro University is working on a network of Physically Embedded Intelligent Systems (PEIS); a system with many different units connected and communicating with each other in order to cooperate and perform tasks. This is called a PEIS-Ecology. 2.4.1 Vision The vision is to create an environment that provides services in your daily life through the use of independent robots and electronic devices. The power of the PEIS system does not lie in advanced intelligent devices. Instead of inventing a super-robot that can act as a servant in all kinds of situations, the independently simple devices in the PEIS-Ecology will communicate and request functionalities from each other in order to cooperate and perform potentially complex tasks. Examples of these devices could be robots able to carry stuff around, autonomous cleaners, a monitoring system of cameras, intelligent kitchen appliances and packages for groceries and other things with microchips containing information about its contents. The AASS believes that in a few decades this technology can be commonplace in our homes and improve the quality of your daily life, especially for the disabled and senior citizens. 7(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P Example of a simple ecology with three PEIS components: An autonomous vacuum robot, a camera tracking system and a package equipped with a PEIS chip (e.g. IC-tag). To make this vision real, input is needed from the fields of robotics, artificial intelligence and ubiquitous computing. First, robotics is needed in various devices to build the base of the ecology. These would not necessarily be only mobile robots or any kind of robot as we recognize them today. Secondly, some intelligent system is needed to coordinate the tasks, recover from failures and deal with missing information, and so on. For this Artificial Intelligence technology will be used. Thirdly, all the individual parts in the environment need to be connected together in a network to allow communication and cooperation. The field of ubiquitous computing is important in the task of connecting multiple heterogeneous computer systems. 2.4.2 Architecture A reference architecture is needed when implementing the PEIS-Ecology to enable the communication between its components. The PEIS-Ecology reference architecture combines event based and tuple based communication models within a component framework. The architecture is implemented in the "PEIS-kernel". All communication between components takes place as an exchange of tuples (units that can be filled with different kinds of data) through the PEIS-kernel middleware. This is a software layer on top of the operating system and provides platform independent communication primitives for reading and writing from the tuple-space, stores local portions of the tuple-space, and manages events. Each CPU that runs a PEIS component must have a PEIS-kernel. 8(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P When a PEIS component joins the ecology it publishes an XML (Extensible Markup Language) description of its components, which is treated as a tuple, to the tuple space where info is stored for the benefit of all components in the ecology about what tuples exist and what data they contain. The PEIS-kernel is developed iteratively with several versions having been implemented, each with more of the desired design implemented. The current PEIS version is generation 3. When developing a demonstration platform it was decided that the first version of the PEIS-kernel would be developed and run on Linux systems, primarily since all robots and other robot technologies at the AASS uses Linux platforms. Also Linux can be run on many different types of hardware. C was chosen as programming language since this allows programs from several other languages; for example C++, Lisp and Java; to interface with the PEIS-kernel and be used as PEIS components. There also exists ambition in the future to implement a platform independent version of the PEIS-kernel using java space. Through routing, all components in both clusters are seamlessly connected into one big P2P-network. The most important task of the PEIS-kernel is to create an ad-hoc peer-to-peer (P2P) network between all PEIS components in the ecology. Even if two components aren't directly linked to each other the PEIS-kernels of interlaying objects relay the messages through the P2P network, providing a transparent communication bridge between all components. When a new component connects to any one in the ecology, the kernel detects this and makes all included components aware of it through the P2P network. This communication mechanism is used to set up the tuple space where the components can issue write and read commands. The PEIS-kernel is built in four layers 9(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P The top-level layer is the PeisKernel API, with an extra layer for enabling multi threaded PeisKernel API. Next is the Tuple Space Layer where info about all tuples is handled. The Service Layer takes care of network initialisation, creating, sending and translating network pages, discovering nodes in the network, broadcasting host info, routing messages, registering/cancelling services, connection management, neighbours management, topology management, trace service (genetic). Last is the Communications Layer that takes care of the low level communication (TCP, UDP, Ethernet, etc…). The Communications Layer provides two types of transmissions: one-to-all (broadcast) or one-to-one (to a given address or as reply to a message). The broadcast mode has not been implemented in this project since the needed low-level functionalities are not available in OPEN-R (see chap. 4.1.1). 2.4.3 Test bed The AASS has built an experimental test-bed where a PEIS-Ecology can be implemented to verify and explore its possibilities. The test bed consists of a room built up to resemble a real Swedish mini apartment; a kitchen, a living room and a bedroom; with a number of PEIS-components; including perception-, reasoning- and action components; and an observation deck to observe the room and its components from. 10(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P 3 Overview of the prototype The schematic shows how the objects in the prototype interact with each other; what events in each objects that leads to a message transferring data to another and what the receiving object does in response. Note that the transfers between objects are independent of each other and don't need to happen in any given order. ImageObserver handles image data from AIBO's camera and sends it to P2P in regular intervals in order for P2P to start a new program step and update the image tuple. P2P is the modified PEIS middleware that handles the networking. UDPComm handles the incoming and outgoing wireless UDP communication. These objects will be described in detail later in this report. PeisKernel layers PeisKernel API Get/set tuple, subscribe/unsubscribe. Register/cancel callback Multithreaded PeisKernel APII Service layer Store/retrieve/propagate tuples. Subscriptions, callback hooks... Tuple-space layer Create/send/receive/route packages. Topology management, time sync... Communication layer TCP, UDP, serial links. Serial... 11(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P The changes done to the PEIS-kernel are in the communication layer. Multithreaded PeisKernel is not implemented at all in the prototype. 4 Objects in the prototype 4.1 P2P This is the object that runs the PEIS-kernel. It uses a reworked version of the file p2p.c as a core class. 4.1.1 Porting of the PEIS-kernel Since OPEN-R is built up on the principles of having parallel processes in different objects I decided that the obvious and best way to make the PEIS-kernel work in AIBO would be to make an OPEN-R object out of it. Since the main part of the kernel is taken care of in the class p2p.c I decided to use the file p2p.h as the definition for P2P's core class. For this project the use of TCP and broadcasting is disabled in the PEIS-kernel. The broadcasting has been disabled since I have found no instructions or help about how it works in OPEN-R. There is evidence that it might be possible to use broadcast in OPEN- R, as it is mentioned in the document "OPEN-R SDK OPEN-R Internet Protocol Version4" that a sent IP packet might be a broadcast packet, but nowhere in the documentation or on internet have I found any instructions or help about how to implement broadcasting in OPEN-R. TCP hasn't been implemented because of lack of time to learn how to make it work in OPEN-R. Changes made in P2P.cc (formerly p2p.c) are mainly all code dealing with sockets (opening sockets, sending & receiving messages). 4.1.2 Interface Methods added in P2P are for receiving new messages from UDPComm for the socket buffers, popping message (and sender data) from the buffers, opening a new socket, sending messages and initialising a new program step for the PEIS kernel. ImageObserver sends messages to P2P, containing image data and time since booting, with 0.4-second intervals that is caught in the method Step(), which in its turn calls peisk_step(). void Step(const ONotifyEvent& event) This method is run when the message from ImageObserver is received. It updates the global variable time_in_seconds with the time since booting contained in the message. It updates a tuple with the image data and it calls the method peisk_step() to start a new program step in the PEIS-kernel. The first time this method is run (right after booting) it also makes a call to peisk_connect() to initialize connection to the PEIS-ecology. 12(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P void messageReceived(const ONotifyEvent& event) This method is run when a message is received from UDPComm containing a received UDP packet. The received message data is stored in a socket buffer together with data about the sender (see chap. 4.1.3). int openSocket(int port) This method is called by the kernel when it wants to open a socket for communication. It sends a message to the object UDPComm, which creates an endpoint and binds it to the chosen port if free. int sendTo(int sockindex, struct udpaddr send_data) This method is called by the kernel when it wants to send a message. It sends a message with the message data and destination info to UDPComm, which sends the message data as an UDP packet. struct udpaddr recvMessage(int sockindex) This method is called by the kernel when it wants to receive incoming messages. It checks the socket buffer of the appropriate index and if it is not empty it returns the oldest message in the buffer. 4.1.3 RecBuff - my sockets Since OPEN-R doesn't make use of sockets, but handles UDP and TCP through messages to the IP stack (see chap. 4.2.1), I needed to replace all code that dealt with creating, listening to or sending from sockets with my own socket function. I decided it would be best if UDPComm listens for messages on all connections, set up on command from P2P, and relays them, together with IP and port number, to P2P where they are saved in a buffer until the PEIS-kernel wants to receive a message from respective connections. The alternative would have been to store the incoming messages in UDPComm, and send a message from P2P requesting them for the PEIS-kernel. This would work just as well, but it would result in more inter object messages, as the PEIS- kernel checks for new messages much more often than new messages are actually received. To store the incoming messages, I made the class RecBuff to use as buffer. In RecBuff the messages are stored together with the IP address and port of the sender in a struct udpaddr. Methods with list handling for inserting and extracting posts are implemented in RecBuff. A global array for the PEIS-kernel, RecBuff socketbuffers[PEISK_MAX_CONNECTIONS]; is defined in P2P.h so that each "socket" has its own buffer. The incoming messages are stored as FIFO lists. The limit is set to one hundred messages per buffer. This however is not based on any actual evaluation of general memory requirements for the messages or available memory in the AIBO and may be better chosen in later development. 13(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P 4.2 UDPComm UDPComm is the object that provides wireless IP communication with the PEIS- ecology. UDPComm creates endpoints (explained further down) for UDP communications. When the PEIS-kernel in the P2P object opens a new socket it sends an index number and destination port to UDPComm which creates a new endpoint, binds it to a port and starts receiving on that port. When it receives an incoming UDP packet it transfers it to P2P together with the sender's port and IP-address. When the PEIS-kernel has an outgoing message it sends it to UDPComm together with the destination port and UDPComm sends the message as an UDP packet. 4.2.1 Wireless communication in OPEN-R OPEN-R has an IP protocol stack using IP version 4 (IPv4), which includes several protocols that supplements the basic IP protocol. The included protocols are: • IP (Internet Protocol) – The base protocol for communication over the Internet, providing connectionless and unreliable delivering of packet-oriented datagrams. • TCP (Transmission Control Protocol) – Runs on top of the IP protocol, providing objects with a connection-oriented, reliable, byte stream service. • UDP (User Datagram Protocol) – Runs on top of the IP protocol, providing objects with an unreliable datagram delivery service. • DNS (Domain Name System) – A service for mapping domain names to IP addresses and vice-versa. • DHCP (Dynamic Host Configuration Protocol) – A service for allocating reusable network addresses and additional configuration options. In the current PEIS version they use mostly TCP but UDP will suffice. Since I had some trouble getting TCP to work in OPEN-R and I didn't want to spend too much time with this part of the project I have disabled TCP in the prototype's PEIS-kernel and only use UDP. ANT, the OPEN-R Networking Toolkit, runs the IPv4 protocol stack. IPv4 and ANT are both included in IPStack, which is an OPEN-R system layer. Endpoints are ANT objects on top of the protocol stack and are responsible for communication between objects and the stack. Creating endpoints and giving commands for sending and receiving packets is done through special messaging. The messages sent to the IPv4 stack is inherited from the structure 'antEnvMsg', which provides basic message handling 14(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P constructs. Each service provided by the protocol is requested with a special inherited message type. An object needs one endpoint for each network connection. It can send packets while it's waiting to receive through the same endpoint. Objects send requests for network services to endpoints in the IPStack. Since the protocol stack doesn't share the same address space as objects they cannot exchange ordinary pointers. Therefore a shared memory buffer has to be set up for the endpoints. This buffer is used for transmitting connection configurations as well as the data to be sent or which has been received. Shared memory buffers map memory areas to the address spaces of objects and the protocol stack, enabling them to exchange pointers to data. 15(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P 4.3 ImageObserver The ImageObserver object provides pictures from the AIBO's nose camera and at the same time is used to tell P2P when to initiate a new program step for the PEIS kernel. The ImageObserver object was part of one of the sample programs downloaded from Sony. It took images from the AIBO's camera and saved them to the memory stick. So what had to be done was to change this object so that instead of saving the image as a file on the memory stick it would send it to another object in a format that could be sent in a UDP packet. Image data is sent 25 times per second from the internal object OvirtualRobotComm through an inter object message that transmit a data type OfbkImageVectorData. This is part of the Aperios operative system and cannot be altered by the user as far as I know. Any object created by the user can receive the image. ImageObserver is set up to receive these messages. In regular intervals when ImageObserver receives OfbkImageVectorData it sends a message to P2P with the image data converted into ppm format along with the current time since booting (which is calculated based on how many times the OfbkImageVectorData has been received). When P2P receives this message it will update the picture tuple, update the time since booting and start a new PEIS step. Note; this method for keeping track of the time since booting had to be used since no time function that does this could be found for OPEN-R. 5 Issues with porting of the PEIS-Kernel All necessary library files, instructions for programming of AIBO and some sample programs could be downloaded from Sony's resource page dedicated to AIBO. http://openr.aibo.com/ I briefly tried using Tekkotsu, a tool aid for programming AIBO developed by Carnegie Mellon University in Pittsburgh Pennsylvania USA. I downloaded the software (http://www.cs.cmu.edu/~tekkotsu/index.html) for Tekkotsu and tried installing it but couldn't get this to work, probably because the computer I was working on didn't have a Java virtual machine installed. 