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Sensorless methods for brushless DC motor with trapezoidal back EMF--a survey.
Brushless DC Motor (BLDCM) has several inherent advantages: such as excellent performance of speed-control, high power density and efficiency etc. For these reasons, it is widely applied in the small and medium power fields. To fulfill its electric commutation and speed control, often needs to install mechanical sensor on the rotor shaft to detect the rotor position and speed. This mechanical sensor gives the information of the rotor position, which the control system needed, but it gives rise to some questions, too. 1)The mechanical senor increases the rotary inertia of the rotor shaft, as well as the dimension of the electric motor. 2)The mechanical sensor is easily affected by temperature, humidity and vibration, which limits its applied range. 3) The mechanical sensor increases the cost of the speed control. In order to resolve these questions, the research of the sensorless control will be a new development way. The goal of such method is to estimate the rotor position using the power leads of the machines, and the information distinguishable technology without mechanical sensor. This detected information is then used for motor control. There are numerous publications on methods to detect rotor position without sensor. This paper provides a review of sensorless methods for brushless DC motor with trapezoidal back emf on analytical and qualitative basis.
Sensorless Review
Many reviews of sensorless operation of AC drives have been seen in the literature [1,18,27,32,53]. Of publications presently available in IEEE and IEE conference proceedings and transactions, past sensorless techniques have been grouped into five categories:
(1) those using measured currents, voltages, fundamental machine equations, and algebraic manipulations,
(2) those using observers,
(3) those using back-emf methods,
(4) sensorless starting techniques, and
(5) those with novel techniques
Methods Using Measurables
The first type above consists of three sub-types, 1. those using the voltages and currents to calculate flux linkages, 2. those using the difference between a model's prediction of a voltage or current and the actual value, and 3. those using the machine equations, measurables, known machine parameters, and algebraic manipulations to calculate position and speed. The first sub-type is seen in [1,2,21,26,34,40,49,64]. The voltage equation of the machine, V = RI + d[PSI]/dt
V is the voltage vector,
I is the current vector,
R is the resistance matrix, and
[PSI] is the flux linkage vector.
This equation is then manipulated to obtain,
Knowing the initial position, machine parameters, and the relationship of flux linkage to rotor position, the rotor position is estimated. Determining the rate of change of the flux linkage from the integration results, the speed is determined [34]. A variation includes using the previous position data and polynomial fitting, extrapolating to obtain the next step position prediction [21]. An advantage of the flux-calculating method, as shown in [34] is that line-line voltages may be used in the calculations and thus no motor neutral is required. Others, have combined the flux calculating method with advanced control strategies such as a state observer to compute the speed feedback signal [2], an adaptive control [26], and [H.sup.2] and [H.sup.[infinity]] controls [40].
The second sub-type was published primarily by one author, N. Matsui, in [17,20,39,45,70]. Using a d-q model of the machine, the actual dq transformed currents and voltages, and those on a hypothetical axis offset from the dq axis by a small angle [DELTA][theta], the output voltages of the model, on the hypothetical axis, and those on the actual dq axis were compared. The differences between the calculated voltages of the hypothetical axis considering [DELTA][theta] = 0, and the actual dq axis voltages on the hypothetical axis,
[DELTA]V = [V.sub.dq] - [V.sub.hypothetic_dq = [K.sub.E][theta]Sin([DELTA][theta])
yielded [DELTA][theta], the actual change in rotor position from the previously known position as with [DELTA][theta] [approximately equal to] 0, [DELTA][theta] [varies] [DELTA]V.
The third sub-type uses machine parameters and equations, measurables, and algebraic equation, reference frame theory and transformations to calculate position and speed [25]. Initially the measured voltages and currents are transformed to rotor and stator d-q reference frames. Relations between stator and rotor reference frames, denoted with superscripts s and r, respectively, are
[V.sup.r.sub.q] = [V.sup.s.sub.q]Cos[[theta].sub.r] - [V.sup.s.sub.d]Sin[[theta].sub.r]
[V.sup.r.sub.d] = [V.sup.s.sub.q]Sin[[theta].sub.r] + [V.sup.s.sub.d]Cos[[theta].sub.r]
[i.sup.r.sub.q] = [i.sup.s.sub.q]Cos[[theta].sub.r] - [i.sup.s.sub.d]Sin[[theta].sub.r]
[i.sup.r.sub.d] = [i.sup.s.sub.q]Sin[[theta].sub.r] - [i.sup.s.sub.d]Cos[[theta].sub.r]
These relations allow the substitution of stator reference frame quantities in the rotor reference frame voltage equations. Once the substitutions are made and the equations relating rotor and stator reference frames are totally in terms of stator variables. In the stator frame, abc frame equivalents are substituted in these equations, which are then manipulated to yield rotor angle. Knowing that the machine is non-salient, the equivalent rotor flux, and manipulating the same equations, the rotor speed is also determined. The final equations for position and speed are as follows:
as defined in [20]. Variations of this are found in [20,23,31,42,43].
Methods Using Observers
The second type listed above determines rotor position and/or speed using observers. The Kalman filter is used as a position estimator in [12,13,14,28,46,50]. One of the earliest of these was by M. Schroedl in 1988. Utilizing various methods of measuring system voltages and currents rough estimates of the angular rotor position were produced. Kalman filtering added refinement to the first estimates of position and speed. For additional information on Kalman filtering see [73], and those papers listed. Other observer based systems include those using non-linear [29.36,41], full-order [2,33,38], disturbance[1,5,39], reduced order [24,41] and sliding mode observers [3,16,47,48]. Observer theory can be found in many texts and papers. The fundamental idea of the basic full-order state observer was developed by David Luenberger of Stanford University in 1964 [73]. Observers takes, the outputs and inputs of the actual system. Naturally, the state of the system is produced as the output. The observer produced state is then fed back into the system as would be the actually measured variables. Specific rules apply for the various types of observers. The interested reader is referred to [73]. An example of a single output observer, from [73], is as follows:
Consider the discrete time state-space form of a single output system,
x[k + 1] = Ax[k] + Bu[k]
y[k] = Cx[k] + Du[k]
which must be completely observable [73].
Next, a modal matrix must be determined for the system. A good reference to obtain the knowledge of this procedure is given in [74]. Using the modal matrix, P, the system is transformed into an observable form:
x[k] = Px'[k] = [Q.sup.-1]x '[k]
x'[k] = [P.sup.-1]x[k] = Qx[k]
x'[k + 1] = A'x'[k] + B'u[k]
y[k] = [C'.sup.T] x'[k] + [D.sup.T]u[k]
Where A' = [QAQ.sup.-1]
[C'.sup.T] = [C.sup.T][Q.sup.-1]
Next, the full-order observer is designed using the designers choice of eigenvalues. The eigenvalues are usually chosen to be slightly faster (of a larger negative value) than those of the actual system so the state estimate error approaches zero as time approaches infinity. If the observer eigenvalues are chosen to be an order of magnitude larger, or more, than the actual system's, then the estimated values will converge to the actual values within a sufficiently short time [24]. The observer takes the form
[zeta]'[k + 1] = F'[zeta]'[k] + g'y[k] + H'u[k]
F' = A' - g'[C'.sup.T]
H' = B' - g'[d.sup.T]
with the observer output equation
w[k] = P[zeta][k] = [Q.sup.-1][zeta]'[k]
which allows the transformations
[zeta][k] = P[zeta]'[k] = [Q.sup.-1][zeta]'[k]
[zeta]'[k] = [P.sup.-1][zeta][k] = Q[zeta][k]
which gives
[zeta][k + 1] = F[zeta][k] + gy[k] + Hu[k]
g = [Q.sup.-1]g
which is a full-order observer in x[k], meaning that [zeta][k] converges to x[k].
Disturbance observers implemented in the cited papers, were reduced-order observers used with system states which were assumed quasi-static (fast sampling and calculating times). The slight variations of the state variables from one sampling to the next is termed a disturbance, which results in observations of small changes in rotor position angles. Reduced-order observers depend on some of the system outputs being linear transformations of the system states. By coupling some of the system states to the output of the observers through linear transformations (or actual measurements if the states are readily available for measurement), only the states of interest need be estimated by the lower-order observer. This reduces the computational burden of the observer [41]. In [1,5,24], reduced-order observers estimate the back-emf which is used to obtain rotor position and speed. In [41], the rotor position and speed are estimated, as the outputs of a non-linear reduced-order observer. Sliding-mode observers, offspring of sliding-mode control, utilize a varying switching function in order to confine the state estimation error to move toward zero on a phase-plane sliding surface [3]. In [16] and [47], the sliding-mode observers were based on the observation of d-q transformed stator currents. From the resulting current estimations, the back-emfs were estimated, producing speed and position estimates. In [48], the full-order system model was utilized and a reduced-order sliding-mode observer designed. In [3], a full-order sliding-mode observer was described, and modifications were made in order to overcome chattering problems, inherent in sliding-mode systems. In general, the sliding mode system starts with the state-space system [3,16,47,48]
[??] = f(X,U)
where the usual definitions are made. In BLDC systems (usually considering the PMSM or the fundamental of the trapezoidal BLDC), X consists of the d-q transformed stator currents, speed, and position, i.e. [[i.sub.d], [i.sub.q], [omega], [theta]] or just the currents, as previously stated. The state observer takes the same form with the addition of a term containing the sign of the estimation errors:
where, [??] = f([??],U) - K.sgn(S)
the hat symbol denotes estimated values,
K is the variable gain matrix,
Sgn(X) = {1 X[greater than or equal to]0 -1 x < 0}, and
S is the vector of state estimation errors, i.e. [[[[??].sub.1] - [x.sub.1], [[??].sub.2] - [x.sub.2],....., [[??].sub.n] - [x.sub.n]].sup.T], where n is the observer order, and the superscript T denotes a transpose operation. In order for the observer to operate in the sliding-mode, the following condition must be met:
1/2 d/dt [S.sup.T]S < 0
Defining [??] - x = e, where e is the state estimation error, the general error model and dynamics are described by
[??] = f'(e,U) + K.sgn(e)
where f' is the system representing the difference
f([??], U) - f(x,U)
and disturbances due to parameter variations have been neglected. Now, in order for convergence, K must be continuously selected to insure that
[[??].sup.T]e < 0, 1/2 d/dt [S.sup.T]S = [[??].sup.T]e
Methods Using Back-Emf Sensing
Terminal Voltage Sensing
In field-oriented operation of the BLDC, phase back-emf is aligned with phase current. Switching instants of the converter can be obtained by knowing the zero-crossing of the back-emf and a speed-dependent period of time delay [75]. The BLDC motor has a trapezoidal flux density distribution in the air-gap, and thus the induced back-emf in the stator windings is trapezoidal. Monitoring the phase back-emf when the particular phase current is zero (the silent phase), the zero crossing is detected. Low pass filters are used to eliminate higher harmonics in the terminal voltages. The zero-crossing instants are decoded and appropriately time-shifted to produce switching patterns.
Since back-emf is zero at rest and proportional to speed, the terminal voltage sensing method is not possible at low speeds. As the speed increases, the average terminal voltage increases, and the frequency of excitation increases. Capacitive reactance in the filters varies with the frequency of excitation, introducing a speed-dependent delay in switching instants, which disturbs current alignment with the back-emf and field orientation thus, causes problems at higher speeds. With this method, a reduced speed operating range is normally used, typically around 1000-6000 rpm.
Another method which similarly has a narrow speed range is a method using phase-locked loop circuitry. The phase-locked loop has a narrow speed range due to the capabilities of the phase detector, and is sensitive to switching noise. This method, provides gating signals much like hall-effect sensor outputs by using a phase-locked loop circuit which locks onto the back emf of the inactive phase during every 60[degrees] period.
Third Harmonic Back-emf Sensing
The third harmonic of the back-emf can be used in determination of the switching instants in the wye connected 120[degrees] current conduction operating mode of the BLDC motor [37]. This method is not as sensitive to phase delay as the zero-crossing method, as the frequency to be filtered is three times as high. The reactance of the filter capacitor in this case dominates the phase angle output of the filter more so than with the lower frequency. On the other hand, greater than 2/3 stator winding pole pitch is required. Provided that this condition is satisfied, the third harmonic of the rotor flux can link the stator winding and induces a third harmonic voltage component which can be detected between the motor neutral and the negative inverter bus terminal. The terminal voltage equation of the BLDC motor for phase a can be expressed as
[v.sub.a] = [Ri.sub.a] + [L.sub.s] [di.sub.a]/dt + [e.sub.a]
Back-emf voltage, ea, is comprised of many voltage harmonic components,
[e.sub.a] = E(cos[[omega].sub.e]t + [k.sub.3]cos3[[omega].sub.e]t + [k.sub.5]cos5[[omega].sub.e]t + [k.sub.7]cos7[[omega].sub.e]t + ...)
The third harmonic of the terminal voltages is acquired by the summation of the terminal voltages.
[V.sub.as] + [V.sub.bs] + [V.sub.cs] = 3[Ek.sub.3]cos3[[omega].sub.e]t + [V.sub.high freq.]
= [V.sub.3] + [V.sub.high freq.]
The summed terminal voltages contains only the third and the multiples of the third harmonic due to the fact that only zero sequence current components can flow through the motor neutral. This voltage is dominated by the third harmonic, which does not necessitate much filtering. To obtain switching instants, the filtered voltage signal which provides the third harmonic voltage component is integrated to find the third harmonic flux linkage.
[[lambda].sub.r3] = [integral] [v.sub.3]dt
The third harmonic flux linkage lags the third harmonic of the phase back-emf voltages by 30 degree. The zero crossings of the third harmonic of the flux linkage corresponds to the commutation instants of the BLDC motor. To acquire correct commutation instants, sensing the positive or negative going zero-crossing of the back-emf is essential.
The third harmonic method provides a wider speed range (100-6000 rpm) than the zero-crossing method, does not introduce as much phase delay as the zero-crossing method and requires less filtering.
Freewheeling Diode Conduction
This method uses indirect sensing of the zero crossing of the phase back-emf to obtain the switching instants of the BLDC motor [65]. In the 120 degree conducting wye-connected BLDC motor, one of the phases is always open-circuited. For a short period after opening the phase, there remains phase current flowing, via a free-wheeling diode. This open phase current becomes zero in the middle of the commutation interval, which corresponds to the point where back-emf of the open phase crosses zero. The biggest drawback of this method is the requirement of six additional isolated power supplies for the comparator circuitry for each free-wheeling diode.
By this technique, (45-2300) rpm sensorless operation has been achieved. This technique outperforms the previously mentioned back-emf methods at low-speeds.
Back-emf Integration
