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Absolutely fantastic tour to do! Our two tour guides were fantastic - so casual, friendly, informative and professional at the same time. The cars were simple to drive and great fun. A fantastic experience to drive these little cars on actual roads. Red Rock Canyon was amazing to see, and what a unique way to see it! The weather was absolutely freezing but our guides were able to provide us with blankets and gloves. The whole tour went for about 4 hours and was heaps of fun from start to finish. A great big thanks to the two young guys who were our guides - you were amazing!
Doing what: Scooter Car Tour of Red Rock Canyon with Transport from Las Vegas
Stephen D
United Kingdom
Excellent tour and guide (Carmen). I'd have preferred a bit more hiking, but it gave me a great overview of Red Rock Canyon, and I will be back! The ranch at the end was a nice surprise.
Doing what: Red Rock Canyon Tour
Best way to visit red rock canyon! Scooters are very fun to ride or drive..
Guides are very helpful and fun!
Doing what: Scooter Car Tour of Red Rock Canyon with Transport from Las Vegas
Great for us that we were the only two people on the tour so we had a personal tour guide - Adam. I don't think we missed a single photo opportunity and we know so much more now about Red Rock Canyon and surrounding area. A great day out with a great tour guide. Thanks Viator.
Doing what: Red Rock Canyon Tour
Brandon, our guide, was AWESOME! He was very knowledgeable and ensured we all stayed hydrated even though it was not that hot. The views of Red Rock Canyon were unspeakable...simply beautiful! My photos do not do it justice. You have to experience it first hand! Go on this tour! You will not regret it!
Doing what: Red Rock Canyon Hiking Tour
Tom F
We had a great tour of Red Rock Canyon with Carmen who was a wonderful tour guide.
He made our day really special showing us great sights and telling us all the facts about the nature and history of the area.
We would recommend this tour to everyone who is interested in seeing the countryside of Las Vegas
Doing what: Red Rock Canyon Tour
My husband and I enjoyed the trip very much. It was a relaxing tour, nothing was rushed. Adam, our tour guide and driver was very patient, friendly, and knowledgeable. He knows not only Red Rock Canyon, but also history of Las Vegas. He provided us with very interesting, fresh, and new information. All in all, the trip was enjoyable and worthwhile.
Doing what: Red Rock Canyon Tour
This is one of the best things I've ever done. Absolutely brilliant, loads of fun and the views of Red Rock Canyon were breath taking. Want to go back to Vegas just to do this tour again :)
Doing what: Scooter Car Tour of Red Rock Canyon with Transport from Las Vegas
We enjoyed the tour to Red Rock Canyon. The guide was great and gave a lot of information. I would give this tour 5 stars.
Doing what: Red Rock Canyon Luxury Tour Trekker Experience
United Kingdom
What a brilliant tour. Our guides were brilliant and they ensured we got lots of photos in the cars. It didn't get long to get used to the scooter and there were plenty of stops where we could swap drivers. Red Rock Canyon was awesome . A fabulous experience and wonderful tour.
Doing what: Scooter Car Tour of Red Rock Canyon with Transport from Las Vegas
This tour was absolutely awesome!! We highly recommend this tour!! We were picked up from our hotel on time. Jerry was absolutely the best ever tour guide we could have asked for!! He is a native of Las Vegas and was very informative about everything! Short ride out of town to Red Rock Canyon and he even stopped at the Welcome to Vegas sign for us to take pictures! Our group was small, only 6, so that gave us plenty of time at each stop to really enjoy ourselves. The stop for lunch at Spring Mountain Ranch was really really great and beautiful!! We would definitely love to do this trip again and welcome Jerry to be our guide again any day!!!!
Doing what: Red Rock Canyon Tour
What an amazing tour highly recommend it!! There is so much to see in the state of Nevada other then Las Vegas!! Gary was an amazing tour guide!! He really knows the history and the area of Red Rock Canyon. I would highly recommend this tour!!
Doing what: Red Rock Canyon Tour
It was a fun experience - great for novice riders - and real interesting people taking us round the tour - somewhat larger than life. Breakfast was good , and served in the log cabin - our group included a hysterical Cuban woman - felt sorry for the horse, which still behaved itself and earned its hay that night.
Bonnies ranch is near the red rock canyon , the buildings seemed slightly faded, we understand that Bonnie still lives in one of the cabins on the site. The horses followed the lead horse over the desert trail, and it was just long enough, would not have liked it to be too much longer. You can then look around the old town and zoo , before being taken back by minibus to the hotel.
Whilst I understand that the person running the minibus needs to make his money - he is quite happy to make more money by selling you a basic hat for USD 20 to shade you from the sun - so do bring a hat - All in all a great day and a welcome change to the bustle of Las Vegas
Doing what: Morning Maverick Horseback Ride with Breakfast
Mary C
This was a wonderful experience! Our tour guide was Troy and he picked up my husband and I promptly at the specified time at our hotel. We were the only couple that signed up and it was just like a private tour. Troy was very friendly and informative. He had a cooler full of cold water bottles which he offered us frequently. We not only learned a lot about Red Rock Canyon but about Las Vegas as well. Our first stop was the visitor's center where we had plenty of time to check out the giant tortoises. Troy took us all through the canyon at different elevations with many stories to tell. We made quite a few stops along the way and learned about the history of the canyon, plants and animal life. The beauty of this place is breathtaking. This tour is not to be missed when visiting Las Vegas and the hotel pick up and return makes it so easy!
Doing what: Red Rock Canyon Tour
Although it is a long drive from Las Vegas to Bryce Canyon, it is well worth it.
Our driver, James, was an attentive and good driver, and he was very knowledgeable about the various landmarks on the route. He was very attentive to ensure sufficient rest-stops and at the food stops.
The 8-seat van was comfortable, but it was a bit bouncy on the poor road surfaces around Las Vegas and the A/C ventilation was not that good, considering it was 110F outside.
Bryce Canyon is an amazing and beautiful National Park. Our driver James guided us to the three lookout points and helpfully took our photos using our cameras with the Canyon in the background. We also stopped on route at Red Rock Canyon Park to photograph the rock formations.
Overall, the trip is highly recommended, although an air-sprung and better ventilated van would make for a more comfortable journey.
Doing what: Bryce Canyon Day Trip from Las Vegas
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About Rally
Rally Software is a leading global provider of cloud-based solutions for managing Agile software development. The Rally® Agile application lifecycle management (ALM) platform transforms the way organizations manage the software development lifecycle by closely aligning software development and strategic business objectives, facilitating collaboration, increasing transparency and automating manual processes. Companies use Rally to accelerate the pace of innovation, improve productivity and more effectively adapt to rapidly changing customer needs and competitive dynamics. For more information, please visit their website.
Rally believes that for-profit business can – and should – be a force for social good. That means they join companies like Ben & Jerry's, Patagonia, Method, and Seventh Generation in measuring business success by the triple bottom line: people, planet, and profit.
The Change We Seek®
Rally's commitment to give back, live their values, and protect the planet have allowed them to meet the rigorous standards required to earn B Corporation certification in 2010, 2012 and 2014.
As a Certified B Corp, Rally supports the movement for business to play a leading role in providing social and economic benefits to the world while delivering great products and services at a profit. Values-led businesses like Rally deliver shareholder value, while building trust among customers and partners that they are in service to the global community.
What makes us a better company?
B Impact Report |
Certified since:May 2010 |
Summary: | Company Score |
Median Score* |
GovernanceThe Governance section of the Assessment evaluates a company's accountability and transparency. The section focuses on the company's mission, stakeholder engagement, and overall transparency of the company's practices and policies. |
10 | |
WorkersThe Worker section of the survey assesses the company's relationship with its workforce. This section measures how the company treats its workers through compensation, benefits, training, and ownership opportunities provided to workers. It also focuses on the overall work environment within the company through management/worker communication, job flexibility and corporate culture, and worker health and safety practices. |
22 | |
CommunityThe Community section of the survey assesses a company's impact on its community. The Community section evaluates a company's supplier relations, diversity, and involvement in the local community. The section also measures the company's practices and policies around community service and charitable giving. In addition, this section includes if a company's product or service is designed to solve a social issue, including access to basic services, health, education, economic opportunity, arts, and increasing the flow of capital to purpose-driven enterprises. |
32 | |
EnvironmentThe Environment section of the Assessment evaluates a company's environmental performance through its facilities; materials, resource, and energy use; and emissions. Where applicable, it also considers a company's transportation/distribution channels and environmental impact of its supply chain. This section also measures whether a company's products or services are designed to solve an environmental issue, including products that aid in the provision of renewable energy, conserve resources, reduce waste, promote land/wildlife conservation, prevent toxic/hazardous substance or pollution, or educate, measure, or consult to solve environmental problems. |
9 | |
Overall B Score | 80 | |
80 out of 200 is eligible for certification *Of all businesses that have completed the B Impact Assessment *Median scores will not add up to overall |
Company Highlights:
Workers: Workers paid >60% about living wage; Pays majority of health insurance premiums for workers and their families; >80% employee satisfaction reported
Community: Gives preference to local and sustainable suppliers; Offers 20 hours paid time off for community service; Employees have volunteered > 4,000 hours of community service; >$1M donated to charitable causes
Environment: Offers company-paid "EcoPass" for public transportation to all Colorado employees; >30% of energy used in Colorado offices comes from renewable resources; >70% of waste is recycled and composted