5.1 IP communication Among the sample programs for AIBO downloaded from Sony\s support site were echo servers and echo clients for TCP and UDP respectively. At first these wouldn't work. This turned out to be because of the firewall in the PC that stopped all incoming packets. After having turned of the firewall, UDP communication worked fine. TCP still wouldn't quite work however. It did work when I ran a TCP echo server on the AIBO but not when I ran an TCP echo client. Although this problem could surely be solved with time, I felt that I had spent too much time on this part already. Since UDP was working and would be sufficient for connecting to the PEIS-Ecology I decided to move on to the 16(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P next step, planning to add TCP if I still had time by the end of the project. 5.2 Testing The prototype was tested by letting it try to connect to a PEIS-component (tupleview) on a Linux computer. Since broadcast isn't implemented it must be hard coded to try and connect to a certain IP address, which means that it is dependent on a PEIS component already being run on this IP address. I needed to make several changes to my original prototype during debugging because of things I had misunderstood about the PEIS-kernel. Debugging in OPEN-R is a tedious business, since there are no debug tools. There was only a log function (Emonlog) that would tell you in which object a crash had occurred and on which line in which file. If the crash had occurred in a standard function, like memcpy for example, it would only tell you on which line in the library file memcpy.c the crash had occurred and you had to check all the memcpy functions in the PEIS-kernel file to find in where the problem was. Here is an example of Emonlog being used: [duckwing@fors34 NetworkComm]$ mount /mnt/ms/ [duckwing@fors34 NetworkComm]$ cp /mnt/ms/open-r/emon.log . [duckwing@fors34 NetworkComm]$ emonLogParser emon.log context: 8020f580 object: p2p [duckwing@fors34 NetworkComm]$ mv emon.log P2P/ [duckwing@fors34 NetworkComm]$ cd P2P/ [duckwing@fors34 P2P]$ emonLogParser emon.log p2p.nosnap.elf context: 8020f580 object: p2p badvaddr: fdeffffe epc: 8084c044 ra: 8084c010 target address: 8084c044 (epc) gp: 808d6cb0 _gp: 0048f0d0 static addr: 00404464 symbol: 0040439c T P2P::peisk_step() [duckwing@fors34 P2P]$ mipsel-linux-addr2line -e p2p.nosnap.elf 00404464 /home/duckwing/NetworkComm/P2P/P2P.cc:1615 Eventually AIBO managed to connect with tupleview as a new PEIS-component, although the connection is not entirely stable. It will usually be disconnected from tupleview after a while (sometimes to reappear) and the component id does not show up properly. The tuples show up in tupleview as being available from the AIBO component, but when asking AIBO to send the image itself it crashes. According to the log function this crash occurs in the OPEN-R IP stack. A possible explanation for these problems is 17(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P data corruption because of the unreliability of UDP and wireless communication. Alternatively the data is corrupted somewhere in the PEIS-kernel. The UDP communication seamed to be working fine when receiving incoming packages. There is an error message in UDPComm about the UDP connection being busy once in a while, but when this occurs it seams to simply run the receive function again until it works. All received packets from tupleview appear to be received intact. Another issue was that of calculating the current time. In order to work correctly the kernel should run one program step with no more than 0.1 second intervals (this meant intervals of 0.08 seconds in AIBO), but when ImageObserver sent messages to P2P at that rate (with image data and current time) the CPU couldn't handle them fast enough and the time in P2P lagged behind real time. This problem was solved by only including the image data to P2P for every tenth step (about once a second). This is Tupleview before I've turned on the AIBO. You can see that the only PEIS component present is Tupleview itself. 18(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P Here AIBO's PEIS-kernel has connected to Tupleview; named "(0)" in the display. You can see that it has a tuple named "image" uploaded. Description of the current problems: • An error turns up once in a while in UDPComm::ReceiveCont(): receiveMsg-> error = 3. This means that the UDP connection is busy. This is no real problem though since each time this occurs ReceiveCont() is automatically called again so that you don't miss the incoming packet. • When AIBO's PEIS-kernel connects to tupleview and you see the new component in tupleview's display the name (which is set to "AIBO") is not correctly transmitted. It turns up as "0". Further more it sometimes looses connection with tupleview after a minute or so for unknown reasons. Emonlog shows that the crash occurs on line 1615 in P2P.cc in these cases. The code on that line is shown below. if(peisk_printLevel & PEISK_PRINT_STATUS) { PEISK_ASSERT(timeElapsed < 0.1, ("peisk_step() called to slow. ts elapsed=%3.3f\n", timeElapsed)); } • When you try to access the image tuple from AIBO in Tupleview a crash occurs in AIBO. When using Emonlog it says that the crash occurred in the IP- 19(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P stack. [duckwing@fors34 NetworkComm]$ emonLogParser emon.log context: 8020e840 object: IPStack 6 Discussion and Conclusion 6.1 Achieved The PEIS-Kernel has been ported by making it into an OPEN-R object. To do this the main changes that had to be done was to replace the code for IP communication, since this is handled differently in OPEN-R than in C. The use of TCP and broadcasting is not implemented. All the low-level communication is implemented and functioning. The testing has shown that it is possible to run the PEIS-kernel on an AIBO's CPU and that it is able to connect to the PEIS-ecology. There has not been constructed a whole library of tasks for the AIBO to perform but the prototype is set up to provide a tuple with images from AIBO's camera for the network. There is a problem when trying to send the image itself though, as a crash occurs in the OPEN-R IP stack. This might be due to corrupted data. 6.2 Problems with the final version Because I have made changes in the PEIS-kernel code when porting it to OPEN-R it is no longer the same version that is used in the other PEIS-components, which could possibly cause compatibility problems when the official PEIS-kernel is developed further. This would mean additional work is needed to also update the OPEN-R version of the kernel. Since broadcasting isn't implemented, an IP address has to be hard-coded in the kernel for the AIBO to connect to at start up, which means that it can't connect if no component with that IP is already connected. Another problem is the program doesn't use a proper time function that keeps track of the real time. Instead the time is calculated based on how many times new picture data has been sent from the internal object OvirtualRobotComm. This method is sufficient for the kernel to function correctly, but since the CPU can't keep up if you send to much data at each time, causing the calculated time to lag behind real time. 6.3 Alternative solutions The use of remote processing (see chap. 2.3.1) could be used to implement the PEIS- kernel for OPEN-R. I do not know if the advantages of this solution would be enough to compensate for the need to run a PC linked to the AIBO all the time when you want it connected to the PEIS-ecology. 20(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P Also maybe another possible solution for the porting itself: the PEIS-kernel might have been kept as it was, without changes, and instead one would make an OPEN-R object that acts as an interface, which takes care of all functions that aren't present or is different in the AIBO (mainly those dealing with sockets). This would make it easier to update the version of the PEIS-kernel in AIBO when PEIS is developed further. 6.4 Future work The implementation of broadcasting would be desirable so that you won't have to hard-code the IP address of an already connected PEIS-component for the AIBO to connect to at start up. It could be investigated if this is at all possible to implement. If this is not found to be (easily) possible, a goal could be to find some alternative solution to the problem. Future work could be to come up with and implement tasks that an AIBO can fulfil in the PEIS ecology. Suggestions: Provide an extra, mobile camera for the monitoring system. Move small objects around. Act as guard dog. 7 Appendix Here the methods structs and class I have written in order to enable the PEIS-kernel being run in OPEN-R is described. To understand what's happening in the objects in more detail you should use the documents OPEN-R SDK Programmer's Guide, OPEN-R Internet Protocol Version4 and OPEN-R SDK Level2 Reference Guide. I also recommend looking at and experimenting with the sample programs from Sony's resource page http://openr.aibo.com/ 7.1 PEIS-kernel Here follows a description the methods I've written for P2P. These are the methods I have used to replace all code dealing with sockets in the PEIS-kernel. They are declared and defined in P2P.h and P2P.cc. • void Step(const ONotifyEvent& event); This method is an observer that observer receives messages from ImageObserver. "event" contains a string from which the current time is retrieved. Then it checks to see if image data is included and if so updates the image-tuple. Finally it starts another program step for the PEIS-kernel. • int openSocket(int port); This method opens a socket (in the class RecBuff) on the port given if it is free. This means creating an instance of RecBuff and sending a message to UDPComm with index and port nr. If 'port' is negative it will find a free port to open a socket to. Returns the port nr of the opened socket. • void messageReceived(const ONotifyEvent& event); This method is an observer that receives messages from UDPComm with received UDP-packets and information of its source. It retrieves from "event" which socket buffer the message should be stored in and the port and IP- 21(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P address of the sender. Then it stores the message in the correct socket buffer. • struct udpaddr *recvMessage(int sockindex); Pops the socket buffer with index 'sockindex' and returns the popped message if any. • int sendTo(int index, struct udpaddr data); this method puts together a string with index of the socket sending the message, destination port and IP-address, size of the message being sent and the message string itself. Then it sends this string to UDPComm. • Closing sockets Sockets are closed in the method peisk_closeConnection(), which I did not write but, as with all code dealing with sockets and UDP communication, I needed to modify it. This includes a call to RecBuff::closeSocket() and sending a message to UDPComm with the index of the socket being closed. 7.1.1 RecBuff RecBuff is the class I've written to use as sockets. Each instance of RecBuff is one socket. It stores incoming messages in buffers, using a FIFO list, until the PEIS-kernel requests them. The messages are stored in struct udpaddr, which apart from the message itself contains the senders IP-address as four bytes and integers for the length of the message and the sender's port. Both RecBuff and udpaddr are declared and defined in RecBuff.h and RecBuff.cc. • RecBuff(); Constructor. • RecBuff(struct udpaddr data); Constructor. Puts "data" first in the buffer. • ~RecBuff(); Destructor. • bool openSocket(); Sets the boolean "open" to true. • bool closeSocket(); Empties the buffer and sets "open" to false. • bool isOpen(); Returns the state of "open". • int receivePort(); Returns the port for the socket. • void setPort(int port); Sets the port for the socket to 'port'. • bool appendBuffer(struct udpaddr data); Adds "data" at the end of the buffer. • struct udpaddr *popBuffer(); Returns the oldest udpaddr in the buffer and removes it from the buffer. 7.2 UDPComm Here I will explain the most important things happening in UDPComm. This OPEN-R 22(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P object was made mostly by modifying the sample program UDPEchoClient. • OStatus BindNew(ONotifyEvent& event); This is the observer that receives the message from P2P:: openSocket() when the PEIS-kernel wants to open a new socket. Here the index of the socket and port nr to start receiving on is retrieved from "event". An endpoint is bound to the port and Receive() is called to start listening on the port. • OStatus InitSendMessage(ONotifyEvent& event); This is the observer that receives the message from P2P::sendTo() when the PEIS-kernel wants to send a UDP message. Destination port and size of message (integers), destination IP-address (four bytes) and the message string itself is retrieved from "event". The proper endpoint is set up to send the message by putting the destination data and the message in a shared memory buffer to be sent to the IP-stack. Then Send() is called. • OStatus Send(int index); In this method the command to send a UDP packet is sent to the IP-stack through the endpoint. • void SendCont(ANTENVMSG msg); This method is an entry point to the object that is called when the IP-stack is done sending the UDP packet. Here you find out if it was successful. • OStatus Receive(int index); In this method the command to start listening on a port for an incoming UDP packet is sent to the IP-stack through the endpoint. • void ReceiveCont(ANTENVMSG msg); This method is an entry point to the object that is called when a UDP-packet is received. A string is constructed with index of the receiving endpoint and port of the sender (as integers), IP-address of the sender (four bytes) and the message itself and the sent to P2P. • void RemoteClose(ONotifyEvent& event); When the PEIS-kernel closes a socket P2P sends a message that is received in this observer. Here the endpoint with the index retrieved from "event" is closed down. • void CloseCont(ANTENVMSG msg); This is an entry point to the object that is called when the IP-stack has closed down an endpoint. It confirms if the endpoint of the appropriate index is indeed closed. 7.3 ImageObserver Here I will explain the most important things happening, regarding the PEIS-kernel, in ImageObserver. This OPEN-R object was made mostly by modifying the sample program of the same name. • void Notify(const ONotifyEvent& event); This observer receives OfbkImageVectorData from the internal object OvirtualRobotComm 25 times/second. Each time Notify() is called it increases the double "seconds" with 0.04 to keep track of the current time since start-up. Every second time (i.e. 12.5 times/second) Notify() is called it goes on to send a message to P2P for starting a new program step in the PEIS-kernel by calling 23(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P SendData();. Every tenth time it calls SendData it also includes the OfbkImageVectorData. • void SendData(); This method constructs a string with the current time in seconds (as a double) and sends it in a message to P2P. • void SendData(OFbkImageVectorData* imageVec); This method converts the OfbkImageVectorData into ppm format and then constructs a string with the current time in seconds (as a double) and the image data and sends it in a message to P2P. 24(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P 8 Glossary of terms AIBO : The robot dog developed and sold by Sony. C : A popular programming language. C++ : Another popular, object oriented, programming language originally based on C. Class : Classes are used to group related variables and functions in object oriented programming. CPU : Central Processing Unit. A computers processor. FIFO list : First-In-First-Out list. Useful if you need to queue for example incoming data. IP : Internet Protocol. Protocol for communication over the Internet with packet-oriented datagrams. Object : The basic building blocks in object oriented programming. Each object has its own purpose and can interact with other objects. OPEN-R : "OPEN-R is the interface that Sony is promoting for the entertainment robot systems to expand the capabilities of entertainment robots. This interface is layered and optimised to enable efficient development of hardware and software for robots". OPEN-R SDK Programmer's Guide. PEIS : Physically Embedded Intelligent Systems. Ppm file : Portable Pixel Map. A simple format for colour images. Remote Hosting : Running an OPEN-R program on another platform than the actual AIBO robot through wire-less communication. Socket : In computing this refers to a communication end-point. TCP : Transmission Control Protocol. Protocol for creating connections with reliable datagram transfers. Tupleview : A program that connects to the PEIS-Ecology as a PEIS component and lets you look at all available tuples in the network. UDP : User Datagram Protocol. Protocol for communication with unreliable datagram transfers. 25(26) Daniel Offrell 20P Examensrapport Magister Automatisering 160P Acknowledgements I would like to thank Alessandro Saffiotti, my supervisor for this project, Kevin Leblanc who helped with OPEN-R and Mathias Broxvall who is the expert on the PEIS. Sources PEIS: Ecology of Physically Embedded Intelligent Systems. http://aass.oru.se/~peis A. Saffiotti and M. Broxvall. PEIS Ecologies: Ambient Intelligence meets Autonomous Robotics. Proc. of the sOc-EUSAI conference on Smart Objects and Ambient Intelligence. Grenoble, FR, October 2005. Ecologies of Physically Embedded Intelligent Systems, Final Report 2005 Prof. Alessandro Saffiotti, Dr. Mathias Broxvall, Mr. Marco Gritti, Mr. Beom-Su Seo OPEN-R SDK Programmer's Guide OPEN-R SDK Level2 Reference Guide OPEN-R SDK Model Information for ERS-210 OPEN-R SDK OPEN-R Internet Protocol Version4 http://openr.aibo.com/ Copyright Sony Corporation 26(26)