In this method position information is extracted by integrating the back-emf of the unexcited phase [30,52,66,69]. The integration is based on the absolute value of the open phase's back-emf. Integration of the back-emf starts when the open phase's back-emf crosses zero. A threshold is set to stop the integration which corresponds to a commutation instant. As the back-emf is assumed to vary linearly from positive to negative (trapezoidal back-emf assumed), and this linear slope is assumed speed-insensitive, the threshold voltage is kept constant throughout the speed range. If desired. Current advance can be implemented by changing the threshold. Once the integrated value reaches the threshold voltage, a reset signal is asserted to zero the integrator output. To prevent the integrator from starting to integrate again, the reset signal is kept on long enough to insure that the integrator does not start until the residual current in the open phase has passed a zero-crossing. This type of control algorithm has been implemented commercially. The integration approach is less sensitive to switching noise, automatically adjusts to speed changes, but the low speed operation is poor. With this type of sensorless operation scheme, up to 3600 rpm has been reported [69].
Starting Techniques
To operate a BLDC without a rotor position sensor, requires some method of starting the motor. Published startup methods have belonged to one of five general types: 1) open-loop, 2) with known initial position, 3) using a machine interrogation and signal processing, 4) using computationally complex methods, and 5) those relying on a winding inductance which varies with rotor position due to saliency.
Open-loop Starting
Open-loop [29,65,69] starting the motor is accomplished by providing a rotating stator field which increases gradually in magnitude and/or frequency. Once the rotor field begins to become attracted to the stator field enough to overcome friction and inertia, the rotor begins to turn and the motor acts as a permanent magnet synchronous machine. This type of system may be satisfactory in certain applications, i.e. pump and fan drives. The disadvantage of this method is that the initial rotor movement direction is not predictable. When the stator field becomes just strong enough, the rotor could move in either direction. If then the speed of the stator field is slow enough, and the load torque demanded does not exceed the pull-out torque, the motor will operate synchronously in the desired direction. Initial direction in certain applications such as disk drives strictly require unidirectional motion, and thus this method is inadequate. Another problem exists if the stator field is rotating at too great a speed when the rotor field picks up. This causes the rotor to oscillate, requiring the stator field to decrease in frequency to allow starting.
Starting Methods Using a Known Initial Position
Methods which require a known position [1,48,64,72] to start the motor suffer from an additional constraint, e.g. a detent in which the rotor always freely stops, or a stopping circuit (and initial positioning) which always provides an initial position for the next movement. A simple way of setting an initial position is to excite one phase to cause the rotor to shift and lock into position.
Interrogation Techniques for Starting
Machine interrogation techniques [7,8,35,70] offer an excellent solution for drives where absolute position information is needed at startup. In these techniques, initial rotational direction is controlled. Saliency of the interrogated machine enhances the ability to detect rotor position. Usually voltage pulses are imposed on the machine terminals while monitoring the current peak or level after a time duration from the start of the pulse, often a period approximately equal to the electrical time constant of the windings. The flux of the permanent magnet, either aids or opposes the flux due to the pulse and the current level indicates their interaction. Possibilities include using the sign of the difference in the current levels providing a sign vector which is compared to values in a lookup table to obtain position information [7,8,32]. Alternatively, interrogation of the phase combinations with a salient machine using short (non-saturating) and long (saturating) pulses has been reported [35,70].
Control System Techniques for Starting
In [28], a Kalman filter estimates rotor position from measured voltages and currents. The machine equations of non-sinusoidal waveforms are in a d-q stator reference frame. At zero-speed the voltages and currents are zero and the Kalman filter alone cannot provide rotor position information. By injecting a d-axis current this condition is overcome and position information at standstill is obtained.
Starting Using Machine Inductance Saliency
Saliency in permanent magnet machines is usually present due to the use of interior permanent magnet (PM) machine design. The interior PM allows a shorter air gap which increases the flux intensity on the stator due to the rotor. A thin bridge which usually separates the magnet from the gap is often saturated during normal operation, increasing the reluctance of the radial area where the magnets ([mu] = 1) already exist. This allows a varying inductance profile for the motor which depends on rotor position. Sensorless operations utilizing the relationships between voltage pulses, current amplitudes, rate of current rises, etc. have often been used in switched reluctance and synchronous reluctance motor drives [54-69] where saliency is inherent, and are applicable in interior PM BLDC drives as well.
I.C.s for Sensorless BLDC Control
In the past there have been several integrated circuits which enabled sensorless operation of the BLDC. These included Unitrode's UC3646, Microlinear's ML4425, and Silicon Systems, Inc. 32M595. Each of these used back-emf methods and open-loop starting.
Unique Sensorless Techniques
The following sensorless methods are unique. These range from artificial intelligence methods to variations in the machine structure. There are few which fall into this class, and therefore each is briefly discussed.
A back propagation neural network (BPN) was trained to provide a non-linear mapping between measured voltages and currents, and rotor position [6]. This rotor position was then used with the equations of section 2.1. to calculate the flux linkage vector. This vector was compared to the estimated flux linkage vector using the equations of section 2.3.1. and the measured voltages and currents. The difference was used as the error which was back propagated to modify the BPN weights. An initial flux linkage vector (initial rotor position) was required to be known a priori.
A paper using fuzzy logic [76], proposed two fuzzy logic sub-systems. Using the conventional equations consisting of phase voltages and currents, the rotor position was calculated. With the knowledge of the relationships between these measurables and the rotor position, a fuzzy Mamdami type system was developed to produce rotor position estimates. It was noted that this could as easily been accomplished with lookup tables, however, for the desired resolution the size of the lookup tables becomes unmanageably large. The second fuzzy system used took as input the estimated rotor position and produced reference current values for two different drive strategies: unity power factor, and maximum torque per amp.
In [15], a sensorless method was developed using the calculation of flux linkage by integrating the back-emf. The motor was at the end of a 10 km cable. A difficulty in this sensorless method was that the back-emf had high-frequency oscillations superimposed on the voltage waveforms at points of current commutations. This was overcome by integrating the back-emf over the whole 60[degrees] silent phase period which produced pulses with amplitudes proportional to the speed and at positions where the peak of the pulses was 30[degrees] prior to a commutation instant.
Solutions to sensorless operation of BLDC by means of alterations in machine design were shown in [68,71]. In [68], an additional stator lamination with equally spaced slots around the periphery was added to the machine. Each of the equally spaced slots contained a small sensing coil. The local magnetic circuit variations for each of the sensing coils is effected by the permanent magnet rotor's position. A 20 kHz signal was injected through the coils, and the signal distortions were analyzed at the terminals of the sensing coils. The second harmonic detected provided position information. An artificial saliency was created in [71], by attaching small pieces of aluminum to the surface of the permanent magnets allowing eddy currents to flow (in the aluminum). The flow of eddy currents in the aluminum acted to increase the reluctance of the magnetic circuits creating saliency.
Two papers describe sensorless methods which rely on irregularities in the measurables [54,67]. These methods utilize small deviations, or inherent properties of the shapes of the current waveforms to obtain position information or enable a control which tends to provide a phase current/phase back-emf alignment. The method in [67] considers the shape of the D.C. bus current. The authors show that the shape of the D.C. bus current varies depending on the alignment of the phase current and phase back-emf. A clear difference in the distortion patterns is seen between a leading, aligned, and lagging operation. The method of control is to count the number of samples on a consecutive rising and falling half-cycle of the 6-pulse D.C. current ripple. When these are equal, the machine is operating at unity internal power factor. When unaligned, the difference in the rising and falling counts is used as a multiplier in the D.C. link voltage incremental update. The machine is operated as a synchronous machine with this control effort to maintain phase current/back-emf alignment.
The second method, in [54], works on the principle of machine saliency. In this paper, the crest of the current waveform, which is controlled by hysteresis chopping, is the medium of rotor position information gathering. The elementary equations of the rise and fall of current in the hysteresis waveform were examined. In these equations, it is easily seen that there is a dependency on the instantaneous inductance, as well as other machine parameters. Utilizing a fast sampling and these equations, while considering the other machine and drive parameters constant, and with measured current and voltages, the instantaneous inductance, and thus position is determined. This is possible only if the machine has inductance saliency.
In this paper, a review of prior work in rotor position sensorless methods for brushless dc motor with trapezoidal back emf has been presented. The basis of these techniques has been presented in an effort to provide a reference for utilizing these methods.
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[28] B.J. Brunsbach, G. Henneberger, and T. Klepseh, "Position Controlled Permanent Magnet Excited Synchronous Motor without Mechanical Sensors", IEE Conf. on Power Electronics and Applications, vol. 6, pp.38-43, 1993.
[29] K. R. Shouse and D. G. Taylor, "Sensorless Velocity Control of Permanent Magnet Synchronous Motors", Proc. of the 33rd Conf. on Decision and Control, pp. 1844-1849, December 1994.
[30] T. M. Jahns, R. C. Becerra, and M. Ehsani, "Integrated Current Regulation for a Brushless ECM Drive", IEEE Trans. on Power Electronics, Vol. 6, pp. 118126, January 1991.
[31] P. Schrmdt, M. Gasperi, G. Ray, and A. H. Wijenayake, "Initial Rotor Angle Detection of a Non-Salient Pole Permanent Magnet Synchronous Machine", Conf. Proc. of the IEEE Industry Application Society Annual Meeting , 1997.
[32] K. Ohnishi, N. Matsui, and Y. Hori, "Estimation, Identification, and Sensorless Control in Motion Control System", Proc. of the IEEE, Vol. 82, pp. 1253-1265, August 1994.
[33] R. B. Sepe, and J. H. Lang, "Real Time Observer-Based (Adaptive) Control of a Permanent Magnet Synchronous Motor without Mechanical Sensors", IEEE Trans. on Industry applications, Vol. 28, pp. 3345-1352, November/December 1992.
[34] R. Wu and G. R. Slemon, "A Permanent Magnet Motor Drive without a Shaft Sensor", IEEE Trans. on Industry Application, Vol. 21, pp. 1005-1011, September/October 1991.
[35] N. Matsui and T. Takeshita, "A Novel Starling Method of Sensorless Salient-Pole Brushless Motor", Conf. Record of the 1991 IEEE IAS Annual Meeting, Vol. 1, pp. 386-392, October 1994.
[36] J. Hu, D. M. Dawson, and K. Anderson, "Position Control of a Brushless DC Motor without Velocity Measurements", IEE Proc. on Electronic Power Applications, Vol. 142, pp. 113-119, March 1995.
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[42] J. Oyma, T. Abe, T. Higuchi, E. Yamada, and K. Shibahara, "Sensorless Control of a Half Wave Rectified Brushless Synchronous Motor", Conf. Record of the 1995 IEEE Industry Applications Conf. Vol. 1, pp. 69-74, 1995.
[43] J. S Kim and S. K. Sul, .'New Approach for High Performance PMSM Drives without Rotational Position Sensors", IEEE Conf. Proc. 199, Applied Power Electronics Conf. and Exposition, vol. 1, pp. 381-386,1995.
[44] Ostlund, "Initial Rotor Position Detection for an Integrated PM Synchronous Motor Drive", Conference Record of the 1995 IEEE Industry Applications Society, IEEE, 1995.
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[46] R. Dhaouadi, N. Mohan, and I,. Norum, "Design and Implemention of an Extended Kalman Filler for the State Estimation of a Permanent Magnet Synchronous Motor", IEEE Trans. on Power Electronics, vol. 6, pp. 491-497, July 1991.
[47] Z. Peixoto and P. Seixas, "Application of Sliding Mode Observer for Induced e.m.f., Position and Sped Estimation of Permanent Magnet Motors", IEEE Conf. Proc. of IECON, pp. 599-604, 1995.
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[49] N. Ertugrul, P.P. Acarnley, and C.D. French, "Real Time Estimation of Rotor Position in PM Motors During Transient Operation", IEE Fifth European Conf. on Power Electronics and Applications, pp. 311-316, 1993.
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N. Muruganantham, Faculty of Electrical Engineering, K.S.Rangasamy College of Technology, KSR Kalvi Nagar, Tiruchengode--637 215, Namakkal (d.t), Tamil Nadu, India. Email: firstname.lastname@example.com
S. Palani, Dean of Electronics Engineering, Sudharsan Engineering College, Sathiyamangalam-622 501, Pudukkottai (d.t), Tamil Nadu, India. Email: email@example.com
N. Muruganantham received B.E. degree in Electrical and Electronics Engineering from Periyar University, Salem, and M.E. degree in Power Electronics and Drives from Anna University, Chennai (India). He is working as Senior Lecturer in Department of Electrical & Electronics Engineering at K.S. Rangasamy College of Technology, Tiruchengode, Namakkal(d.t), Tamil Nadu, India. Currently he is pursuing Ph.D. in Electrical & Electronics Engineering at Anna University Coimbatore (Part Time). His research interest are soft switching converters, solid state drives, artificial intelligence and motion control.
Dr. S. Palani is the Dean and Professor, Dept. of ECE, Sudharsan Engg. College, Pudukkottai. He has wide teaching experience of over four decades. He started his teaching career at the erstwhile Regional Engineering College (now N.I.T), Tiruchirapalli, where as a Professor and Head, he took the responsibility of establishing Instrumentation and Control Engg. Dept. He has also served as Principal, Sudharsan Engg. College, Pudukkottai, Director, ECE Dept in K.S.R. College of Engg. Tiruchengode and Dean, Sona College of Technology, Salem. He has published more than 40 research papers in reputed national and international journals. His area of interest in research includes Artificial Intelligence Tecniques in the design of controllers for dynamic systems besides Digital Signal Processing.
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ChordsChords v2Chords v3Chords v4TabsTabs v2Tabs v3Tabs v4Ukulele
Tiger Lily Hey this is my first tab. The second tab that oceanavenue1150 made for tiger lily was great but some parts sounded a little off so I did some changing to make it sound a little cleaner. I hope you like it. G C Em D E-333-2- B-333-3- G-000--2- D-022-0- A-232-0- E-3-X-0-0- G C Em We drive tonight, and you are by my side. We're talking about our lives, C D G Like we've known each other forever and time flies by. C Em With the sound of your voice, its close to paradise, C D with the end surely near G C Em And if I could only stop the car and hold on to you, C D and never let go, I'd never let go. G C Em As we round the corner to your house you turn to me and said C I'll be going through withdrawal of you D for this one night we have spent G D Em And I want to speak these words but I guess I'll just bite my tongue C D And accept someday somehow, as the words that we'll hang from G D Em And I, I don't wanna speak these words, C D cause I, I don't wanna make things any worse G D Em And I, I don't wanna speak these words, C D cause I, I don't wanna make things any worse C D G Why does tonight have to end? D Em Why don't we hit the start, and pause it at our favorite parts C D G D Em We'll skip the goodbyes. If I had it my way, I'd turn the car around C D And runaway, just you and I.
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subset: commoncrawl