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Toronto Film Scene is an online magazine dedicated to providing local, current and thoughtful coverage of the city's film culture and its makers.
Created in 2009 by a local film blogger who wanted to provide a more focused look at the film landscape in Toronto, the site has grown in popularity to be the go-to resource for film fans, making TFS the largest online film magazine in the city.
The magazine creates an issue dedicated to a specific topic each month, such as Fashion in Film, and publishes content on a daily basis in the form of cover stories, columns and articles. In addition, TFS publishes a diverse assortment of informational news pieces to keep readers up to date on what is happening around them in the city.
Trista DeVries
Like most people who write about movies for the web, I've been obsessed with movies since I was very young. My favourite movies are The Social Network, Easy A and Garden State, but I try to spend my time broadening my film horizons. I'm the Publisher of Toronto Film Scene, and in my "spare" time, I'm a web designer and strategist. (Gotta support my movie habit somehow…)
Nadya Domingo
Nadya Domingo is a journalism student at Ryerson University. Her favourite things are documentaries, media studies, and non-fiction books. She has a pet fish named Lights.
Matt Rorabeck
Matt Rorabeck is the Founder and Editor of Move Knight. Recently, his credentials include covering TIFF 2013 for Tribute, recurring appearances on the Rogers television program Cinema Seen, and the launch of Movie Knight. He has a strong passion/knowledge in all aspects of the medium and would love to share this passion with readers all over the world.
Alexis McLaren
I am a raging tvaholic. Like Bieber fever, there is no known cure. It's a day-to-day struggle and I'm losing that battle every day. Over 0.039% of Canadians suffer from this disease and I hope that one day (with your help), we can find a cure!
Ada Wong
Ada Wong is a writer, traveler, jewelry-maker, tea connoisseur, and lost shoe photographer from Toronto who's endlessly opinionated about everything — especially film. She would like Evan Rachel Wood to portray her in a partially-fictionalized bio pic, and for Woody Allen to write and direct it. Ada once made front page news with her favourite director Quentin Tarantino, her only regret is that it wasn't for more scandalous reasons.
Daniel Janvier
Danita Steinberg
Danita loves musicals, Bette Midler, sandwiches, any Real Housewives franchise, great horror films, and The Golden Girls. She's a bookworm, cinephile, and celebrity stalker. If she's at home, she's in her pajamas.
Dayna Brubaker
For as long as I can remember, movies have always captivated me. As a kid, I would sing every song from The Little Mermaid, run around doing my best E.T. imitation, or re-enact the lightsaber fights from Star Wars. As I got older I memorized all my favourite bits from A Night at the Roxbury, Happy Gilmore, and any other comedy I could get my hands on. I still sing "Under The Sea" on a regular basis, but lately I've channeled my love of film into writing for TFS and my blog, among other things.
Graeme Maitland
I've been working in film exhibition for a very long time. I studied film at university and I watch far too many movies. At least 2 movies a day. I like to think about movies and I like to write about movies. I'm looking forward to doing more of both.
I also like kittens.
Indira Balkissoon
Avid TIFF goer since the days when it was called The Festival of Festivals unknowingly trained Indira to Major in Cinema Studies at University of Toronto. She keeps searching for the perfect film combing the stylistics of Merchant-Ivory, Stan Brakhage, and Zhang Yimou. You can find out more about Indira at http://flavors.me/indirabalkissoon#_
Jordan Adler
My favourite movie when I was five was Willy Wonka and the Chocolate Factory. To take a lyric from one of that film's original songs, "There is no life I know to compare to pure imagination." Naturally, from that age, I became a passionate film enthusiast, and loved growing up in a city just as in love with the movies. I still remember fondly walking to the Uptown cinema and smelling the buttered popcorn from the street. I don't think I've smelled anything as sweet ever since.
Katarina Gligorijevic
Katarina Gligorijevic is a Toronto based writer and major movie nerd whose work has appeared in two Coach House Books anthologies, Point of View magazine, Exclaim!, and several other online and print publications. In addition to Toronto Film Scene, she maintains her own blog, and is currently working on a novel about abductions and communicating with pears, and a screenplay about a sexy werewolf.
Laura Holtebrinck
I am a person and a film lover, sometimes both at once. When I'm not watching films or thinking/ writing/daydreaming about them, I also enjoy theatre, trivia, pop culture in general and brunch. One day I hope to become best friends with Stanley Tucci.
Liam Volke
Liam is a writer and actor with a BFA from the University of Victoria. His lifelong love affair with film began when he saw Jaws at the appropriate age of 4. He liked it so much that he set out to draw a storyboard for Jaws 2, only to discover to his disappointment years later that somebody had already beaten him to the punch. His next love affair was with Star Wars and Jurassic Park, which he watched at least once a day, much to the chagrin of his parents. Liam has written for online publications such as The West of West Review, and Numero Cinq, and keeps a blog on arts and culture called The Tower of Babble.
Mark Hanson
Somewhere in between seeing a scrappy young hockey team defeat a group of Icelandic behemoths in D2: The Mighty Ducks and jumping when Samuel L. Jackson's severed arm plays peek-a-boo with Laura Dern in Jurassic Park, my love for movies really started to take control of me. Ever since, I've devoured anything film wise that I can get my hands on in a quest to conquer the world of cinema (but not in a violent way or anything). I also semi-occasionally keep up a film blog called Ma Ha's Magic Film Corner and work behind the counter at the glorious Bay Street Video. Follow me on Twitter @mahahafilm
Prerana Das
Prerana is a Rubik's cube enthusiast, an occasional writer and photographer, and of course, a lover of film.
Sean Kelly
Sean Patrick Kelly is a self-described über-geek, who has been an avid film lover for all his life. He graduated from York University in 2010 with an honours B.A. in Cinema and Media Studies and he likes to believe he knows what he's talking about when he writes about film (despite occasionally going on pointless rants). Sean has been writing his blog Sean Kelly on Movies since 2004 and has also contributed his writing for MONDOmagazine, thesubstream, and Huffington Post Canada.
William Brownridge
Raised on a healthy diet of Star Wars and every horror film on a video store shelf, Will has been watching movies since before he was able to talk. Inspired by an ever growing passion for film, and the occasional mind control experiment, Will began writing film review on his personal blog, The Film Reel. When the mind control experiments actually worked, he was able to secure a position with Toronto Film Scene. He now waits patiently in the TFS basement for October to come every year, when his love for horror films finally pays off.


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Keeping your hair shiny, soft and healthy gets exponentially more difficult when the weather gets colder. Lack of moisture and increased heat styling spell double trouble for dry, fragile hair. Here's how to rescue winter ravaged locks.
1. Replenish lost moisture. Dry hair is a result of lack of moisture, both in the air and in your body. Tackle the problem from both the inside out and the outside in. Be sure to drink at least eight glasses of water a day and use a hydrating daily conditioner, plus a weekly mask. "Nourishing the hair via two different nutrient sources will dramatically improve its condition," says Natasha Sunshine, stylist and owner of the Byu-ti Hair Therapy Salon in Santa Monica, CA. We like: Pureology HydrateCondition and Redken Real Control Intense Renewal Super Moisturizing Mask.
2. Avoid over-using heat styling tools. When your hair is dehydrated and brittle, the last thing you want to do is fry it even more with a flat iron or blowdryer. "If you need to use a flat iron or a curling iron, wash your hair the night before and let it dry naturally so you can skip the blow dryer in the morning," she says.
3. Get your hair cut regularly. In these tough economic times everyone is trying to scrimp on the little luxuries, but a bi-monthly trim is worth it. "This will eliminate beat-up ends so your hair will look shinier and healthier. You'll only need to take a smidge off to get great results," says Sunshine.
4. Be consistent. There's no quick fix for damaged hair and it can take anywhere from three to six months to fully heal dried out tresses. That means you'll need to be diligent about your recovery routine in order to see real results.
Be sure to drop by our hairstyle tips section for more great beauty tips, and our celebrity hairstyle gallery for more ideas.