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Upper = textile, PU. Lining = Textile. Outsole = Rubber.
November 16, 2014
Love these. i have a broad foot, so finding a boot that's comfy and trendy has been difficult.. these fit the bill -cant wait to try them in iceland
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I love these boots. they're very sturdy and easy to put on when you want to tuck your the bottom of your jeans inside and can lace up the boots afterwards. i like it that they're functional, yet incredibly stylish. the fur is incredibly warm and soft. i don't agree with what it says on the website that they're on the small side. i think they are a very generous fit, length, width and breadth-wise.
October 31, 2014
Very comfy and warm for walking dog in
October 30, 2014
Stylish and comfortable
October 22, 2014
Excellent replacement for my old very much worn boots & very good value.
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subset: commoncrawl


text:
R for Real-time
We are very excited to have partnered with Renesas Electronics to introduce support for the recently announced Renesas RZ/T1 product series in ARM DS-5 Development Studio. The new device family comprises ten ARM Powered® products aimed at industrial applications that require both high performance and real-time predictability. Based on an ARM® Cortex®-R4 processor operating at up to 600 MHz, the product line also includes configurations that feature a Cortex-M3 core to enable highly integrated asymmetrical multi-processing (AMP) applications. Visit Renesas website (English/Japanese) if you want to learn more about the RZ/T1 series.
Renesas RZ/T1 in DS-5
ARM DS-5 is a complete software development tools solution for RZ/T1 users. It includes efficient C/C++ code generation for both ARM cores and full support for synchronous and asynchronous AMP debug.
Some benefits of DS-5 for RZ/T1:
- ARM Compiler 5: industry reference C/C++ compiler for Cortex-R4 and Cortex-M3 processors, compatible with the widest range of RTOS, middleware and third-party tools
- Simultaneous debug connections to both ARM processors
- Collection, decode, synchronization and visualization of trace data from ARM CoreSight™ ETM (Embedded Trace Macrocell) and ITM (Instrumentation Trace Macrocell) units for faster bug finding
- TÜV SÜD certified compiler and compiler qualification documentation for functional safety certification
- Built-in OS awareness for leading commercial real time operating systems (RTOS)
Target connections for your every need
Depending on the stage you are in the software development project and your budget, you may select different technologies to connect DS-5 to your RZ/T1 target. See below summary of the target connection options, for you to pick the right one for your needs.
|Target connection type
|Best for
|Trace capture
|Board bring-up, high-performance debug and ETM trace-based analysis
off-chip (4 GB DSTREAM)
on-chip (4 KB ETB)
|Fast software debug with on chip trace (Note: ULINKpro trace is not supported in DS-5)
|on-chip (4 KB ETB)
|ULINKpro D
|Fast software debug with on-chip trace
|on-chip (4 KB ETB)
|Basic software debug
|on-chip (4 KB ETB)
|Silicon evaluation on development boards (USB connection to board, no debug hardware required)
|on-chip (4 KB ETB)
RZ/T1 platform configuration file is available for DS-5 version 5.20 users upon request. If you require access to it now, get in touch.