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Cheats, Codes & FAQs
Dragon player sound test
Enter the code
- Finish Dragon Road mode, then press L at the main menu. "Dragon Player" will appear on the Dragon Radar.Dragon player sound test
Start transformed
Enter the code
- Hold R while selection a transformed character at the selection screen.Start transformed
Gain energy
Enter the code
- Press Select in Practice mode to get you energy up immediately.Gain energy
All Characters
Enter the following while playing the game.
- Hold R and press X, Circle, XAll Characters
Full Zenie
Enter the following while playing the game.
- Hold R and L and press Circle, Square, X, CircleFull Zenie
Dragon Radar mini-game
Enter the code
- Press L at the main menu and "Dragon Click" will appear on the Dragon Radar. Press R to play a mini game where you must press R repeatedly before time expires.Dragon Radar mini-game


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@taichokage said:
There are people in Toriko who can planet bust. One reason why it hasn't happened is because their world is immensely massive. But yeah, Toriko has continent level potency in some of his attacks.
I'm still not convinced personally, and even if it was true, Jirou is the only one so far who can do it. I really doubt any one gets powerscaled to him considering strength is his defining attribute, and even Acacia noted that his strength was fearsome. On top of that, Coco has explained that the majority of mass on their planet is abnormal, which is accurate because an entirely solid planet of that size simply cannot exist within the realm of physics, imo it's likely that much of the innards of the planet are hollow as Coco noted that even with their advanced technology they know nothing about the inside of their planet. It also explains why the gravity is so low for the sheer size of the planet really, well done Shimabukuro, I really thought he was just going to ignore this, shouldn't have doubted him.
@taichokage said:
I'm not saying a lot of people can destroy the Toriko world, but if it's Earth or Mars mass for instance, I think there are some who can. King Octopus Kong destroyed Wu Jungle which is twice the Size of Eurasia or around 60-70% of our land surface and it was only Capture level 132. Mount Turtle tanked an explosiin bigger than either Australia or Europe with no damage and its calture level is in the same range. There are exponentially higher capture levels and each one gets higher incrementally. In other words, Capture level 50 isn't twice capture level 25, it's several times stronger.
We'll see man, I'm trying not to get caught up in power levels and start speculating how strong anything is before we get any feats at all. I'm still skeptical on how so many creatures with the power they have can exist on this planet without severely damaging it with their constant battles, but I guess we'll have to wait and see about that too, maybe the eight kings keep the other creatures in check when it comes to that, maybe the landmass regrows itself, I have no clue.
As for the feats you mentioned, look at the Wu Jungle "destruction" again man, here I'll link it to you http://static.mangainn.com/mangas/1636/88679/003_07_19_2012_00_32_32.png
He didn't "destroy" the Wu Jungle, it really just looks like he passed through, the trail of destruction on the ground being his path. Impressive but, not even close to what you're suggesting, and Octopus Kong didn't "destroy" the Gourmet pyramid either. Mount turtle tanked an attack that had a huge AOE, but we both know it wasn't actually in the petatons range, and it wasn't an "explosion" he tanked, it was a constant barrage of attacks. As for Ice Hell, you already know how I feel about that, I really just don't place the Four Beast at continent level, I can't do it based on the evidence
even if the four beasts arent on continent level they sure are on multi country which is a little below. full power 4 beast is at least continent level considering it saw as food the guys that one shotted these multi country beasts.
and four beast was 350. which is quite nothing as we have seen on the recent chapters. btw taichokage is right. capture levels are exponential. that's why the 4 beast even after absorbing 4 creatures on 100+ didnt even reached 400.
the planet hasnt been destroyed only because there are 8 kings for each zone of gourmet world so that keeps things in balance.
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Washtenaw County Consortium for Solid Waste Management (WCCSWM)
WCCSWM is a consortium of representatives from local governments and public institutions who join together in a voluntary organization for the purpose of meeting at regular intervals to discuss and study solid waste, recycling and utilization of recycled products. The consortium also meets to develop policy and programs for ratification and implementation by member representatives of the County, local governments and public institutions.
Meeting Information (including minutes & agendas)
WCCSWM Contacts
WCCSWM Chair
Chris Simmons, City of Ypsilanti
WCCSWM Vice Chair
Alex Williams, Superior Township
WCCSWM Treasurer
Jeff Krcmarik, Washtenaw County
WCCSWM Executive Committee Members
Pierre Gonyon, St. Joseph Mercy Health System
Bruce Bawkon, Scio Township