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Data Preparation for SMT and PCB Assembly Demo
Video viewing problems? Contact Us.
SMT Process Engineering demonstration of gathering essential data, neutralizing the CAD design data, parsing the Bill of Materials(BOM) and syncing the BOM and Approved Vendor List (AVL) part numbers and vendor names to the Valor Part Library (VPL). Each data input is validated, then the neutralized CAD and BOM data are merged to create a complete Product Data Model which can be stepped into a panel definition.
Design Areas: Valor PCB Manufacturing Systems Solutions |


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Ningbo Historical Museum by Amateur Architecture Studio. Photo: Blaine Brownell.
The condition of the palimpsest is evident throughout architectural history. The life of a building and its materials is not a fixed condition, but rather a continually evolving enterprise. The Romans pilfered construction materials from older edifices to build new monuments, just as medieval populations later pillaged Roman monuments for their own building blocks. Given the profound material changes architecture experiences over time, futurist Steward Brand suggests that we define architecture not as "the art of building," but rather as "the design-science of the life of buildings."The Chinese practice of wapan tiling evolved as a method for building walls rapidly using available materials in a region subject to frequent typhoons. Amateur Architecture Studio chose to use this cladding method for their design of the Ningbo Historical Museum, reusing the various types of bricks and tiles that remained after the city government razed dozens of villages to make way for a new central business district. Principal Wang Shu led masons in constructing the walls, allowing them to have a large degree of freedom in laying the dissimilar blocks. The rich detail provided by the hand-laid tiles complements the hulking mass of the museum, and the randomly placed, various-sized apertures embrace the spirit of the wapan approach.In today's rapidly developing China, the image of brick and tile rubble left over from recently demolished structures is unfortunately an all-too-common sight. The walls of the Ningbo Historical Museum thus serve as a haunting reminder of the past, encapsulating the bones of vanished villages in a monument that pays its respects to history at the same time it has come to supersede it.
cool! i wonder what its like from the inside looking out?
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When Hyper-V External Virtual Network Switches Disrupt Network Connectivity
Creating an external virtual network switch changes the packet flow on the Hyper-V host, which can potentially create connectivity problems.
Creating an external virtual network switch changes the packet flow on the Hyper-V host, which can potentially create connectivity problems.
Learn when to use System Center Virtual Machine Manager 2012 R2 and when to use PowerShell cmdlets for deploying Microsoft HNV.
Learn how to install and activate a key set of components that can help improve the performance of Hyper-V virtual machines running Linux distributions.
Ensuring Hyper-V environments are running securely is a major concern for many enterprises. Minimize your attack surface with these Hyper-V Security Best Practices.
The company's upgraded Virtual Machine Convertor tool adds features designed to help poach VMware-based VMs and turn them into Microsoft Hyper-V ones.
Discover how Microsoft Hyper-V Network Virtualization can enable hosting providers to host customer virtual machines without requiring any changes to the physical network topology.
Resynchronizations can become necessary when a Hyper-V Primary Server fails to properly replicate to the Replica Server. Discover what to look for and how to proceed when a Hyper-V resync is needed.
Our latest server tutorial details how to troubleshoot generic error messages in Hyper-V Replica as well as what you should do when a known error message occurs.
Our latest server tutorial reveals two handy PowerShell cmdlets available for checking Windows Server 2012 Hyper-V Replication status and getting replication statistical data on your VMs.
Discover the key role Hyper-V's VSP and VSC components play in improving virtual machine performance by facilitating communication between VMs and the parent partition.
Our guest columnist from IT Central Station reveals what real users think of the leading virtualization products.
For any virtualization administrator that's ever found Hyper-V's network virtual switch's capabilities to be a bit on the confusing side, we have the perfect server tutorial for you.
With Hyper-V in Windows Server 2012 R2 introducing support for two generations of virtual machines, we look at when and why you might want to select one VM generation over the other.
Discover how Windows PowerShell and the built-in PowerShell cmdlets that ship with Hyper-V can help automate a variety of server admin tasks on Hyper-V virtual machines.
Once tech non grata, Microsoft's virtualization platform is making a comeback thanks to Dell.
vCloud Director may be comprehensive, but it's also relatively expensive and arguably overkill for the needs of many enterprises. That's where alternatives like V-Commander come into play.
With Microsoft Hyper-V and VMware vSphere tackling virtualization in their own distinct ways, it's important to know the key advantages and disadvantages of each design architecture employed by the two.
Cisco fast tracks support for Microsoft's Hyper-V virtualization under Windows Server 2012.
What's the dominant hypervisor today? While VMware may be the obvious answer, HotLink's CEO has a different take on the matter.
Discover how to create and implement a cost-effective disaster recovery solution with Windows Server 2012's Hyper-V Replica virtual technology.
The recent barbs traded between VMware and Microsoft can mean only one thing -- each sees the other as a real threat in the server virtualization and private cloud computing markets.
The latest release of the company's Virtualization Manager lets IT manage both VMware and Microsoft Hyper-V environments in a single view.
Supercharged Hyper-V and improved storage management are among the many carrots Microsoft is dangling in front of systems administrators.
The virtual infrastructure management company doubles down on Veeam One hypervisor options.
Virsto for vSphere and Virsto for Hyper-V 2.0 adds storage capabilities for server virtualization.


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Wrapup LinkBlogging
- Posted by Johanna on August 12, 2006 at 10:46 am
- Category: LinkBlogging
I thought I was done with the Chicago Con, but here's a couple more links:
I was very sad to have to miss the Pro/Fan Silver Age Trivia Challenge, since I'd seen some of the earliest ones and even kept score at one or two of them. I had no idea Mark Waid took on the fan team all by himself, and via cellphone! Apparently you can watch it yourself on YouTube.
Andy Runton has posted a set of Owly sketches he did at the convention. The Owly-as-Etrigan really tickled me, mainly because someone knows the character well: Wormy is drawn as Harry the Human Pillow. I love the way Andy draws not just Owly, but Wormy as well, always in a coordinating outfit. Check out Carbonite Wormy in the last, elaborate Star Wars homage.
And some other transitions, as well:
Congratulations to Greg McElhatton for achieving the milestone of 1000 comic reviews, and best wishes for his new site, Read About Comics. (I have an old fondness for the RAC abbreviation, since it reminds me of rec.arts.comics.)
Very neat to see Vincent at Spandex Justice going though his blogroll and talking about what blogs he reads and what he enjoys about them. (And thanks very much for including mine!)
That kind of analysis helps answer the questions about link protocol posed at Ye Olde Comick Booke Blogge. They're right about it being awkward to receive email asking to be added.
My links are determined based on several things: do I read and enjoy this blog regularly? do they update frequently? are they primarily about comics? I want to be confident that readers who enjoy this blog will also enjoy those, since I'm recommending them.
There's nothing wrong with making someone whose work you enjoy and/or respect aware of your blog, in case they haven't seen it — but it's a fine line to stay on that side of the notification, without seeming to be asking to be included. And reading too much into being linked or not being linked is probably a bad idea.