text: 10 Great Albums Executive Produced By Diddy Notorious B.I.G. - Ready To Die (1994)Debatable as the best rap album of all time, Ready To Die opened with a poignant description of B.I.G.'s birth and ended with "Suicidal Thoughts." In between his birth and death, the Junior M.A.F.I.A capo detailed the valleys and peaks of pushing product but also gave us radio singles ("Juicy," "One More Chance"). Ready To Die set the standard for storytelling and lyricism while Diddy found his pop-rap calling. ‹ ›


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It's time to go through those bathroom drawers and cabinets.
Saturday is national Drug Take-Back Day.
Georgia is again promoting the effort to prevent prescription pill abuse. Members of the public are encouraged to rid their homes of expired, unused or unwanted drugs.
The CDC has reported that prescription drug abuse is the fastest-growing drug problem in the United States. Unused drugs in the home can contribute to this abuse, and teenagers are especially prone to misuse pills left in medicine cabinets or drawers.
Some young people use such drugs at parties: They pour several different kinds of pills into a bowl and then take them at random. full story


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(English) Interview to Louise "Gore" Gorman, Tazz-O and Lucinda Villain from Junkyard Lipstick, the all-female metal band based in South-Africa Leer Más »
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(English) Canada Industrial, heavy, death and classical metal Leer Más »
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(English) Chaumont (France) Black Metal Leer Más »
Conquer Divide
(English) Since their formation in late 2012, Conquer Divide have managed to create a unique, modern and ever apparent dichotomy of beautiful elegance and intense aggression that intertwines seamlessly with one another. Leer Más »
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(English) Metal and Goth Chihuahua (Mexico) Leer Más »
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(English) London (UK) Southern Rock Leer Más »
Junkyard Lipstick contest
(English) Junkyard Lipstick want to celebrate with us the release of its new EP "The Butcher's Delight", so they're giving an spectacular prize consiting of: T-Shirt, Debut album "Hellbent", Latest EP "The Butcher's Delight" Leer Más »