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Generex Oncology Announces Consultancy Of Dr. George E. Peoples, MD
WORCESTER, Mass., Sept. 2, 2010 (GLOBE NEWSWIRE) -- Generex Biotechnology Corporation ( www.generex.com ) (Nasdaq:GNBT) today announced the engagement of Dr. George E. Peoples, Jr., M.D., F.A.C.S. as a consultant to the Company in respect of the on-going clinical and regulatory work of Antigen Express, Inc. ( www.antigenexpress.com ), the Company's wholly-owned subsidiary, in respect of the proprietary Antigen Express AE37 immunotherapeutic breast cancer vaccine, presently in a Phase II clinical trial at The Henry M. Jackson Foundation for the Advancement of Military Medicine ( www.hjf.org ).
Dr. Peoples is presently the Chief of Surgical Oncology at Brooke Army Medical Center in Houston, TX, a Professor of Surgery and the Director & Principal Investigator of the Cancer Vaccine Development Program at Uniformed Services University of the Health Sciences in Bethesda, MD, and the Deputy Director of the United States Military Cancer Institute ( www.usmci.org ). Dr. Peoples is a graduate of Johns Hopkins University School of Medicine.
During his career, Dr. Peoples has authored over 100 papers in peer-reviewed journals and conducted numerous clinical studies of peptide vaccines. As such, he is uniquely qualified to help guide the success of AE37. Pursuant to the consultancy arrangement, Dr. Peoples will supervise the on-going Phase II clinical trial of the Company's breast cancer vaccine, provide advice and assistance to the Company in respect of the design and implementation of a Phase III trial of the vaccine, and liaise with the Food and Drug Administration regarding the clinical and regulatory development of the vaccine. "We are very fortunate to have the assistance of Dr. Peoples in the development of AE37," said Dr. Eric von Hofe, President of Antigen Express. "There are few people with his experience and insight into the development of active immunotherapy for cancer."
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Hotel Rwanda dir. by Terry George
This is a film with impact.
The opening voice-over is a speech on the radio, an anti-tutsi speech, broadcast on Hutu Power radio, over a black screen so as to really let us hear the words. It describes the flaws, reveals the prejudices in Rwanda, tells the viewer of the cockroach infestation the Hutu people will have to wipe out. This is then contrasted by the opening scenes; In Kigali airport we see Paul (Cheadle) collecting fresh lobsters to serve in the hotel where he works as house manager. It shows a bustling, growing, on the up city. But on the way back to the hotel we are introduced to the undercurrent of tension that is played out so well throughout this film.
Aeon Flux dir. by Karyn Kusama
Yes I did know that this wasn't supposed to be very good. I decided to go see it anyway. I…