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Yates's, Leeds, Woodhouse Lane
We have now re-opened come visit us and check out our brand new look!
Yates's Woodhouse Lane is located at the top end of the city, close to both universities and Millennium Square. During the daytime, we offer a laidback atmosphere, with a vibrant lunchtime trade. With fantastic lunch time meal deals and our convenient location we are the perfect venue to rest your feet after spending the day shopping.
With great service, friendly staff and fantastic value for money, Yates's Woodhouse Lane is the ultimate venue for both day and night.
Yates's, Leeds, Woodhouse Lane
43 Woodhouse Lane
Leeds, Woodhouse Lane
United Kingdom
Tel: 0113 245 4928 Email us
Opening hours:
Mon 10am-midnight
Tue 10am-2am
Wed 10am-3am
Thu 10am–2am
Fri 10am-2am
Sat 10am–3am
Sun 10am–midnight
- Outside Area
- Smoking Area
- Food Served
- Real Ale
- Plasma Screens
- Function Area
- Disabled Toilet
- Late Licence
- Wi-Fi
- Children Allowed
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text: Youth Explosion is a student crusade sponsored by North Central Baptist Association, the Shady Grove Baptist Association, and the churches within. High energy worship and a relevant message from the nation's best worship leaders and speakers come to the town of Jonesboro, LA for 4 nights. It's a great push as the new school year begins.


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UNO Inter-Tribal Council Holiday Craft Fair
Native American artistry will be on display Saturday, Dec. 1 as the University of Nebraska at Omaha's (UNO) Sapp Fieldhouse is turned into a showcase of work from Nebraska's Native American community. The event, an inaugural holiday extravaganza being coordinated by UNO's Inter-Tribal Student Council, will take place from 10 a.m. to 5 p.m. and is free and open to the public. Items on display and on sale at the event will include Native American beadwork; star quilts; silver and gemstone jewelry; paintings and prints; and other holiday gifts.
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From ARN Current models of several cars, including the Ford Edge, the Audi A6 and the Lincoln MKX, can all connect to the Internet over Wi-Fi or 3G networks. These connections bring streaming audio and video, Twitter feeds, spoken text messages and current traffic information into the vehicle.
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The Blood Type Diet Archives Volume 9
Posted By: carlaDate: Wednesday, 24 March 1999, at 9:35 p.m.
In Response To: bladderwrack (eileen roberts)
I'm curious about the same question. The bottle of bladderwrack that I bought says 8-10 drops 3 times a day. What is a good amount to take?
thanks, carla


text: In this dynamic and thought-provoking anthology, edited by trans activists and playwrights Tom Léger and Riley MacLeod, 28 authors converge to showcase the future of trans literature and the next great movements in queer art.Most of the stories follow a traditional "day in the life" narrative arc, but several slip into other genres. In R. Drew's "The Café," a trans man struggles to be accepted as Sam instead of Samantha; Casey Plett's "Other Women" demonstrates how sex can be an emotional minefield for trans people; and Elliot Devine's "Dean and Teddy" tackles issues of self-image and acceptance. Susan Jane Bigelow's urban fantasy, "Ramona's Demons," introduces a trans woman into otherwise familiar territory; and Mikki Whitworth's "Masks of a Superhero" is about a costumed champion in transition.The Collection represents the depth and range of tomorrow's finest writers chronicling transgender narratives.


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Tracee Hofer
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Ms Hofer has an extensive background in psychiatric nursing, having practiced for 18 years in an inpatient psychiatric hopsital. She has an MSN in Psychiatric and Mental Health Nursing from SDSU. She currently practices as a Nurse Practitioner at an acute psychiatric facility and also practices in a clinic setting. Ms. Hofer has a dual appointment with USD and Avera McKennan. She has been teaching in the USD Nursing Program since 2004.
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- MS, Psychiatric Mental Health Nurse Practitioner, South Dakota State University, 2009
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- Diploma in Nursing, Nursing, St Joseph Mercy School of Nursing, 1985


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by HOOTIE » Mon Dec 27, 2004 3:17 am
by Absolutely Adequate » Mon Dec 27, 2004 12:42 pm
HOOTIE wrote:AA thanks for the info. It does sound familiar. It says they settled out of court, so Dixon did get paid?
by ironman » Thu Dec 30, 2004 1:39 pm
Absolutely Adequate wrote:HOOTIE wrote:AA thanks for the info. It does sound familiar. It says they settled out of court, so Dixon did get paid?He got paid, but he had to sue. And they tried to get away with not paying him. And I lost all respect for them when I heard about it. Coincidentally, pretty much all the blues songs that you've heard covered by classic rock bands were written by Willie Dixon: Back Door Man (Doors), I can't quit you baby (Zep), The Seventh Son (Sly and the Family Stone), Spoonful (Cream), You Shook Me (Black Crowes), Hoochie Coochie Man (Allman Bros.), I just want to make love to you (everybody) and a thousand others.
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text: STYLE Fashion Advice Iconic Men's Hairstyles 10 Things You Can't Wear This Winter 10 Things You Can't Wear This Winter Topman S-Z Topman S-Z Instantly Pull Your Look Together Instantly Pull Your Look Together Topman A-I Topman A-I Coming Next OR 0 7 Back to Top ▲ Iconic Men's Hairstyles Iconic Men's Hairstyles Steve McQueen Ahmed Zambarakji Share on Facebook Share on Twitter 0 Shares Let's be honest: Men are pretty limited when it comes to hairstyle. Where women can coif and color to their hearts' content, the average guy sticks to a pretty low-maintenance short back and sides (or a variation thereof) until the stuff decides to fall out. But none of that should mean we're exempt from making a statement with our hair. Now, we're not encouraging you to adopt some expertly bleached Jersey Spikes or reach the glorious heights of Kid 'n' Play's epic hi-top fade. There are some far more accessible men's hairstyle templates that, were it not for a handful of icons, would not be in our style vocabulary. Here are the seven most iconic -- and widely accepted -- pioneers of men's hair. Pictured here: Steve McQueen Look to The Getaway for McQueen's most iconic and accessible hairstyle. A grown-up take on the college look, this cut is clean and textured but with enough on top to sweep into a natural side parting. It has recently been given a modern update by Ryan Gosling for the film Drive. Ideal for the post-30 crowd, this classic cut is synonymous with McQueen. So much so that barbers, including Brent Pankhurst, advocate asking for this technical cut simply by name. "If your barber doesn't know what a McQueen is, get out of the chair and leave the shop immediately," he advises. Next Page Comments Show Comments More Like This Promoted Around the Web Special Features