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Steve Blackman
Real Name
Steve Blackman
Date of Birth
September 28, 1963
Place of Birth
Fox wanted Mick Foley to portray Santa Clause in an upcoming episode of their hit series New Girls, but the Hardcore Legend had to turn it down. Upon reading the script, he found out that the producers wanted him to throw out some sexual innuendos while in costume. Foley, who happens to be a gigantic fan of Santa Clause, stated that he rejected the role because he has too much respect for the character.
November 1, 2014
A picture of Velvet Sky dressed in a girl scout costume. The TNA Knockout is hanging out with Candice Michelle, who is wearing a lovely white dress, and Rosita, who looks to be dressed as a sexy gingerbread girl.
May 1, 2014
In a hilarious segment, Damien Sandow came out on Monday Night Raw, dressed as comic character Magneto of the X-Men. He came out to interrupt Hugh Jackman, who portrays Wolverine, and Dolph Ziggler. The segment came off especially well since Sandow wore a purposely bad costume and really committed to the routine. Jackman and Ziggler ended up attacking Sandow to end the segment.
April 28, 2014
A picture of Velvet Sky wearing a costume that would drive science fiction fans wild. The TNA Knockout is wearing a Star Wars dress.
April 22, 2014
A picture of Santana Garrett doing a tribute to the Ultimate Warrior. The TNA Knockout is wearing a costume based on the legendary WWE performer, and she even through the trouble of painting her face.
April 20, 2014
A picture of Summer Rae dressed up in a costume that was inspired by Jesse Ventura for a special WWE photo shoot.
April 15, 2014
A picture of Velvet Sky wearing quite an interesting but sexy costume. The TNA Knockout is wearing dangerously short shorts, pink hair, handcuffs, high heels and a leather hat. Her really tanned legs and abs are in full view.
April 15, 2014
A picture of ODB in a maid costume. The TNA Knockout is also holding up some sausages that she is cooking up on the grill.
April 14, 2014
A picture of AJ Lee wearing a costume that is supposed to be a homage to Roddy Piper. This was part of a special photo shoot by WWE to honor the legendary performers by having the divas doing a tribute to them.
April 14, 2014
A picture of Velvet Sky wearing a ninja themed costume. While the TNA Knockout has her face covered, the outfit still shows off plenty of her sexy body.
April 14, 2014
A picture of Velvet Sky bending over, while wearing a sexy football costume. The TNA Knockout is also sporting some hot leather panties.
April 13, 2014
A picture of Angelina Love wearing black lingerie and a hot pink maid costume. The sexy TNA Knockout takes things up a notch by licking on a stick as she is cooking.
April 13, 2014
If you've ever wanted to see what Gail Kim would look like in a hot maid costume while wearing high heels and holding on to a cupcake, then you're in luck, thanks to the latest photo shoot from TNA.
April 12, 2014
A picture of Gail Kim wearing a hot maid costume while giving TNA fans a glimpse of her panties during an official photo shoot for the company.
April 11, 2014
A picture of Christy Hemme in an old school maid costume, which consists of a tied up shirt and very tight shorts. The TNA Knockout even has a vacuum cleaner from a couple of decades back.
April 10, 2014
A picture of Madison Rayne wearing a special costume of an old school bikini for a TNA photo shoot. The image is especially hot since she is also carrying a strawberry cake.
April 8, 2014
A picture of Velvet Sky dressed as a sexy angel.
January 4, 2014
Brooke Hogan posted a picture of herself on Instagram, where the daughter of the legendary Hulk Hogan is wearing a "winter beach" outfit.
January 3, 2014
Another person that has been hurt by the recent crash of the WWE stock is Steve Blackman. He was in talks with the company for a brand new show on the WWE Network, where the former hardcore champion would be showing off his new career as a bounty hunter. Unfortunately, though, Vince McMahon has placed a hold on all new series due to budget cuts.
July 7, 2014
A familiar face made an appearance backstage at the Smackdown taping this week. Steve Blackman, who has been rumored for a brand new show on WWE Network, was visiting with friends in Pennsylvania, where he lives. The belief is that he spent some time talking briefly with management about hosting his own show, which is rumored to focus around Blackman as a bounty hunter.
April 23, 2014
Now that the WWE Network has been launched, management has been looking into ideas for some new content for the service. One of the ideas being discussed is doing a reality television show based around Steve Blackman, who is now a bounty hunter in Pennsylvania. The series would follow the former WWE star and his team as they hunt down people.
March 22, 2014


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When split between five people, the expensive campsite fee becomes manageable - although a bit crammed with three tents between five cyclists. We didn't mind, but if you're travelling alone or in a smaller group, search for accommodations elsewhere! Watch for costly showers and firewood - but enjoy the complimentary S'mores package, we sure did!
The location is prime - halfway between Friday and Roche Harbours, it was a short bike ride to either of the two marinas, which were worth checking out.
The service was excellent, with firewood delivered to campsite via golf cart. We rented a fishing rod, which ended up with the line snagged in a tree.. We had to break the line to get it out, but not to worry! A very kind employee brought more hooks for us to tie on, and another rod for us to use for the rest of the evening. What a guy! We were definitely impressed.
To put a very sour note on the ending of our trip, the camp road had been tarred the morning of our departure. We didn't realize the damage it had done until we hit the main road, but needless to say wet tar and bicycles, shoes and/or clothing do NOT mix! We encountered another gentleman who had the same problem, and had had his very expensive shoes RUINED by the wet tar. We had a pair of shorts sprayed, a rain jacket, two pairs of shoes, and all of our bikes coated with the stuff. P.S. - it stains, I have yet to get the mark off of my canvas shoes. If you have to tar a high traffic dirt road, why not do it at 12AM, when no one is going to suffer from it? Morning isn't the greatest time...
Friendly family resort, lots of bikers (motor) and drive-in campers. Not ideal, but there were a few pluses as aforementioned. Be careful not to destroy your personal belongings on their terribly timed tarred roads!
- Official Description (provided by the hotel):
- On 82-acres, with three spring water lakes, Lakedale Resort at Three Lakes is an ideal San Juan Island getaway. Easily accessible by ferry or floatplane from Seattle, Lakedale Resort is nestled between Roche Harbor and Friday Harbor on San Juan Island, Washington. It's a one-of-a-kind experience and a breath of fresh air – literally.Lakedale Resort features a variety of accommodation options, including a 10-room lodge, real log cabins, canvas cabins for a fabulous glamping experience, and camping. Lakedale Resort near Roche Harbor and Friday Harbor is also a great destination for teambuilding, meetings, and retreats, providing you with an inspirational setting to achieve your goals. Your group will enjoy the many activities that Lakedale has to offer including swimming, fishing, and canoeing on one of our three lakes. Or imagine taking over the lodge for your wedding and having your ceremony overlooking Fish Hook Lake! ... more less
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#86 - smokerocks (05/08/2013) [-]
#51 - primerpower (05/07/2013) [-]
Cooments later, dog does his "Something in the yard" growl
Tthink it' s a deer
of bed. buck naked with a cock
Tthink it' s a deer
of bed. buck naked with a cock
#40 - rakaka ONLINE (05/07/2013) [-]
the hive mind wants me to have a mosin nagant
#32 - mondominiman (05/07/2013) [-]
Anyone ever have problem reading these? It's still readable but it looks like the contrast was put to high. I've seen them on two computers and three separate screens but it always looks the same.
#17 - psychosamm (05/07/2013) [+] (2 replies)
I actually give my bf dick rubs before bed almost every night, he says it's relaxing. Is that odd? This post made me wonder if other guys feel the same.
#48 - kjelli (05/07/2013) [-]
**kjelli rolled a random image posted in comment #176 at My dog ** at the end
Back to the content 'Such normal people' Leave a comment


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Bea Arthur
Bea Arthur naked painting sells for $1.9 million at auctionComment
The painting is by artist John Currin and is titled "Bea Arthur Naked." It sold at Christie's auction of postwar and contemporary art on Wednesday for a whopping $1,915,750.
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Films By Sang-ok Shin
In an isolated town, a lonely family lives in the so-called "widow's house". The family consists of Madam Chung-sook, Okhee, her six-year-old daughter, Okhee's grandmother, and the house-maid, Songhwan-taik. One day a guest from Seoul visits the house and becomes a lodger, and as the days pass ... Read more
The story of Samyong, the poor, mute farmer, at the mercy of Kwangsik, the spoilt son of a rich family, is set at the beginning of the century. Conditions prevailing at that time in rural Korea relegated the poor to subservience, and Samyong, conditioned to accept his place in the order of things ... Read more


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Will the already-maligned world of football transfers turn even murkier when FIFA scraps the official football agent's licence next spring?
Do major security operations, such as the ones around Sochi 2014, ruin the event experience for fans and commercial partners?
MLS (Major League Soccer) is undergoing an image makeover in an attempt to unite their fast-growing competition.
The English Premier League looks set for another bumper increase when it sells its domestic broadcast rights next year. But what strategies are currently being discussed to try and replicate that kind of increase in the other big four European football leagues? Frank Dunne, Editor of TV Sports Markets, asked the decision-makers in Spanish, French, German and Dutch football at last month's SPORTELMonaco.
Complementing Dubai Sports City is the Hamdan Sports Complex, another world-class and spectacularly flexible sports venue completed in 2010 at a cost of over $300 million.
The privately-financed Dubai Sports City development, which comprises an array of top-level sports facilities and a significant residential element, is the place where the two distinct, but inevitably linked, facets of sport in the emirate come together.
The International Basketball Federation (Fiba) has suspended the Japanese Basketball Association (JBA) amid a number of issues, including the ongoing dispute between the country's competing domestic leagues.
Qatar Airways has signed up as a presenting sponsor of the inaugural International Premier Tennis League (IPTL), which will begin tomorrow (Friday).
Lord Sebastian Coe has confirmed he will run for the presidency of the International Association of Athletics Federations (IAAF) next year.
The Swedish city of Gothenburg has today (Wednesday) been confirmed as the latest addition to the schedule for the 2015-16 America's Cup World Series (ACWS).
Samoa's rugby players have denied claims that they have resolved a financial dispute with the Samoan Rugby Union despite the country's Prime Minister, Tuilaepa Sa'ilele Malielegaoi, having said that a deal had been reached.
Prince Ali bin Al-Hussein, a vice-president of Fifa, has refused to respond to reports that suggest he could challenge Sepp Batter for the presidency of football's global governing body.