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Fight of the year award as well as KO of the year and Submission of the year. watch video >>
http://evolve-mma.com For October 2014, the Student of the Month award goes to the amazing father-daughter combo, Joey and Kayley Snailham. For the last few years, they have been exemplary role models at Evolve with their work ethic, desire for excellence, and continuous self-improvement. Through martial arts, they have all inherited more confidence, discipline, mental strength, fitness, self-defense skills, and so much more. Above all, they have gained another family of lifelong friends through the Evolve Family. watch video >>
In this boxing video, Mia St. John talks about her WBC award and her thoughts on Ronda Rousey and if she should do Playboy. For more Boxing and MMA videos log onto http://www.fighthubtv.com Like us:http://on.fb.me/xWRC1f follow us:http://bit.ly/wACkIv Boxing videos! MMA videos! uploaded daily! Subscribe:http://goo.gl/vnzIb watch video >>
Cage Warriors vs. Bellator Quiz Bout 1 (Jake Bostwick vs. Phil Baroni) https://www.youtube.com/watch?v=986kjKDUWvw&list=UUyLQyWuWELmNV-bGClvkPFw Bout 2: (Sau... watch video >>
PRIDE 21 Demolition 2002, Shoot Match Of The Year Award. watch video >>
Fight Church Official Trailer (2014). Starring Jon Jones, Jill Burress and Ben Henderson. http://bit.ly/DeadlineSubscribeAcademy Award Winning Director, Daniel Junge (Saving Face) and director Bryan Storkel (Holy Rollers: The True Story of Card Counting Christians) team up with producers Eben Kostbar and Joseph McKelheer (The Hammer) for a feature documentary about the confluence of Christianity and mixed martial arts, including ministries which train fighters. watch video >>
Megan Olivi interviews award-winning artist and avid mixed martial arts fan Justin Bua. watch video >>
For January 2014, the Student of the Month (http://evolve-mma.com) award goes to Carlos Camacho. With his incredible work ethic, his desire for continuous improvement, and his passion for life, Carlos is an inspiration to the entire Evolve Family. Since joining Evolve MMA, Carlos has inherited the fundamentals of both Brazilian Jiu-Jitsu and Muay Thai, gained more confidence and mental strength, and he has inspired everyone. Above all, Carlos has evolved into a true warrior in life. watch video >>
For more , read : http://fightsportasia.com/2014/01/05/fight-sport-asias-2013-asian-mma-awards-results/ watch video >>
Urijah Faber talks about being the 2013 MMA Digest Comeback fighter of the Year, as well as how he sees the Renan Barao / Dominick Cruz fight going. He notes he would step in and fight if one of them got injured. He also speaks about what inspires him, Anderson Silva's broken leg injury, and who he feels are the greatest fighters of all time. watch video >>
Fighter of the Year: Chris WeidmanKnockout of the Year: Uriah HallBreakthrough Fighter: Conor McGregorFight of the Year: Mark Hunt vs Bigfoot SilvaRound of the Year: Wanderlei Silva vs Brian StannSubmission of the Year: Kenny RobertsonComeback of the Year: Travis Browne vs Alistair OvereemComeback Fighter of the Year: Urijah Faber watch video >>
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For October 2013, the Student of the Month award goes to 18 year old Kenneth Tay. With his incredible work ethic, his desire for continuous improvement, and his amazing zest for life, he is an inspiration to the entire Evolve Family. In the last two years since joining Evolve MMA, Kenneth has inherited the fundamentals of Muay Thai, made it the Evolve Competition Team, gained more confidence and mental strength, and he has inspired everyone. Above all, Kenneth has become a true warrior in the watch video >>
http://www.evolve-mma.com For July 2013, the Student of the Month award goes to the entire Teo Family - Zoyd, Clarissa, Zea, Cayden, and Zelle. For the last 1.5 years, they have all inherited more confidence, discipline, mental strength, fitness, self-defense skills, and so much more through the practice of martial arts. The Teo Family are true role models and inspirations for the entire Evolve Family. watch video >>


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Clovers: Species and Varieties
Red Clover
Red clover is a short-lived, relatively easy-to-establish perennial legume that grows on soils too acid or too wet for alfalfa. It is one of the easiest legumes to establish using no-till techniques.
Disease resistance is important with red clover. In Pennsylvania, southern and northern anthracnose occur widely and may seriously reduce stand and yield of susceptible varieties. Several new red clover varieties now on the market offer added yield by having resistance or tolerance to one or both of these diseases.
For more detailed information about red clover production, refer to Agronomy Facts 21: Red Clover, also available from your county extension office.
White Clover
White clover is a short-lived perennial with some reseeding capability. Ladino and Regal clovers are large white clovers, and Dutch or common white clover is a small type. Pure stands of ladino and other white clovers are not well suited for silage or hay because of their low-growing, leafy growth habit. However, they make high-quality pastures for livestock and do well in years with frequent rain (refer to "Pastures," below, for more information). They have shallow root systems and lack sufficient drought tolerance to survive prolonged dry spells. Purchase certified seed to be certain of obtaining pure seed of the white clover variety desired.
For more detailed information about white clover production, refer to Agronomy Facts 22: White Clover, available from your local cooperative extension office.
Alsike Clover
Alsike clover is a short-lived perennial legume that grows on wet, acid soils. It is susceptible to the same diseases and insects that attack red and white clovers. Alsike clover growth is intermediate between red and white clover, growing tall enough to be cut for hay. It is less desirable where hot, dry summer conditions are common. Marketed seed is labeled only as alsike.
Sweet Clover
The cultivated sweet clovers, both yellow- and white-flowered types, typically are biennial. They are suitable for soil improvement and as nectar-producing plants for honey bees but generally are not grown for forage.


text:
Posted by Baseball Devil on July 26, 11 at 13:40:15:
In Reply to: OSU's Pat Casey is considering retiring posted by Real Devil Fan on July 22, 11 at 08:14:50:
: nm
::Per ESPN: OSU's AD has Parkinson's disease. May want to groom Pat Casey to be their next AD before he is forced to retire due to the disease. Hope he has a lot more time left. He has done a wonderful job with the OSU athletic dept. as has Pat Casey with their baseball program.
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Now at http://www.w3.org/XML/2004/xinclude-implementation/report.html It includes Daniel's results. The last test, eduni-3, is the only xml:lang test. Only Daniel's results were done after it was added, which is why the entries are blank for the other processors. But we believe that Eliotte's processor does xml:lang fixup, since he has tests for it. I am not likely to have time to go through Eliotte's tests for a few days. -- RichardReceived on Friday, 10 September 2004 11:05:03 GMT
This archive was generated by hypermail 2.2.0+W3C-0.50 : Tuesday, 8 January 2008 14:21:31 GMT


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I.K. Kim does France
Topics: This week it is all about Me, Kim, I K
Cristie Kerr was nominated for her efforts in supporting women's health. The Cristie Kerr Women's Health Center has been open for less than two years but has already become the model for centers of this type for the nation.