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Spirit includes planning Homecoming events such as student BBQ, bonfire, parade and
much more! Spirit also plans events for Cat/Griz and collaborates with Service Saturdays,
Red Cross, and United Blood Services to provide service opportunities on campus.
2014 Homecoming Week: September 22nd - 27th
• Monday/Tuesday 22nd-23rd - Greek House visits, Office and Residence Halls judging
• Wednesday 24th - BBQ on the Centennial Mall and VOTING BEGINS
• Thursday 25th - Bonfire and VOTING CLOSES
• Friday 26th - Pep Rally (Downtown, Bozeman) and Midnight Mania
• Saturday 27th - Parade (Downtown, Bozeman), Football Game v. North Dakota, and
Coronation at Halftime
Meet your Homecoming Candidates
My name is Aaron Blaser from Minneapolis, Minnesota. I ended up at Montana State after a last minute decision
to attend college out of state and have never looked back. Montana State has allowed
me to pursue things I never thought I could and test my limits. Now, I find myself
being an Honors College student with a triple major in Organismal Biology, Film,
and Photography, with hopes to do nature documentary work one day. With organizations
such as Spirit of the West Drumline, Smarty Cats Tutoring, Kappa Sigma Fraternity,
and MSU Student Alumni Association, I strive to involve myself as much as I can in
MSU and its community. All in all, I try to inspire my love of MSU and Bozeman to
Hello my fellow Bobcat peers! My name is Ashlyn Alsberg and I am from Glasgow Montana. I knew I was supposed to be a Montana State University Bobcat at a young age. From the moment I stepped on to the Montana State University campus as a freshman in high school, I knew this is where my life would begin to excel. Now that three years have come and gone, and I am now a senior studying Community Health, I could not be more proud to be a part of this wonderful community and to be a Bobcat. My experience at MSU has been life changing between being involved on campus with my sorority Alpha Omicron Pi, serving as the Panhellinic Council president and working at MSU Health Promotion. Through these, I have met some wonderfully inspiring people. I love being involved because, to me, being a true Bobcat is all about giving back to the community. Go Cats! Vote for Ashlyn Alsberg!
Hey guys my name is Brock Yingling from Colorado Springs and have Blue and Gold running through my veins! I am a Junior in Mechanical Engineering and whether it be orientation leading or giving campus tours I love to share my passion for MSU and Bozeman with most everyone I run into! I am involved with the Bozeman community through Big Brothers Big Sisters and have found my time there to be a great experience. I love it here at Montana State University and wouldn't change that for the world! Go Cats and vote for Brock Yingling!
Hello Bobcats! My name in Jen Marshall and while I'm from Dover, Delaware, I have made Montana State University my home
over the past two years. I'm beginning my junior year, studying Technology Education
with a minor in Photography. I try and stay as involved as I can, participating in
the Technology Education Club, serving as National Reporter for the Technology and
Engineering Educators Collegiate Association, volunteering and working for the VOCIE
Center and being a proud member of Alpha Gamma Delta. Last year I was on ASMSU Senate
and served as Senate Vice President, I was also an AdvoCat. I love Montana State
University and want to share with the world how great it is to be a Bobcat!
Hello fellow Bobcats! My name is Lane Nordlund and I am from Lewistown, MT. I have been wearing blue and gold since the day I was
born and come from a long line of Bobcats! I'm currently a senior studying Agricultural
Relations! Some people think I look like Jim Carrey and others believe I look like
Woody off of Toy Story! Whichever movie character I look like or when I'm not enjoying
long walks on the beach, I love being involved on campus. From Student Alumni Association,
Young Farmers and Ranchers, Colligate Stockgrowers and I'm also a Student Ambassador
for the MSU Alumni Foundation. Montana and MSU are truly a treasure and I'm so proud
to say I am a Bobcat! Remember, Vote for Lane!
Hello Bobcats, my name is Maxwell Hamberger! Originally from Buffalo, NY, I made a leap of faith in 2011 and traveled 2,000
miles out here to Bozeman . I've spent the past three years studying film in the School
of Film & Photography. In that same span of time, I grew as a representative in my
adopted home – the residence halls – and eventually became the president and senior
representative of The Residence Hall Association, representing the 3,500 students
living in the halls. I've also been deeply involved in our new student recruitment
programs through the Admissions office as an AdvoCat, Orientation Leader, and student
worker. Montana State University and Bozeman a are extremely important to me, and
I've become deeply engaged in them to give back to the place that has given me so
much. Vote for Maxwell Hamberger!
Hello Bobcat Nation. My name is Rachel Bradford and I am from Portland, OR. I'm a fourth generation Bobcat and just starting my senior year with a double major in Elementary Ed and Special Education. Since arriving on campus I have been involved as a MSU Orientation Leader, an AdvoCat, Chi Omega sorority, CRU and a Bobcat Dancer. I've also experienced the International Study Abroad program by spending a semester in Ghana, Africa. I've loved every minute of my time at MSU and look forward to another exciting year on campus. Go CATS and vote for Rachel !
Hello Montana State University! My name is Sydney Sherick and I'm a senior in Psychology and Hispanic Studies. I came to Montana State from
Hudson, Wisconsin, but come from a family of Butte High Bulldogs and MSU Bobcats.
My earliest Bobcat memory is watching the Cats beat the Griz in a blizzard in Missoula
back in 2002. Over the past few years, I've gotten involved with Alpha Omicron Pi
Women's Fraternity and Panhellenic Council; I also volunteer as an advocate with the
VOICE Center, have given campus tours as an AdvoCat, and helped plan the annual Blue
and Gold Ball two years in a row. When I can, I try to hike the beautiful mountains
surrounding campus. These opportunities have allowed me to make Montana State my home
and to meet all of the different people that make up the Bobcat community. Many thanks
to the Student Alumni Association for my nomination to Homecoming Court – I'm honored
to be considered as a representative for the university! Go 'Cats!
Parade Information
Click here for the Homecoming Parade entry form
Click here for the Homecoming Parade resource guide
2013 ASMSU Homecoming King and Queen
Spencer Dahl and Dani Clark!
Rachel Schlender || ASMSU Spirit Director
My name is Rachel, I am from Bozeman, MT and am majoring in Nursing and I strive to be a passionate and enthusiastic person in all the work I do. I want to show everyone how much fun it is to be a bobcat. Being the Spirit Director I get to help the students and community to celebrate MSU and show their Bobcat spirit. It is an honor to have the job I do and be part of the ASMSU team!
An interesting fact about me is that my favorite thing about MSU is that Bobcat Football unifies us. Football games don't only consist of students, but alumni, parents, and all of the Bozeman community! We are all brought together for one thing; celebrate our cats and bleed blue and gold!