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Mail call - week of 7/20
Find a Conversation
Mail call - week of 7/20
|Sun, 07-20-2008 - 12:16am
|Mon, 07-21-2008 - 11:48pm
Today I received an Old Spice body wash sample for DH - it smells really good and a Dove shampoo/conditioner sample in grapefruit/lemongrass scent.
|Tue, 07-22-2008 - 11:02pm
Well it's only Tuesday, but I got a pack of samples from Naturally Savvy, and the Purex sample.
|Tue, 07-22-2008 - 11:03pm
I've gotten Dove deodorant, Parenting magazine, Woman's Day magazine, Interview magazine, umm another woman's magazine I can't think of right now, an organic granola sample (also came with an organic mouthwash sample),
|Thu, 07-24-2008 - 11:34am
Yesterday I received Parents mag, Womans Day, and Maxim. It seems my freebies have slowed down a lot.
|Thu, 07-24-2008 - 7:17pm
In addition to all the wonderful magazines I have received lately today was a banner day.


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Total AG Ratings: 649
Got to new game button but levels are VERY DIFFICULT.
Its not that good stupid you have to be the lobby the first one is better
idk how I past it
i past all of them and im only 9.its fun though it helps your brain because its logic and you can play it on coolmath
i dont think its right that u have to bet it just to play thge stuipd games
This is fun but I get pasted lvl 2
Play Dark Souls
you want to know why I like this game i like hard games like i saw her standing there!
to hard
Finished yus I DID YUS


text:
No matter what I need, I can always find it here for a great price...especially with the 10% discount! Customer service at MJM Magic is excellent. I...Read More ->
I have to admit, I was a bit wary trying out a new internet dealer. I'd been using Penguin mainly for the last while, and while they had some great...Read More ->


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Rugby Union
Select a team
Six Nations
- England
- France
- Ireland
- Italy
- Scotland
- Wales
Aviva Premiership
- Bath
- Exeter
- Gloucester
- Harlequins
- Leicester
- London Irish
- London Welsh
- Newcastle
- Northampton
- Sale
- Saracens
- Wasps
The Rugby Championship
- Australia
- New Zealand
- South Africa
Guinness PRO12
- Cardiff Blues
- Connacht
- Dragons
- Edinburgh
- Glasgow
- Leinster
- Munster
- Ospreys
- Scarlets
- Treviso
- Ulster
- Zebre
Top 14
- Bayonne
- Bordeaux-Begles
- Brive
- Castres
- Clermont Auvergne
- Lyon
- Montpellier
- Racing Metro
- Stade Francais
- Toulon
- Toulouse
- Grenoble
- La Rochelle
- Oyonnax
|Home team
|Away Team
|21 - 15
Match Links
- European Rugby Champions Cup
- Quarter Final
- 7th Apr 2013
- Att: 15,263
Heineken Cup match preview: Toulon v Leicester
Related links
Also see
Toulon make two changes ahead of their Heineken Cup quarter-final clash with Leicester at the Stade Felix Mayol on Sunday.
Rudi Wulf returns to the Toulon starting line-up at the expense of David Smith who featured in the side's 43-11 victory against Stade Francais last weekend.
Former France international hooker Sebastien Bruno starts against Leicester in place of Jean-Charles Oriolo who is left out of the match-day squad.
Jonny Wilkinson will lead an all-international Toulon starting XV out as the leading points scorer in the Top 14 while Delon Armitage starts as one of only to men to exceed 500 metres gained in the Heineken Cup this season.
Gethin Jenkins, Maxime Mermoz and Joe van Niekerk will all start from the bench with Bernard Laporte spoilt for choice as he seeks a France and European double.
Meanwhile Richard Cockerill retains the same starting XV for a third successive week with his side winning on their last three outings.
Toby Flood will captain the side as they grace the Stade Felix Mayol for the first time having led the side to victory against Northampton and Exeter in the last fortnight.
Flood will be partnered with his compatriot Ben Youngs in the half-backs while fellow England interntaionals Matthew Tait, Manu Tuilagi, Tom Croft, Geoff Parling, Dan Cole and Tom Youngs all start.
The Tigers have won six of their last 10 quarter-finals while the hosts have met English opposition four times this year and maintain an unbeaten record so far.
Toulon enter the clash as reigning Challenge Cup champions while Leicester have won four of their last six fixtures leaving them second in the Aviva Premiership.
Toulon: 15 Delon Armitage, 14 Rudi Wulf, 13 Mathieu Bastareaud, 12 Matt Giteau, 11 Alexis Palisson, 10 Jonny Wilkinson (capt), 9 S�bastien Tillous-Borde, 8 Chris Masoe, 7 Steffon Armitage, 6 Juan Fernandez Lobbe, 5 Nick Kennedy, 4 Bakkies Botha, 3 Carl Hayman, 2 Sebastien Bruno, 1 Andrew Sheridan.
Replacements: 16 Mickael Ivaldi, 17 Gethin Jenkins, 18 Levan Chilachava, 19 Jocelino Suta, 20 Vincent Martin, 21 Maxime Mermoz, 22 Nicolas Durand, 23 Joe van Niekerk,
Leicester Tigers: 15 Mathew Tait, 14 Niall Morris, 13 Manu Tuilagi, 12 Anthony Allen, 11 Adam Thompstone, 10 Toby Flood (capt), 9 Ben Youngs, 8 Jordan Crane, 7 Julian Salvi, 6 Tom Croft, 5 Geoff Parling, 4 Ed Slater, 3 Dan Cole, 2 Tom Youngs, 1 Marcos Ayerza.
Replacements: 16 Rob Hawkins, 17 Logovi'i Mulipola, 18 Martin Castrogiovanni, 19 Graham Kitchener, 20 Thomas Waldrom, 21 Sam Harrison, 22 George Ford, 23 Matt Smith.
What they said...
Leicester Tigers coach Richard Cockerill
"We know we have to be very accurate in what we do and work hard for each other. Toulon have a very good record at home and we will treat them with respect, but we want to give it our best shot and enjoy the occasion too."
|Click here for more betting
|European Rugby Champions Cup
|Friday 5th December
|European Rugby Champions Cup
|Montpellier vs Bath
|Saturday 6th December
|Sale vs Saracens
|Munster vs Clermont Auvergne
|Ulster vs Scarlets
|Benetton Treviso vs Northampton
|Ospreys vs Racing Metro 92
|Sunday 7th December
|Castres vs Wasps
|Harlequins vs Leinster
|Leicester vs Toulon
|Toulouse vs Glasgow
|Friday 12th December
|Bath vs Montpellier
|Saturday 13th December
|Saracens vs Sale
|Leinster vs Harlequins
|Toulon vs Leicester
|Glasgow vs Toulouse
|Northampton vs Benetton Treviso
|Racing Metro 92 vs Ospreys
|Sunday 14th December
|Clermont Auvergne vs Munster
|Wasps vs Castres
|Scarlets vs Ulster
|Saturday 17th January
|Saracens vs Munster
|Sale vs Clermont Auvergne
|Harlequins vs Wasps
|Leinster vs Castres
|Leicester vs Scarlets
|European Rugby Champions Cup
|Sunday 26th October
|European Rugby Champions Cup
|Benetton Treviso 10 - 26 Racing Metro 92
|Wasps 16 - 23 Harlequins
|Clermont Auvergne 35 - 3 Sale Sharks
|Castres 16 - 21 Leinster
|Saturday 25th October
|Scarlets 15 - 3 Leicester
|Northampton 34 - 6 Ospreys
|Montpellier 13 - 15 Glasgow
|Bath 19 - 21 Toulouse
|Ulster 13 - 23 Toulon
|Friday 24th October
|Munster 14 - 3 Saracens
|Sunday 19th October
|Leinster 25 - 20 Wasps
|Toulon 28 - 18 Scarlets
|Ospreys 42 - 7 Benetton Treviso
|Toulouse 30 - 23 Montpellier
|Saturday 18th October
|Leicester 25 - 18 Ulster
|Racing Metro 92 20 - 11 Northampton
|Saracens 30 - 23 Clermont Auvergne
|Glasgow 37 - 10 Bath
|Sale Sharks 26 - 27 Munster
|Friday 17th October
|Harlequins 25 - 9 Castres
Experts & Blogs
Phil Edwards
Read the thoughts and opinions of Phil Edwards with skysports.com