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Alice Walton Politics Reporter
Alice Walton is KPCC's online Politics Reporter.
Prior to joining KPCC, Walton created and published TheCityMaven.com, an online news site about Los Angeles city politics. Walton covered local politics and the occasional Hollywood awards ceremony for City News Service from 2005 to 2009.
Walton has a master's degree from Northwestern University's Medill School of Journalism and a bachelor's degree in print journalism and political science from the University of Southern California. She is a very proud Trojan.
Walton is the 2012 president of the Greater Los Angeles chapter of the Society of Professional Journalists. She can be found on Twitter @TheCityMaven.
Stories by Alice Walton
City councilman wants to raise legal age to buy cigarettes
LA Councilman Paul Koretz wants to set the age at 21, though it's unclear whether the city has the authority to approve such a law.
LA City Council seeks answers to city's failing streets
The Los Angeles City Council agreed Wednesday to study a $3 billion bond proposal that could ultimately repair thousands of miles of failed streets in the city.
Maven's Morning Coffee: A change in how Sacramento fundraises?
Today is Wednesday, Aug. 21 and headlines include new details on the DWP contract, a push to change fundraising rules in Sacramento, and more staffing for Probation.
Metropolitan Water District OKs new ethics policy
The district's ethics officer will now evaluate all complaints, which one director said will create a process "that is free of political influence."
New details emerge in city's negotiations with DWP union
City Council president Herb Wesson says a deal is near that will reflect a partnership with Mayor Eric Garcetti, who has been critical of the union's proposal.
Maven's Morning Coffee: Acting assessor to be appointed
Today is Tuesday, Aug. 20 and headlines include a new acting assessor, Mayor Eric Garcetti's first 50 days in office, and a Q&A with a councilman.
Subcommittee approves ethics policy changes at MWD
A policy to streamline the way ethics complaints are handled at the agency responsible for supplying water to 19 million people in Southern California was approved by a subcommittee on Monday.
Maven's Morning Coffee: Conflict of interest at LAX?
Today is Monday, Aug. 19 and headlines include questions about a conflict at LAX, a new ethics policy at the Metropolitan Water District, and big data at City Hall.
Metropolitan Water District considers stronger ethics policy
The multibillion-dollar agency that oversees water for 19 million people in Southern California will consider a proposal to change the way ethics complaints are handled.
City considering DWP union salary deal (updated)
A public hearing on the contract between the city and the Los Angeles Department of Water and Power's union was held Friday as battle lines were being drawn.
Maven's Morning Coffee: DWP contract gets public hearing
Today is Friday, Aug. 16 and headlines include public comments on a proposed DWP contract, new members for the Fire Commission, and a sign off for Expo Line.
Mayor shakes up panel overseeing Los Angeles Fire Department
The change up comes as the LAFD addresses concerns over response times, the reliability of its 911 system, and allocation of resources.
Mayor appoints professor, civic leaders to LA Police Commission
A law professor, a former media executive and a longtime civic leader were among those Angelenos appointed to the Board of Police Commissioners Wednesday by L.A. Mayor Eric Garcetti.
Maven's Morning Coffee: Redevelopment in Watts
Today is Thursday, Aug. 15 and headlines include a billion-dollar redevelopment in Watts, new city commissioners, and the opening of the Chinatown Walmart.
Maven's Morning Coffee: More social workers for LA County
Today is Wednesday, Aug. 14 and headlines include the hiring of 150 social workers in LA County, an OK on curbside gardening, and a look at curb assessments.


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Only two Temple Owls alumni are in the NBA. Tonight, they'll face each other.
CHICAGO -- After missing the past four games with a sore right calf, Lavoy Allen will return to the rotation for the Sixers.
Lavoy Allen and Arnett Moultrie were both riding stationary bikes after the Sixers' shootaround this morning.
The past couple days the Sixers, when their practices concluded, had plenty of big men on the court shooting free throws and participating in other shooting drills.
Dewayne Dedmon appeared to be getting a crash course at the conclusion of the Sixers' practice on Tuesday.


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Granite City Food & Brewery Receives Favorable Decision From NASDAQ
If the Company's common stock does not continue to be listed on The NASDAQ Capital Market, the shares would become subject to certain rules of the SEC relating to "penny stocks." Such rules require broker-dealers to make a suitability determination for purchasers and to receive the purchaser's prior written consent for a purchase transaction, thus restricting the ability to purchase or sell the shares in the open market. In addition, trading, if any, would be conducted in the over-the-counter market in the so-called "pink sheets" or on the OTC Bulletin Board, which was established for securities that do not meet NASDAQ listing requirements. Consequently, selling the shares would be more difficult because smaller quantities could be bought and sold, transactions could be delayed, and security analyst and news media coverage of the Company may be reduced. These factors could result in lower prices and larger spreads in the bid and ask prices for the shares. There can be no assurance that the Company's common stock will continue to be listed on The NASDAQ Capital Market.
About the Company
In May 2011, the Company sold $9.0 million of convertible preferred stock to Concept Development Partners (CDP) in partnership with Dallas-based private equity firm, CIC Partners, and entered into a $10.0 million credit facility with Fifth Third Bank. The transaction brought the Company capital, additional management and several new, experienced board members, including Mike Rawlings, former President of Pizza Hut, a Founding Partner of CIC Partners, and current Mayor of Dallas, Lou Mucci, former CFO of BJ's Restaurants, Michael Staenberg, President of THF Realty, Fouad Bashour, a Founding Partner of CIC Partners, and Rob Doran, former Executive Vice President of McDonalds's. Rob Doran now serves as the Company's CEO. Since CDP's investment, the Company has been developing growth plans for existing Granite City restaurants as well as the construction of new Granite City restaurants, such as the Troy, Michigan location set to open in mid-April 2012.
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Rancho Pico Jr. High students gather thousands of cans for Santa Clarita Food PantryRancho Pico Jr. High's food drive is currently on its last day, and after three weeks of gathering canned goods in every homeroom, approximately two thousand cans were collected for our local food pantry.
Janette Foute, an assistant librarian at Rancho Pico, said on Friday that she had high expectations for the last day of the drive. "We currently have about two thousand cans, but today is our last day, and I expect two thousand more cans to come in. We turn in the food next Thursday, and I think we'll be able to bring four thousand cans in."
But its not too late for the community. "If anyone has cans that they would like to donate, we really encourage them to donate on Monday or Tuesday, and then we'll have even more food to bring to the Food Pantry on Thursday," says Foute.


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tysen13's Mom Answers Activity
tysen13 is a star in these topics:
Pregnancy > Nutrition & Weight (11 helpful answers)
Recent Activity | Asked | Answered
I am 11 weeks pregnant and almost gained 10 pounds! Am I gaining to much to fast?
Most recent answer (11/20/2014):
I am 13 wks and I've gained 6 pounds. I feel thicker on thighs and hips. My previous pregnancies I gained the weight towards the end....posted by Lorena11


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Why You Should Listen to Norah Jones (Again)
A reinvention by the last singer you'd expect it from, and the other best new songs of the week. Listen to this week's playlist on Esquire Spotify and come back every Music Monday.
By Andy Langer
Father John Misty, "Hollywood Forever Cemetery Sings," Fear Fun
Because the propulsive drums illustrate just how much the Fleet Foxes have stifled their drummer, J. Tillman (aka Father John Misty). And because the video illustrates just how much Parks and Recreation stifles Aubrey Plaza's gothic rage.