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Advances in Mechanical Engineering
Volume 2013 (2013), Article ID 367127, 11 pages
Path Tracking Control of a Mobile Robot by Using Dual Estimation Algorithm
1School of Mechanical Engineering, University of Ulsan, Ulsan 680-749, Republic of Korea
2Korea Aerospace Research Institute, Daejeon 305-806, Republic of Korea
Received 12 March 2013; Accepted 7 October 2013
Academic Editor: Hongxing Wei
Copyright © 2013 Xuan Vinh Ha et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Skid-steered mobile robots have been developed to explore unknown environments, especially in rough terrain situations, where the wheel slips always occur and vary when the robot is traveling with different trajectory shapes. The wheel slippage limits the traction and braking abilities of the robot. In this paper, we propose a new dual estimation algorithm to overcome the previous limitations. The estimated values such as the robot's positions and wheel slips are obtained based on the Kalman filtering technique. As demonstrated by our experimental results, the advantages of the new method are effective to overcome the slip limitations in the path tracking control problem of a four-track wheel skid-steered mobile robot (4-TW SSMR).
1. Introduction
Recently, several studies have proposed and developed various approaches for estimating the position of a mobile robot. For example, one study used an extended Kalman filter (EKF) with a low-cost GPS unit and inclinometer to develop a localization scheme for Ackerman steering vehicles in indoor autonomous navigation situations by estimating the positions of the vehicles and their sensor biases [1]. In another study, a relative localization method was used to determine the navigational route of a convoy of robotic units in an indoor environment using an EKF based on a low-cost laser range system and built-in odometric sensors [2]. In skid-steered vehicles, discrepancies remain between position measurements and the navigational estimations obtained from odometry, infrared, and ultrasonic measurements and Kalman filtering techniques [3]. However, this study only mentioned the advantages of the different extensions of the KF for nonlinear estimations. In [4], a laser range finder (LRF) was used to find the localization of a mobile robot based on the EKF design. That study focused on a statistically exact derivation of the input noise covariance matrix, according to the known noise variances of the angular velocity measurements of both robot wheels.
Additionally, the exploration of unknown planetary surfaces with the help of mobile robot is increasingly being developed. A localization and path selection of any vehicle like a mobile robot to achieve any planetary exploration missions were described in [5]. In this study, by using odometry and gyro measurements, these sensors information was integrated by EKF. In another research, a robot, named Hyperion, was designed for solar-powered operation in polar environments and developed sun-cognizant navigation method to enable rovers to dodge shadows, seek sun, and drive sun-synchronous routes [6].
In a mobile robot's field of operation, wheel slip limits traction and braking ability, especially for a 4-TW SSMR. Accurate estimation of slip is essential to obtain precise position for a mobile robot operating in unstructured terrain, especially in rough terrain situations. Several approaches to slip estimation have been developed. For example, a sliding mode observer (SMO) conducted to estimate slip parameters based on the kinematic model of a skid-steering vehicle is proposed in [7]. In another study, a novel method combining an optical flow algorithm with a sliding mode observer to estimate slip parameters of a SSMR was introduced [8]. Reference [9] proposed an experimental slip model for exact kinematic modeling, and the parameters of this model were determined based on experimental analysis. In [10], a rough-terrain control (RTC) methodology was presented in multi-wheeled mobile robot systems to improve ground traction and reduce power consumption. A key element of the method is able to estimate the wheel ground contact angles.
The methods in [7–9] remain limitations when the robot is traveling on the different ground surfaces with different and longer trajectory shapes. In this paper, we propose a new dual estimation algorithm for the robot's position and wheel slip estimations based on the Kalman filtering technique. First, the EKF is utilized to estimate the robot's positions, velocities and orientation angles, which are used for the feedback control signals. Second, a discrete KF is designed to estimate the slip parameters of the left and right track wheels, which are used to compensate for the velocity constraints and its variance values for the EKF in order to get more accurate estimated values. In the dual estimation algorithm, these two Kalman filters are performed simultaneously based on the measurements from AHRS sensor and two incremental encoders. The experimental results show that the advantages of the new method overcome the slip limitations in the path tracking control problem of a 4-TW SSMR. The experiment is performed on the NT-Hazard Escape-1, as shown in Figure 1.
This paper is organized as follows: Section 2 introduces the experimental setup and implemented control system. Dual estimation algorithm is presented in Section 3. The experimental results, including analysis and evaluation, are discussed in Section 4. Finally, Section 5 presents the conclusion.
2. The Experimental Setup and Implemented Control System
2.1. The Experimental Setup
The NT-Hazard Escape-1 mobile robot, with four NT-track wheels, considered in this study is applied in the investigation of disaster areas, running and watching rough areas including construction site and running up stairways. The robot with small actuators was made for the first time in Korea, providing various functions to robots. Each of the eight motors is faithful to its own move, and the robot can easily lift two tracks even when is fully loaded. The robot can also move while maintaining its central balance, like a tank. In addition, RS232C is supported to enable working with an embedded board and computer through wireless telecommunication. Therefore, it is easily applied in various applications. The dimensions for the mobile robot are shown in Figure 2.
For research purposes, an experimental mobile robot was designed. The system configuration was represented by a configuration for all of the elemental components as shown in Figure 3(a), while the real photograph of the experimental system is displayed in Figure 3(b). From these figures, the AHRS (AHRS-03-300) was mounted on the top and center of the robot based on a base platform. Two incremental encoders (E40H-8-1024-3-N-5) were installed on the robot's front-left and right tracked wheels. A notebook (model ASUS U36S) was used to collect the data from the AHRS sensor and two incremental encoders via an AVR 128-pro board. This notebook also performed all algorithms which were applied in real-time. Here, the control algorithm for the system was coded in C# programming language (using the Microsoft Visual Studio 2008 version).
During the experiment, the measurement sampling frequency for the AHRS and incremental encoders is set to 20 Hz. The robot is programmed to follow a desired trajectory. Based on the measurements from these two sensors, the robot position values are derived through the Kalman filtering technique, and then robot controllers are applied to drive the robot to the desired trajectories.
2.2. The Implemented Control System
In the experimental mobile robot, a path tracking control method for the robot motion is performed to follow the desired trajectory based on closed-loop control systems and the sensor fusion technique for feedback control signals. Figure 4 describes the diagram of the implemented control algorithm. As shown in this figure, the control system includes three closed-loop controls: two low-level closed-loop controls for motor speeds of the left and right sides and one high-level closed-loop control for robot position. The discrete PID controllers are applied for low-level closed-loop controls. For the path tracking control system, the stable tracking control (STC) method is introduced in [11, 12], based on an error model of the kinematical model. In another approach, vector field orientation (VFO) feedback control method is a motivating control technique to calculate such linear and angular velocities for DDVs. The reader can refer to [13] (an application for a Four wheel drive skid-steered mobile robot), [14] (VFO for a DDV) and [15] (an extension of VFO in the case of skid-slip phenomena). In this work, the VFO control feedback method is applied for the high-level closed-loop control of the robot position in a 2D plane.
Additionally, the dual estimation algorithm is proposed by integrating the EKF and the discrete KF. First, the EKF, denoted by EKF, is utilized to estimate the positions, velocities and orientation angles which are used for the feedback control signals in the high-level closed-loop control. Second, a discrete KF, denoted by KF, is designed to estimate the slip parameters of the left and right track wheels, which are used to compensate the velocity constraints and its variance values for the EKF in order to get more accurate estimation values. In the dual estimation algorithm, these EKF and KF are performed simultaneously based on the measurements from AHRS sensor and two incremental encoders, and they are introduced in the next sections.
3. Dual Estimation Algorithm
3.1. AHRS Kinematics and Velocity Constraints
We define a navigational reference frame and robot body frame as shown in Figure 5. Let , , and denote the position, velocity, and attitude angle vectors of AHRS in frame, respectively. We also define the AHRS acceleration, angular rate, acceleration walking bias, and angular rate walking bias in the frame as , , , and , respectively.
After subtracting the constant offset and local gravity vector, the acceleration and angular rate models of the AHRS can be described by [16]
where the true acceleration vector, true angular rate vector, acceleration white noise, and angular rate white noise are , , , and , respectively. And , , , , and are time constants, noise variances, and zero-mean white noises with of the acceleration walking bias and angular rate walking bias, and the is the sampling frequency.
We also define the state vector of model process. The kinematic motion equation for AHRS can be simplified to:
where and , the transformation matrix from the frame to the frame and transformation matrix of the Euler angles, as given by the following matrices:
where , , , and the same notation convention is used for angles and .
In the 4-TW SSMR, the motors that power the wheels at each side are geared internally to ensure that the velocities of two adjacent wheels at each side are synchronized (have the same angular velocity) and thus have the same velocity at ground contact. Let us define and as the left and right linear velocities of the robot; we have where , , , and are center linear velocities for front-left, rear-left, front-right, and rear-right wheels, respectively, shown in Figure 6. The longitudinal wheel slips of the left and right wheels and are defined as ratios of the wheel velocities and its center velocities [17], as follows: where is the wheel radius, and are the wheel angular speeds for the left and right sides of the mobile robot. From (7), it can be seen that the wheel slip if the wheel is under traction and if the wheel is under braking. Using the definition of the slip in (7), we have