text:
The Valley of the Sun still has room to improve its economic development efforts despite the region's rapid growth and success in attracting jobs, says the Valley's new economic development coordinator.
Barry Broome, who assumed his new job as president and CEO of the Greater Phoenix Economic Council in February, said the region needs a more coordinated economic development strategy and more venture capital funding to help start up companies become established and become home-grown corporations.
Also he called for a better balance in the Valley real estate strategies, providing space for job producing industries as well as retail shopping centers.
Broome, who came to Arizona from southwest Michigan, spoke about his initial impressions of the Valley Tuesday at the quarterly "Power Breakfast" for Valley business leaders at the Arizona Biltmore in Phoenix.
Policy coordination was the top theme emphasized by Broome, who said too many interests are randomly throwing proposals at the Arizona Legislature without sufficient analysis of how the parts fit together.
As an example, he cited the desire on the one hand of corporations such as Intel to change the sales factor used in computing their corporate income tax payments, which would have the effect of reducing their taxes, versus the demand for more taxpayer funds to support new and expanded programs.
"From (the legislators') point of view, they are sitting in these chairs getting fed (diametrically opposed) views on policy," he said. "The business guys are talking about the sales factor, and here come the children advocates on the other side. It's a pretty tough spot to be in."
He said legislators need balanced analyses to help them understand the impact of the various policy initiatives and how they fit into an overall strategy for developing a knowledge-based economy.
Broome sounded a note of caution about the need for tax incentives to attract business, saying that Arizona costs are relatively low, and quality of life can be just as important as low taxes in luring jobproducing investments.


text:
And Its Over
Senior Member
Oh, ffs.. stop being such a noob and letting yourself get trolled. I don't understand all these people on the forums.. OMG someone said they report me! END OF THE WORLD!!
I've been playing for 3 years, and people have told me I'm reported hundreds and hundreds of times. The only time I've ever been punished was because I made a racial slur and deserved it.
And even if you DO get banned, its a 3 day temp ban and you can just create as many new free accounts to play on as you want.
There is no such thing as a ban in League of Legends... just a time out.
© 2014 Riot Games, Inc. All rights reserved. Riot Games, League of Legends and PvP.net are trademarks, services marks, or registered trademarks of Riot Games, Inc.


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Browsing the "Nike Flyknit Lunar1+" Tag
Nike Lunar Flyknit 1+ – Game Royal – Bright Crimson
May 12, 2014 BY Brendan Dunne / 1 0 / 5
The confusing nomenclature of Nike Flyknit sneakers continues with this pair of the Nike Lunar Flyknit 1+. Mind you this model isn't quite the same as the Nike Flyknit Lunar 1+, ...Read More
Nike Flyknit Lunar1+ – Green – Blue – Black
December 9, 2013 BY Brendan Dunne / 0 0 / 5
Alright so the allure of the multi-color Flyknits has died down just a little bit, but there's no doubt that they're still among the more coveted of releases for that categ...Read More
Nike Flyknit Lunar1+ – Team Orange – Laser Orange – Sail
October 17, 2013 BY Aaron Hope / 0 0 / 5
Its sequel has been seen for the first time this week, but that won't stop the Nike Flyknit Lunar1+ from coming through with more new styles. This one is a great drop for this ti...Read More
Nike WMNS Flyknit Lunar1+ Pink Flash – Raspberry Red
October 6, 2013 BY John Kim / 0 1 / 5
The Nike WMNS Flyknit Lunar1+ released this July in a Club Pink colorway that added even more energy with Electric Green accents. Here's another pink ladies Flyknit Lunar One, ...Read More
Supreme x Nike Flyknit Lunar1+ – Release Reminder
October 2, 2013 BY Brendan Dunne / 6 0 / 5
The Supreme x Nike Flyknit Lunar1+ will release on October 3rd, 2013. Almost as surprising as the Supreme/Nike Running team up is how well they've been able to keep a lid on it-c...Read More
Nike Flyknit Lunar1+ – White – Black – Dark Grey – Volt
October 2, 2013 BY Aaron Hope / 0 0 / 5
Supreme's collaboration isn't the only new Nike Flyknit Lunar1+ arriving at retailers this week. Here we see one of the styles that dropped in Japan in late September arr...Read More
October 2013 Sneaker Releases
October 1, 2013 BY Brendan Dunne / 12 c 0 / 5
October is here, which means it's time for Sneaker News to tell you about all the sneakers releasing this month. The month is a big one in terms of signature sneakers, as Derrick...Read More
Nike Sportswear November 2013 Preview
September 30, 2013 BY Brendan Dunne / 3 0 / 5
Even though we're still a few hours away from the month of October, we're sure you won't mind looking all the way ahead to November for a little sneaker preview, righ...Read More
Nike WMNS Flyknit Lunar1+ – White – Green Glow – Dark Grey – Black
September 30, 2013 BY Brendan Dunne / 1 0 / 5
The Nike Flyknit Lunar1+ is set to be the first of silhouettes from that category to get outfitted with a collab colorway. We're speaking of this week's Supreme release, on...Read More
Nike Flyknit Lunar1+ – Tarp Green – Volt – Sail
September 30, 2013 BY Aaron Hope / 0 0 / 5
It has appeared in a variety of color combinations and now the Nike Flyknit Lunar1+ drops in a colorway that's become one of Nike Sportswear's fall favorites. Earthy browns...Read More


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At an exclusive event in October
2014, Mark Hurd, new CEO of Oracle, spoke to Silicon Valley Bank CEO Greg Becker and an audience of CEOs about
leadership and the innovation sector.
At an exclusive CEO event
in Seattle in September 2014, Steve Ballmer, the legendary Microsoft CEO-turned-NBA
team owner spoke to Silicon Valley
Bank CEO Greg Becker and an audience of Seattle-based CEOs about leadership.
Valley Bank CEO, Greg Becker, describes U.S.-China
diplomatic relations from his seat at the 2014 U.S.-China Strategic and
Economic Dialogue in Beijing.
At an exclusive CEO event in Santa Monica, Warner Bros. Records
and Warner/Chappell Music Chairman & CEO
Cameron Strang talks to Silicon Valley Bank CEO Greg Becker about current trends
in the music industry, the impact tech has had on the industry, and his views
on the most effective leadership styles.
The Silicon Valley Bank network, extended through the teams in our local offices around the country, is making it possible for me to sit down with client CEOs and some fascinating guest speakers as part of our 30 for 30 CEO events* this year. Last week I had the opportunity to speak with Mayor Rahm Emanuel and CIO Brenna Berman of the City of Chicago, and meet about two dozen CEOs from the Chicago area.
Contact Client Services for help with any SVB product or service.
Hours of Operation: 5:00 a.m. - 5:30 p.m. Pacific Time (Monday - Friday)
1.800.774.7390 1.408.654.4636 email@example.com


text:
Welcome to the Town of Barnet
Barnet is a small Connecticut River town chartered in 1763 and settled between 1770 and 1773. Its five villages are Barnet Village, East Barnet, West Barnet, McIndoe Falls, and Passumpsic.
Town news & announcements:
Selectboard Meeting re-scheduled. The regular Selectboard meeting scheduled for Monday, November 24th has been cancelled. A special Selectboard meeting to conduct business previously scheduled for the the regular meeting will be held Monday, December 1st at 7:00 p.m. at the Town Clerk's Office.
Barnet Justice of the Peace Election Results – November 4, 2014 General Election
Justice of the Peace Election Results (PDF File)
Town Clerk's Office Closures
The Town Clerk's Office will be closed on the following up-coming dates:
- Thursday, November 27, 2014 – Thanksgiving Day
- Friday, November 28, 2014
- Wednesday, December 24, 2014 – Christmas Eve – Closing at Noon
- Thursday, December 25, 2014 – Christmas Day
- Wednesday, December 31, 2014 – New Year's Eve – Closing at Noon
- Thursday, January 1, 2015 – New Year's Day
Now Available for Download:
2013 Town Report (PDF File)
2013 Town Report (Zip File)
2012 Town Report (PDF File)
2012 Town Report (Zip File)
2011 Flooding Report (PDF File)
2011 Flooding Report (Zip File)