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Posts tagged: nuns
From the Desk of Fr. Doug
What the Nuns' Story is Really About
Part Two
I had no intention of writing a Part Two to last week's article but two things happened that inspired me to do so.
The first was the overwhelming response to that article. Apparently it went viral. Before Tuesday was over I had heard from over 100 people from 20 states,
Victoria, Australia and Liverpool, England. The article touched a nerve, especially among women religious. Their emails and phone calls were most moving. Some
were on the verge of tears, because "the church" (translated, that means a male church authority figure) finally understood and was willing to put it in writing.
It turns out that the nuns want to be appreciated and valued, just like the rest of us. But that is not why they do what they do and have done for so long.
What was most evident was that they frequently described their treatment from clergy in language that reflects abuse. Yes, they feel support and appreciation from lay people. That message was strong. It was the local pastor, the bishop or the Vatican that was portrayed as an abusive spouse. The investigation, the refusal to dialogue, the confidential reports unable to be seen or challenged, the surprise announcement, these are just a couple of things that scream dysfunction and abuse. It is a miracle so many have stayed. It reminded me of a woman who stays in a bad, abusive marriage for the sake of the children. The nuns have stayed for us. They have stayed for the illegal immigrant, the orphan, the prisoner, the young boy abused by the priest, the third grader that forgot her lunch bag, the adult that could not read, the lad that scraped his knee, the refugee that needed help with documents, the young woman who needed a midwife, the littlest among us and the rich and powerful.
Many lay people shared stories with me of their struggle to remain Catholic. "Our church's priorities are in the wrong place". "Stop with the attack on the nuns and stop with the narrow-minded focus on orthodoxy." "Jesus did not give his followers a litmus test and neither should the Vatican." More than one layperson said that the largest religious denomination in the United States after Catholicism is ex-Catholics. When will the Vatican address the why of that? Does the Vatican really think people have left because our church is not orthodox enough?
Catholics have left the faith in droves for a variety of reasons. In Europe only 3% go to Sunday Mass. When will the Vatican get serious about this?
A small number of priests also contacted me. Most said I was courageous (I am not) and if I needed help, three canon lawyers volunteered their services. I told them that would not be necessary. But what a sad commentary that is on the state of the episcopacy in the U.S. Priests live in fear of reprisals simply for naming the obvious.
Better check those readings from Pentecost Sunday again. Twice the disciples are gathered in fear and twice the Spirit comes upon them to help them get over it.
Actually, someone from the diocese did call to set up a date to meet with me about beginning the Rooted in Faith capital campaign. Although we are losing part of our parish and have no accurate data base, we meet next week.
For many the real issue is: The 'church as institution' is itself the problem. This oppressive structure must go. A new one must take its place. The lust for power and control hinders the Gospel. Simply put, a church continues the work of Jesus. Nuns do that.
The Vatican sorely lacks. Our beliefs and the institution are not the same thing.
Here's a point that both lay and religious made. Our clergy must speak out. We need their voices, the only ones some people have. Some saw the coincidence of my article and Pentecost Sunday and prayed that the many tongues of pastors and vicars would not remain silent. That would be awesome!
A second point I wanted to share was the Plain Dealer article that quoted me. It was slightly out of context. As I recall, the reporter asked me if I thought this attack on the nuns would cause people to leave the church. I replied, "People have already left the church". In the article it sounded like people left because of the nuns, when in reality, Catholics have left long before there was a nungate. (See above)
There were a couple of funny conversations I had with some nuns from California. One said, "this may be the issue that breaks open the old boys network…imagine: "75 year old nuns divorce 88 year old Cardinals." What headlines!"
My favorite was the comment by a priest from Yale. He said that if I got sacked here, there was an opening at the Vatican for a butler and I would be the perfect choice.
(S-R archives photo)
A friend sent me the following words from a Catholic Church bulletin. The commentary was written by one of the parish priests. The second column he wrote will be posted tomorrow.
From the Desk of Fr. Doug
What the Nuns' Story is Really About
Many of you have asked me to comment on the recent investigation into the US nuns. Here goes.
In short, the Vatican has asked for an investigation into the life of religious women in the United States. There is a concern about orthodoxy, feminism and pastoral practice. The problem with the Vatican approach is that it places the nuns squarely on the side of Jesus and the Vatican on the side of tired old men, making a last gasp to save a crumbling kingdom lost long ago for a variety of reasons. One might say that this investigation is the direct result of the John Paul II papacy. He was suspicious of the power given to the laity after the Second Vatican Council. He disliked the American Catholic Church. Throughout his papacy he strove to wrest collegial power from episcopal conferences and return it to Rome. One of the results of the council was that the nuns became more educated, more integrated in the life of the people and more justice-oriented than the bishops and pope. They are doctors, lawyers, university professors, lobbyists, social workers, authors, theologians, etc. Their appeal was that they always went back to what Jesus said and did. Their value lay in the fact that their theology and their practice were integrated into the real world.
The Vatican sounded like the Pharisees of the New Testament;— legalistic, paternalistic and orthodox— while "the good sisters" were the ones who were feeding the hungry, clothing the naked, visiting the sick and imprisoned, educating the immigrant, and so on. Nuns also learned that Catholics are intuitively smart about their faith. They prefer dialogue over diatribe, freedom of thought over mind control, biblical study over fundamentalism, development of doctrine over isolated mandates.
Far from being radical feminists or supporters of far-out ideas, religious women realized that the philosophical underpinnings of Catholic teaching are no longer valid. Women are not subservient to men, the natural law is much broader than once thought, the OT is not as important as the NT, love is more powerful than fear. They realized that you can have a conversation with someone on your campus who thinks differently than the church without compromising what the church teaches. (For example, I could invite Newt Gingrich here to speak. You'd all still know what the church teaches about divorce in spite of him) Women religious have learned to live without fear (Srs. Dorothy Kazel, Maura Clark, Ita Ford) and with love (Mother Teresa). And the number of popes and bishops and cardinals following in their footsteps, Jesus' footsteps, is_____?
This is what annoys American Catholics. The Vatican is hypocritical and duplicitous. Their belief is always that someone else needs to clean up their act; the divorced, the gays, the media, the US nuns, the Americans who were using the wrong words to pray, the seminaries, etc. It never occurs to the powers that be that the source of the problem is the structure itself. We can say that now with certainty as regards the sex abuse crisis. It was largely the structure of the church itself, the way men were trained and isolated, made loyal to the system at all costs and not to the person, that gave us the scandalous cover-up.
US nuns work side by side with the person on the street. They are involved in their everyday lives. Most cardinals spent less than five years in a parish, were never pastors, are frequently career diplomats.
Religious women in the US refuse to be controlled by abusive authority that seeks to control out of fear. They realize that Jesus taught no doctrines, but that the church, over time, developed what Jesus taught in a systematic way. Nuns have always tried to work within the system. This time their prophetic voices may take them out of the system. They may take a lot of Catholics and a lot of their hospitals, schools, colleges, orphanages, prison ministries, convents, women's shelters, food pantries and, of course, the good will they have earned over the centuries with them.
This investigation is not about wayward US nuns. It is the last gasp for control by a dying breed, wrapped in its own self-importance. It is a struggle for the very nature of the church; who we are, how we pray, where we live, who belongs, why we believe. The early church endured a similar struggle. The old order died.
The Holy Spirit won…
(S-R archives photo)
What a week to live in Washington state!
The Seattle archbishop is trying to upend the same-sex marriage law signed by our (Catholic) governor in Washington state and now Rome has set forth an investigation into the work of thousands of American Roman Catholic sisters – an inquiry lead by? the Seattle archbishop.
Why investigate the sisters? Because you know, they may not be Catholic enough in their (endless) works of compassion, healing, teaching, housing, ministering to those who present themselves in the moment as being poor, marginalized, disenfranchised from the society in which we live. What do these guys think Catholicism is??
Me thinks thou doest protest too much, Holy See. Better look in the mirror, or in the rectory, but not the convent. Read what journalists Steve and Cokie Roberts have to say.
People ask why I stay in a Roman Catholic Church that so fiercely opposes some of my basic beliefs. I stay because I belong to a parish where the priests are informed, compassionate and do not promote nonsense; a parish where we care for the poor in tangible, welcoming ways, a parish where all are welcome and treated equally – no matter their gender or who they love. I stay Catholic because I will not forfeit my faith community to distant others. I stay Catholic because I believe that the Catholic Church is the People of God, people who gather every Sunday, 10:30, to worship our God: a God who delights in the good works that we do, a God who welcomes everybody.
(S-R archives photo)