Because of the symmetric mechanical structure of the robot, it can be assumed that the center of mass (COM) of the robot is located at the center of geometry (COG) of the body frame. The AHRS coordinate is located at the COG in frame, as shown in Figure 5. Using two wheel encoders, we obtain the AHRS velocity vector in frame. From (8), using two wheel encoder measurements and wheel slip parameters, we obtain the longitudinal velocity as follows:
Based on [17], since the four tracked wheels of our robot are always in contact with the ground and since the AHRS is fixed on the robot platform, the velocity constraints and in -axis and -axis directions for the AHRS device can be simplified to equal zero.
The noises in the longitudinal velocity can be expressed as the sum of the noises of the left and right wheels' angular speeds and as measured by encoders. It is assumed that the noises for and have a normal distribution with a zero-mean and corresponding variances, and there is no cross-correlation between the noise of and of [18]. The noise variance of the longitudinal velocity can be expressed as
The noise variances and of the lateral velocity and ground surface topography are also expressed by zeros. In order to obtain the longitudinal velocity and its noise variance, we have to estimate slips and . The proposed dual estimation method, which can estimate these two slip values, is introduced in Section 3.2.
3.2. Dual Estimation Algorithm
Now, we define the state variable's vector . We rewrite the AHRS kinematics equation shown in (3) in discrete-time form, and we obtain the process model as
where the AHRS input signals at the th sampling time is and the data sampling period is . Also, the nonlinear function of the process model is
and is the process noise vector.
With velocity constraints (9), the AHRS velocities in frame are considered as the measurement vector . Including the wheel encoder measurement noise and ground topography, the measurement model is rewritten in discrete-time form as
where is measurement noises. We assume that the measurement noises are independent, zero-mean, and Gaussian white noise; that is, . The covariance matrix of the measurement noise is
where , , and are calculated in (10). The EKF was implemented by using systems (11) and (13) in order to obtain the estimated positions, velocities, and attitudes of the robot.
Additionally, in order to determine wheel slip parameters to compensate the velocity constraints and its variance values, a discrete KF, denoted by KF, is designed. By giving in body frame and yaw rate , the wheel center velocities along -axis for the left and right sides wheels are calculated by
where is lateral wheel bases. By substituting (15) into (7), we have
We define unknown parameters as:
Substituting (18) into (17), the relationship between the angular speed from encoders and unknown parameters is described as
The slip estimation based on the KF is now established. Assuming that the slip process is the random process, then the unknown parameter process can be modeled in discrete-time form as
where is the process state vector of the KF at time step, is process noise vector, and is the state transition matrix which is defined as:
From (19), the measurement model of the KF can be written relating to the encoder measurement noises as
where is angular speed vector from two encoders at time step, is measurement noise vector, and is the measurement matrix which is calculated as follows:
where and are the estimated values of the linear and angular velocities of mobile robot in frame which are computed as
where , , and are given from the EKF. The Systems (20) and (22) are used to perform the KF in order to estimate the unknown parameters of the left and right sides. From (18), the estimated slip parameters and at step are calculated through the estimated unknown parameters and as follows:
From previous descriptions, the estimated slip values and are obtained indirectly through the unknown parameters and . In this method, the current values and (in (24)) are calculated by using the current state and of the EKF. Similarly, the current estimated slip values in (25) are used to compute the longitudinal velocity in (9) and its noise variance value in (10) in order to perform the EKF. From the previous analyses, in this work, there are two Kalman filters running concurrently; it is called the dual estimation algorithm [19, 20]. As illustrated in Figure 7, the algorithm consists of two kinds of Kalman filters that run concurrently. The top EKF generates state estimates and requires for the measurement update. The bottom KF generates slip state estimates and requires for the measurement update. The following describes the dual estimation process through mathematical equations [21, 22].
Initialize with
For , the prediction step for KF is
and update step equations for KF are
where and are the process and measurement covariance matrices of and , respectively.
And the prediction step for EKF is
and update step for EKF is
and is the process covariance matrix of .
Update estimation values and for KF as
4. Experimental Results
In this section, the experiments are performed to prove the effectiveness of the proposed dual estimation algorithm (DEA) for the robot's path tracking problem in real-time application. The VFO feedback control method is applied for the trajectory tracking control. In fact, the wheel slips, which always occur and vary while the robot is traveling on the different ground surfaces with different trajectory shapes, limit the traction and braking abilities of the robot, especially in 4-TW SSMR. Therefore, a proposed DEA is performed to overcome the previous limitations in this research. The estimated values such as robot's positions, velocities, attitudes and wheel slip parameters are obtained more accurately, which are used for the feedback control signals in the high-level closed-loop control. In this work, the experiments have been carried out on concrete terrain in an outdoor environment, involving two scenarios.
Scenario 1. The mobile robot is controlled to follow a desired trajectory with two curves.
Scenario 2. The mobile robot is controlled to follow a desired circular trajectory with a 2 m radius.
In the first scenario, the output trajectories are shown in Figure 9(a). As illustrated in Figure 9(a), the output response without DEA is quite far to the desired response while that with DEA is close to the desired response. The linear and angular velocities of two methods (without and with DEA), shown in Figures 8(a) and 8(b), are also close to the desired velocities despite the mechanical vibrations and sensor noises. In fact, although the working environment contains large numbers of nonlinear and uncertain factors, which impact with the system performances, the results point out that the proposed DEA has improved the performance of the path tracking problem. The previous evaluation is proved by considering the position errors as shown in Figure 9(b). In Figure 9(b), the position error with DEA at any instant of time, which is the distance from the estimated position of the robot at the defined instant to the nearest point of the desired trajectory, is the closest to zero compared to that without DEA. Consequently, the root mean square error (RMSE) of robot position with DEA is the smallest (0.0239 [m]), while that without DEA is 0.0845 [m].
In order to evaluate the proposed method, the system is also tested with a circular trajectory, in the second scenario. The output responses without and with DEA are shown in Figure 11(a). It can see that the response with DEA is still the closest to the desired response. The linear and angular velocities are shown in Figures 10(a) and 10(b). Figure 11(b) clearly depicts that the result with DEA is the best while comparing to that without DEA; the position error graph with DEA is still the closest to zero. Hence, the RMSE of robot position with DEA is the smallest (0.0236 [m]), while that without DEA is 0.0882 [m].
In both scenarios, the results show that the trajectories with DEA are the closest to the desired responses. It results from the estimated slip values which are used to compensate the velocity constraints and its variances. The estimated values in EKF such as velocities and trajectories with DEA are more precise than those without DEA. It means that the feedback control signals with DEA are more accurate, and then the high-level closed-loop control with DEA performs better than the previous testbed without DEA.
From the previous analyses, the robot positioning results with DEA are better than the previous results without DEA. It is clear that the DEA, with wheel slip compensation, is very essential in the mobile robot field. For the first scenario, the robot follows the desired trajectory, which has two curves. At the left rotation in the first curve, the angular speed of the right wheels is greater than that of the left wheels. Then, the traction phenomenon occurs on the right side, while the braking phenomenon appears on the left. Consequently, the slip value of the right wheels is positive, and that of the left wheels is negative. Similarly, at the right rotation in the second curve, the slip value of the right wheels is negative while that of the left side is positive. Furthermore, when the robot travels along the straight segment in the first trajectory, less force is needed to drive the robot and the left and right wheel slips are close to zero. Figure 12(a) illustrates the estimated slip parameters of the left and right wheels in the first scenario.
For the second scenario, the robot follows the desired circular trajectory with counterclockwise direction. The angular speed of the right wheels is always larger than that of the left wheels. Consequently, the slip value of the right wheels is always positive and that of the left wheels is always negative, as shown in Figure 12(b). All types of the estimated slip values in both scenarios are consistent. On the whole, the robot positioning results are improved significantly by considering the new dual estimation method. Table 1 shows RMSEs of all experiments in this work; the RMSE values with DEA are reduced more significantly.
5. Conclusion
This paper presents experiments to control the 4-TW SSMR based on the estimated feedback control signals. In the mobile robot field, the wheel slip limits the traction and braking ability of the robot, especially the 4-TW SSMR. The wheel slip always occurs while the robot is traveling on the different ground surfaces with different trajectory shapes. In this paper, we propose the new dual estimation algorithm for robot's positions, velocities, attitudes, and wheel slip parameters based on the Kalman filtering technique in order to obtain more accurate estimation values, which are used for the feedback control signals. In the dual estimation algorithm, two Kalman filters performed simultaneously based on the measurements from AHRS sensor and two incremental encoders. Experimental results show the advantages of the novel method which is effective in the path tracking control problem for a 4-TW SSMR, for example, the commercialized Hazard Escape I mobile robot.
Conflict of Interests
This company does not have any relationship with the name of Hazard Escape 1. So there is no competing interest such as financial gain between two sides.
This research was supported by Korea Aerospace Research Institute in 2012.
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I have stayed at the Amber Hostel twice in the past two years. The service was accommodating, the room was comfortable and both the room and bathroom were habitable. I'm a minimalist, so I don't ask for much. If the occasion arises, and I'm sure it will again, I would book another stay at the Amber.
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- TripAdvisor is proud to partner with HostelWorld so you can book your Hostel Amber reservations with confidence. We help millions of travelers each month to find the perfect hotel for both vacation and business trips, always with the best discounts and special offers.