text:
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Big Gay Blog!
Gay teenagers and suicide: does it get better?
Gay youth are four times as likely as their straight counterparts to commit suicide. How can society reverse this horrible statistic?
Morris Chapdelaine
Jan 16th, 2012
Thousands of gay marriages from Canada may not be legal
The Canadian government is arguing that thousands of same-sex couples who travelled to Canada to get married are not legally wed, according to The Globe and Mail. The government is contending...
Jenny Uechi
Jan 12th, 2012
The Holiday Homo
How to host the perfect party in six simple steps.
Morris Chapdelaine
Dec 2nd, 2011
Queer Culture Awards Show tonight at the Cobalt
Vancouver queer culture and history celebrated tonight at the Cobalt
Morris Chapdelaine
Nov 3rd, 2011
Queer Film Festival kicks off in Vancouver
Vancouver's second largest film festival kicks off tonight with a gala party and screening of the German film, 'To Fero'. Everything gets going at 5:15 p.m. at Granville 7 Cinemas with a special...
Morris Chapdelaine
Aug 11th, 2011
Vancouver Pride Parade gears toward future
With the 2011 Pride Parade successfully wrapped up, Vancouver Pride Society president Ken Coolen talks about this year's parade and what to expect in the upcoming year.
Jenny Uechi
Aug 2nd, 2011
Gay Pride Week gets colourful kick-off at City Hall
Pride Week and 2011 North American Outgames launched at City Hall at noon, celebrating Pride Parade's 33rd anniversary. In support of the event, Mayor Gregor Robertson, Councillors, VIP guests, flag...
Anja Konjicanin
Jul 25th, 2011
How to get the most out of Pride Week in Vancouver
Where the heck have I been for the last eight weeks? On a North American Gay Pride Tour if you must know. I often get asked how I end up getting to go to all these colorful events around the world...
Morris Chapdelaine
Jul 25th, 2011
Qmunity presents International Day Against Homophobia in Vancouver
May 17th marks the official International Day Against Homophobia. The event, conceived in Canada, is set to become a vital day of importance for many nations including Russia, France, the UK,...
Morris Chapdelaine
May 16th, 2011
A play about a gay hate crime and murder to debut in Vancouver
Locally produced play, My Funny Valentine, examines the tragic murder of gay teen. Do you happen to remember the murder of a young 15 year old boy by the name of Lawrence King? It is a story...
Morris Chapdelaine
Apr 12th, 2011
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Black Friday Sale: Save on MBT, Boots, Baggallini & more! — SHOP NOW —
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Awake your inner Greek goddess when you stroll about in a pair of Cymbal sandals by Naot. The elegant gold leather style and trendy modern design make these summertime shoes the perfect complement to all your favorite dresses and feminine outfits. Not only are they stylish, these Naot sandals are also incredibly supportive – perfect for those who suffer from the aches and pains associated with plantar fasciitis. Though the arch support is a little less pronounced than other Naot models, the Cymbals still help evenly distribute weight and improve balance control! Check out these Israeli-made footwear now.
Naot Cymbal Grecian Gold Leather Women's Sandal
Features include:
This Style is part of the Allegro collection
This Style has a medium to wide fit
This Style is uses the FB08-ALG replacement footbed
As always Naot have come up with the comfort and style we love. The arch support and all around comfort is great.
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Assemblyman Brian Curran (Lynbrook – 14th AD) is calling on the Assembly Majority to bring property tax cap legislation to the floor for a vote.
Under the current tax system, Nassau County residents are paying, on average, more than $8,478 in annual property taxes. "Families will not be able to afford living on Long Island much longer," Curran said. "Property taxpayers need relief now. A cap of 2 percent will generate funding for localities while preventing the huge increases of the past from being imposed on homeowners."
In a recent Siena poll, property taxes were rated the top statewide concern among New York State residents. On Long Island, 60 percent of property taxes go directly to school funding.
"It's important that we not forget about our local businesses," Curran said. "With property taxes representing 34 percent of the taxes small businesses pay, it's not hard to understand why there are empty stores and warehouses. We are driving jobs out of Nassau County by imposing such oppressive taxes on our small-business owners."
Passage of a property tax cap will open the discussion for bringing meaningful and long overdue relief to school districts and local governments currently being forced to increase their tax levies in order to pay for state-mandated programs over which they have no control.
"The New York City-dominated Assembly Majority is completely ignoring any measure to bring much-needed tax relief to homeowners throughout New York State," Curran said. "If this property tax relief measure is passed, the momentum will be on our side to push for meaningful mandate relief. Enacting major mandate relief will, in turn, make property tax reform easier on local schools and government."
- Curran Honors NYS Ancient Order Of Hibernians' Presidents
- Curran Calls On Legislature To Override Gov's Veto On Vets Benefit Bill
- Curran To Honor Women Of Distinction From The 21st Assembly District
- Curran And Nassau County Exec. Mangano To 'Light The Dome' To Battle Children's Cancer
- Curran & Mangano Take The ALS Ice Bucket Challenge


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Things to see and do - Venice
Leaving for Italy
Querini Stampalia Foundation :
Nearby tourist sites
Nearby hotels
Best Western Albergo San Marco from90 €Book
Royal San Marco from96 €Book
San Marco Palace from184 €Book
Things to do nearby
Murano, Burano and Torcello Half-Day Sightseeing Tour
- 17 €
- Book
Venice Walking Tour and Gondola Ride
- 45 €
- Book
Dolomite Mountains Small Group Day Trip from Venice
- 122 €
- Book
Nearby Restaurants
Il Ridotto
Cotation :
Type de cuisine : modern
L' Osteria di Santa Marina
Cotation :
Type de cuisine : innovative
Terrazza Danieli
Cotation :
Type de cuisine : Italian
Querini Stampalia Foundation
Querini Stampalia Foundation : Michelin's recommendations
Established in 1868 by Count Giovanni Querini Stampalia, the foundation has a library, temporary exhibition space, an auditorium and a museum. Retaining its 17C-18C ambience, the residential part has a collection of Venetian pictures from the 14C to the 20C: Palma the Elder (Francesco Querini and Paola Priuli Querini), Giambattista Tiepolo (portrait of a Procurator), Giovanni Bellini ( Presentation in the Temple) and Pietro Longhi (religious and hunting scenes).
Useful Information
- Address : Santa Maria Formosa I - 30123 Venezia30123Venezia
- Phone : 0412711411
- E-mail : email@example.com
- Website : http://www.querinistampalia.it
- Prices : 10 €
Opening hours :
- daily except Mon 10am-6pm
Read also our reports on: Querini Stampalia Foundation


text:
The fall of Arizona's same-sex marriage ban on Oct. 17 stirred the question of whether the social change was driven by activist courts or reasoned judges who were simply following precedent.Read More »
Yearly Archives: 2014
APS' view: Expanding the solar market in Arizona
At APS we are always planning for what's next in Arizona's energy future, and much of this focus has been on making sure energy in this state is sustainable for the long term. Our customers tell us they want more opportunities for rooftop solar, and we've listened and proposed a program that will bring more solar energy to the state.Read More »
Why APS' proposed use of ratepayer dollars to monopolize solar market is wrong
Libertarians are not particularly fond of regulated monopolies. We favor free markets. We disagree with regulated monopolies using captive ratepayer dollars to inhibit individual choice.Read More »
The return of SB1062? Gay marriage ruling likely to renew push for 'religious liberty' protections
With marriage licenses being issued to gay couples across the state, Republican lawmakers are already talking about ways to protect religious organizations and businesses from being forced to participate in gay marriages. And SB1062 is back on the forefront of some minds.Read More »
Capitol Quotes: October 24, 2014
This week's most outstanding quips, gibes and utterances from Arizona's political scene.Read More »
AZ voters to decide whether lawmakers get first raise since 1998
In November, voters will decide whether to increase lawmakers' salaries to $35,000 a year from $24,000, based on a recommendation from the Commission on Salaries for Elective State Officers. It would be the first raise for state lawmakers since voters approved one in 1998.Read More »
State asks judge to toss challenge to 'revenge porn' law
Attorneys for the state are asking a federal judge to throw out a challenge to the state's new "revenge porn" law. Assistant Attorney General David Weinzweig is arguing there is no legal basis for the lawsuit. He said the state ...Read More »
McNeil firing followed EEOC complaint on racial, gender comments
One day before Gov. Jan Brewer fired Arizona Department of Administration Brian McNeil, the Governor's Office received a complaint filed against him with the Equal Employment Opportunity Commission alleging that he'd created a hostile work environment by making inappropriate comments about an employee's ethnicity and gender.Read More »
Attorney general challenges city election ruling
The Attorney General's Office is asking the Arizona Supreme Court to review a lower court's opinion invalidating a 2012 law that requires city elections to be held in even-numbered years.Read More »
Navajo Nation Council passes emergency language requirement repeal
Shortly after midnight last night, the Navajo Nation Council voted to scrap the longstanding requirement for the tribe's president to be fluent in the Navajo Language. The eleventh-hour vote, approved 11-10 with one abstaining, clears a path for Chris Deschene to remain on the ballot. His qualifications had been challenged over his admittedly limited ability in speaking the Navajo language.Read More »