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Jan. 6 (Bloomberg) -- Singapore Airlines Ltd. and Qantas Airways Ltd., operators of the biggest Airbus SAS A380 fleets in the Asia-Pacific region, said "small cracks" found in plane- wing parts were fixable and didn't pose a safety threat.
The Singaporean carrier has already completed repairs on wing-rib feet, which help support wings, on the two aircraft where faults have been found, it said in a e-mailed statement today. Qantas has begun work on its one affected plane, Thomas Woodward, a spokesman, said by phone.
Airbus, the world's largest commercial plane maker, said yesterday cracks had been found in a "limited number" of A380s and that it had alerted operators and regulators. The faults, which are linked to a manufacturing issue, can be fixed during scheduled four-year maintenance checks, according to the company.
"This is not a safety issue and aircraft performance is not affected," Sean Lee, a Singapore-based Airbus spokesman, said in an e-mailed statement today.
Singapore Air, which is based in the city-state, and Sydney-based Qantas operate 26 of the super-jumbos between them.
The affected Qantas plane is the same one that experienced a mid-air engine explosion in November 2010. That incident prompted the carrier to ground its A380 fleet for 23 days.
The cracks were found while the plane was being repaired in Singapore and they aren't related to the engine incident, Woodward said.
Aircraft bodies are closely monitored by maintenance crews as fissures can be indicators of metal fatigue, a condition that has caused crashes.
--With assistance from Ben Sharples in Melbourne. Editor: Robert Fenner, Neil Denslow
To contact the reporter on this story: David Fickling in Sydney at email@example.com
To contact the editor responsible for this story: Neil Denslow at firstname.lastname@example.com


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I just started playing multiplayer recently despite getting the game a year ago. I go in expecting to get my ass handed to me and I get what I expect. Totally fine with this. I think I'm getting better.
I have a question about managing resources. What are the main hotkeys you all use when skirting back and forth between production buildings and armies. Currently I bind my armies and buildings to control groups and manage them from there. Do you all do it differently? Point and click, spacebar, etc.?
is bnet not giving points right now?
just did 3 1v1's and not getting points (win or lose)
is the gunrun the guy from wagequit?
or is that another person
i know that Wagequit has an annoying girl who doesn't seem to actually know anything about SC2 and (apparently) just plays on the fact that she's a girl :giggle:
and obviously Wagequit has the Wagequit guy


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Has Mary-Kate Olsen actually acted in anything since Full House and those terrible twin sister movies? I haven't seen her in anything but paparazzi shots, looking like a bag lady, but she's finally getting a "big girl" role -- and it's going to be a goodie. Showtime has added the skinny starlet to the cast of Weeds, where M-K will play "Tara, a devoted Christian girl . . . who becomes a love interest for Nancy Botwin's (Mary-Louise Parker) son, Silas (Hunter Parrish)." The show's executive producer told Hollywood Reporter, "Audiences have seen only one side of Mary-Kate, but here we'll see her in a whole new light." Emphasis on the "light," I hope. I'd love to see Mary-Kate take a big bong hit and then head to 7-Eleven for some burritos and a Big Gulp.
Know everything about Mary-Kate and Ashley? Test your knowledge on other Hollywood families with our Celebrity Concentration: Famous Siblings game.


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Forever Plaid - Vocal Selections
By Stuart Ross
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Forever Plaid - Vocal Selections (Piano/Vocal/Chords). Arranged by James Raitt. For voice and piano. This edition: Piano/Vocal/Chords. Piano/Vocal/Chords; Shows & Movies. Broadway. Difficulty: medium. Songbook. Vocal melody, piano accompaniment, lyrics and chord names. 32 pages. Published by Alfred Music (AP.VF1931).
ISBN 0769204627. With vocal melody, piano accompaniment, lyrics and chord names. Broadway. 9x12 inches.
Three Coins in the Fountain * Undecided * Moments to Remember * Crazy 'Bout Ya, Baby * No, Not Much! * Cry * Sixteen Tons * Catch a Falling Star * Heart and Soul * Shangri-La * Rags to Riches * Love Is a Many Splendored Thing.
- Cry Composed by Churchill Kohlman, Bb Major
- Love Is A Many Splendored Thing Composed by Sammy Fain, Paul Francis Webster, Eb Major
- Sixteen Tons Composed by Merle Travis, E Minor
- Moments To Remember Composed by Al Stillman, Robert Allen, G Major
- Three Coins in the Fountain Composed by Sammy Cahn, Jule Styne, Eb Major
- Catch A Falling Star Composed by Paul Vance, Lee Pockriss, C Major
- Crazy 'bout Ya Baby Composed by Pat Barrett, Rudi Maugeri, Bb Major
- No, Not Much Composed by Al Stillman, Robert Allen, Eb Major
- Heart And Soul Composed by Frank Loesser, Hoagy Carmichael, F Major
- Undecided Composed by Sid Robin, Charles Shavers, C Major
- Shangri-La Composed by Carl Sigman, Matt Malneck, Robert Maxwell, F Major
- Rags to Riches Composed by Richard Adler, Jerry Ross, C Major
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DORRANCE — Vernon Lamatsch, 74, died Nov. 29, 2011 at the Ellsworth County Medical Center.
He was born Sept. 28, 1937, the son of Joseph Lamatsch and Anna Boor. A lifetime resident of the Dorrance, Dubuque and Wilson area, he was a farmer and stockman.
Mr. Lamatsch was a member of the St. Wenceslaus Catholic Church, the St. Wenceslaus Knights of Columbus and the St. Wenceslaus Church Choir.
Survivors include two sisters, Barbara Brungardt (Jim) and Mary Zirkle, both of Liberal; a foster brother, Mike Hill, Great Bend; and seven nieces and nephews. He was preceded in death by his father ...
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Location: Irvine, CaliforniaDate Posted: 12/17Position: AdministrativePractice Area: Litigation – CivilEmployment Type: AnyA Contract Patent Specialist Job is now available through Special Counsel in Irvine, CA! The ideal candidate will have at least three years of patent prosecution experience and at least five years of secretarial and administrative experience. This notable Orange County firm seeks an... View Details
Location: Chicago, IllinoisDate Posted: 12/17Position: Human ResourcesPractice Area: OpenEmployment Type: Direct Hire
A Human Resources Generalist Job is currently available courtesy of Special Counsel in Chicago, Illinois. If you are interested in working for a well-respected international law firm and have... View Details
Location: Austin, TexasDate Posted: 12/17Position: OtherPractice Area: Litigation – CivilEmployment Type: AnySpecial Counsel, the nation's largest provider of Legal Staffing, placement and eDiscovery services has an exciting job in its Austin, TX office for a Regional Sales Director. This position is ideal for an experienced and seasoned eDiscovery salesperson to work on a regional... View Details
Location: Manhattan, New YorkDate Posted: 12/17Position: Legal SecretaryPractice Area: Business LawEmployment Type: AnyA temporary Bilingual Corporate Secretary job has opened in New York, NY through Special Counsel. Verbal and written Spanish fluency is required for this position. Qualified candidates must also have senior level corporate experience. This is a three-month position supporting attorneys at... View Details
Location: San Antonio, TexasDate Posted: 12/17Position: AttorneyPractice Area: Family LawEmployment Type: AnyAttorney job in San Antonio, TX. Courtesy of Special Counsel. If you have 5 years of family law experience this job could be yours. Direct hire for a great boutique firm.
Attorney job duties:
Trial preparation... View Details
Location: Washington, District of ColumbiaDate Posted: 12/17Position: OtherPractice Area: Government ContractsEmployment Type: AnySpecial Counsel Information Governance is seeking candidates for a Data Entry Clerk job in Washington, DC. The ideal candidate will be flexible, organized and have excellent attention to detail skills.
• Review and prepare data for... View Details
Location: Pittsburgh, PennsylvaniaDate Posted: 12/17Position: AttorneyPractice Area: Real PropertyEmployment Type: AnyTitle: Temporary In-House Oil and Gas Attorney Job in North Hills
Special Counsel's client has a Temporary In-House Oil and Gas Attorney Job in the North Hills area. Our corporate client is a rapidly growing company with a need for an oil and gas attorney to... View Details
Location: Boston, MassachusettsDate Posted: 12/17Position: Document ReviewerPractice Area: LitigationEmployment Type: AnySpecial Counsel is currently looking for Document Review Attorneys to start on a project, scheduled to begin next week. Potential candidates must be fluent in Spanish, with a preference for Mexican Spanish; available to interview this week; and are required to complete a foreign language... View Details
Location: Atlanta, GeorgiaDate Posted: 12/17Position: OtherPractice Area: OpenEmployment Type: AnySpecial Counsel Information Governance is seeking candidates for a Knowledge Analyst job in Atlanta. The ideal candidate will be self-motivated,... View Details
Location: Houston, TexasDate Posted: 12/17Position: OtherPractice Area: OpenEmployment Type: AnySpecial Counsel Information Governance is seeking candidates for a Corporate Records Manager job in Houston, TX. The ideal candidate will be motivated, detail-oriented with strong leadership and problem solving skills.
• Supervise small... View Details