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how can you improve on perfection? bella reese has plans to do just that, so she's been talking to a pervy plastic surgeon. sure, this curvaceous beauty already has one of the steamytest, juiciest bodies in the valley, from her incredibly enormous jugs down to her ridiculously round whooty backside. but the doc thinks he can take her to the next level, provided she's willing to pay for it with her sweet slit.
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ExAblate (Magnetic Resonance-guided Focused Ultrasound Surgery) Treatment of Brain Tumors
This study is currently recruiting participants.
(see Contacts and Locations)
Verified March 2014 by InSightec
Information provided by (Responsible Party):
ClinicalTrials.gov Identifier:
First received: November 14, 2011
Last updated: March 5, 2014
Last verified: March 2014
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No Study Results Posted on ClinicalTrials.gov for this Study
Study Status: | This study is currently recruiting participants. |
Estimated Study Completion Date: | December 2014 |
Estimated Primary Completion Date: | December 2014 (Final data collection date for primary outcome measure) |


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Fantofan says,TF Prime Unicron Takara Exclusive?
Posted 20 June 2012 - 08:25 PM
I was mildly fond of the toy as it didn't transform into planet & was voyager size. I was willing to buy this at the Hasbro retail store prices.
Since I mildy like the toy. I'm not willing to pay the higer Takara prices to buy this.
I'm willing to wait 12 months & see if Hasbro releases this or not. my TF spending budget can't handle quick impulse buys.
I ain't gonna shell out money for the takara higher priced version. then a few months later find out hasbro is releasing this in USA Retail stores.
worse case scenario I wait 12 months,hasbro never releases this. Then I go on-line & buy it or decide not to buy it.
Posted 20 June 2012 - 08:52 PM
Posted 20 June 2012 - 09:30 PM
Hasbro strikes out again if this true. But then Hasbro has been dropping the ball like crazy the last year or so. I still think Hasbro canceled Breakdown. So the only way to get him is from Takara also.
Posted 20 June 2012 - 09:59 PM
Posted 20 June 2012 - 10:29 PM
Posted 20 June 2012 - 10:49 PM
lets see what they say at SDCC. But they did announce the voyager Skyquake/Dreadwing last year and he has yet to be released....
Hasbro canceled Skyquake and moved Dreadwing up in the waves. And honestly from what I have noticed
Skyquake died - Hasbro canceled Skyquake
Unicron technically died - Hasbro has never mentioned a Unicron toy
Breakdown died - Hasbro dodged the question about his toy instead of saying yes or no if they were going to release him
Cliffjumper died also yes, the only reason I think they released his figures is 1 he was already part of wave 1, 2 he is a deluxe
But I am seriously thinking Hasbro will not release Unicron or Breakdown and I would rather have buyers remorse by buying the Takara versions because I know they are releasing Unicron and Breakdown
Instead of taking the chance that Hasbro would figure it out in their heads that even if a character is dead, we still want their figure!
Posted 21 June 2012 - 09:58 AM
Breakdown died - Hasbro dodged the question about his toy instead of saying yes or no if they were going to release him
Maybe Breakdown has a twin brother somewhere - that'll have to do.
From the article:
The website lists Transformers Prime AM-19 Gaia Unicron as a Takara Tomy exclusive and that the figure will come with one Arm Micron.
Hopefully they just mean Gaia Unicron. The Hasbro version could be called something else, with a different colour scheme....
Posted 21 June 2012 - 10:18 AM
Posted 21 June 2012 - 04:02 PM
Posted 21 June 2012 - 04:31 PM
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Check here for the latest additions to Dakota Creek Retrievers.
Pedigrees which display success in running both field trial and hunt tests with AKC, CKC, NAHRA & UKC titles.
Introduction to the rules and disciplines for a hunting retriever.
Your online store for dog training, trialing, hunting and travel supplies.
In 1990 with the purchase of a yellow lab, we entered the world of NAHRA hunt tests and were hooked. Since then we have continued to train and trial Labradors for both hunt test and field trial venues. The goal of Dakota Creek Retrievers is to raise and train top quality working retrievers bred with both field and hunt test pedigrees for the field trialer, hunt tester or hunter in mind. At the same time, we have searched for the top products available to reach these goals and these can be found in our online store.


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Name | Updated | Category | Author | Stage | |
Name | Updated | Category | Author | Stage | |
Deus Vox Encounters |
Mar 03, 2015 | kollektiv | Release | ||
Deus Vox Encounters (DXE) is a boss mod inspired by RDX. It is designed to be functional, efficient, and customizable, so you can change what you want and how you see this addon. Features Automated: Activation, starting, and stopping of encounters is automatic Flexible alert system: Customizable timer bars Color Texture Font Width Spell icons And more...! Customizable full screen flashes Duration Transparency Oscillations Color Customizable sounds: Packaged with 18 distinct ones All alerts... | |||||
Simple Action Sets |
Dec 30, 2014 | Brodrick | Release | ||
WoD Update: Mounts in old saves will not be found due to new MountJournal code, but it should be obvious what mount was there and re-adding it from the journal and saving the change should solve the issue. Description: Do you find yourself reshuffling your spells around on your action bars when ever you PvP or PvE? Are you finding that you have a custom main bar with 48 spells in it and 6 side bars and still need more buttons to hold all your spells, items and macros? Have some special case... |


text: Contest Llama MascotContestSo guys! What's the best way to show your support for your loving llama group? Make us an official mascot! Our mascot will be the person, animal or thing that will represent our page and all it contains!A small note though; this is an entirely Digital Contest - All drawings must be in Digital form and they must be drawings! Originality - If it is just a llama with a cape, then we'll have to decline Quality - Best Efforts guys! We don't want something that'll be added to Scraps later This is going to forever be our mascot, so you can see why! Rules:One artwork per member (unless you have more to show us of the same llama).Folder to submite is " Llama Mascot Contest "No participating in other contests at the same time - This'll be an instant decline.:+fav


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The Foundation for Advancing Alcohol Responsibility stands firm on its support of the 21 year old drinking law and remains committed to providing students, parents, administrators and the entire campus community with the educational resources they need to fight alcohol abuse on campus. The Foundation for Advancing Alcohol Responsibility's sponsorship of NSAC provided participants with the opportunity to address a social issue to promote behavioral change: the prevention of dangerous over consumption of alcohol among college students.
Over 140 teams representing colleges and universities across the nation accepted the challenge to work on the case study developed by The Foundation for Advancing Alcohol Responsibility, with the assistance of the Ad Council and the American Council on Education. The wealth of ideas presented by students nationwide was very impressive. Students have made it very clear that conversations about binge drinking need to be different and most importantly, they must be engaged in finding viable solutions.
During the next phase of this important project, The Foundation for Advancing Alcohol Responsibility will be supporting student-led implementation of several of the ideas presented during the competition in order to further explore their potential effectiveness in dealing with dangerous over-consumption of alcohol on our nation's college campuses.
While The Foundation for Advancing Alcohol Responsibility is not in a position to specifically agree or disagree with all of the statements or executions that may be tested, our goal is positive results, and if some of these highly creative executions can be shown to succeed in bringing down rates of dangerous over-consumption on campus, that goal, shared by everyone, will have been brought closer to fruition.
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Lutherans will allow gay clergy in same-sex relationships
It's a controversial move that's divided members of the largest Lutheran denomination in the United States.
Another major Christian denomination has taken a controversial step regarding gay clergy.
Meeting in Minneapolis, the 4.7-million member Evangelical Lutheran Church in America (ELCA) , the largest Lutheran denomination in the United States, voted Friday "to allow Lutherans in same-gender relationships to serve as pastors of congregations and serve in other professional leadership roles." Until now, only celibate gay men and lesbians could serve such church roles.
Three other major Protestant denominations – the Presbyterian Church (USA), the Episcopal Church, and the United Methodist Church – recently have wrestled with the issue as well.
The ELCA's move is especially jarring and significant because "it is viewed by all of us as one of the more Reformation-rooted, broadly orthodox denominations" and takes its theology seriously, Richard Mouw, president of the multi-denominational and evangelical Fuller Theological Seminary in Pasadena, Calif., told the Associated Press.


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Residents of Tulane Orthopaedics
Brent Van McCarty, MD
Residency Appointment
Tulane University School of Medicine, Department of Orthopaedic Surgery
Currently, PGY 2
University of Mississippi School of Medicine, Jackson, MD
Undergraduate – Millsaps College, Jackson MD
BA, History 2003-2007
Surgery Medical Scholars Program
Who's Who in America's Colleges and Universities (2007)
Joseph B. Price Award for General Chemistry, Millsaps College (2004)
Award of Excellence, Mississippi Governor's School (2002)
Eagle Scout, Boy Scouts of America (1999)
American Medical Association
Peer Reviewed Journal Articles/Abstracts
Stensaas KL, McCarty BV,k Touchette NM, Brock JB. A comparison of hydrogen bonding solvent effects on the singlet oxygen reactions of allyl and vinyl sulfides, sulfoxides, and sulfones. Tetrahedron. 2006 Nov:62(46)
Poster Presentation
Stensaas KL, McCarty BV. (2005 November). Singlet Oxygen Photooxidation Reaction Mechanisms Poster presented at Coutheast/Southwest Joint Regional Meeting of the American Chemical Society, Memphis, TN
Oral Presentation
McCarty BV. (2006 November) A comparison of the singlet oxygen photooxidation reactions of several sulfur containing compounds. Oral presentation presented at Millsaps College Honors Thesis Defense, Jackson, MS
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In this age of advancing communication technology, the threat of cyber crimes looms large. The advent of smartphones has indeed enabled us to accomplish our daily tasks on the move; it has also exposed our vulnerability to crimes that are taking place in the cyber world. To protect self, family and your secure data, there is a need for mobile monitoring software and Mobile Spy is one such monitoring software that can track all the activities of your mobile phones and computers.
Mobile spy is a top rated monitoring software that is compatible with Android, Symbian, iPhone, Blackberry and Windows Mobile Smartphones. It is in fact credited with developing the first commercial spyware for iPhones. By installing the software on the target phone, you can track all the mobile phone activities.
Installing Mobile Spy is an altogether 15 minute procedure. You need to purchase from the vendor website and download the app on to the mobile phone. You need to restart the phone and the monitoring software would get installed. You need to physically install it on the mobile phone you wish to monitor. Post installation, the recorded logs can be accessed remotely through a user account which can be validated through a password.
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