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7 Robot Control by Fuzzy Logic Viorel Stoian, Mircea Ivanescu University of Craiova Romania 1. Introduction Fuzzy set theory, originally developed by Lotfi Zadeh in the 1960's, has become a popular tool for control applications in recent years (Zadeh, 1965). Fuzzy control has been used extensively in applications such as servomotor and process control. One of its main benefits is that it can incorporate a human being's expert knowledge about how to control a system, without that a person need to have a mathematical description of the problem. Many robots in the literature have used fuzzy logic (Song & Tay, 1992), (Khatib, 1986), (Yan et al., 1994) etc. Computer simulations by Ishikawa feature a mobile robot that navigates using a planned path and fuzzy logic. Fuzzy logic is used to keep the robot on the path, except when the danger of collision arises. In this case, a fuzzy controller for obstacle avoidance takes over. Konolige, et al. use fuzzy control in conjunction with modeling and planning techniques to provide reactive guidance of their robot. Sonar is used by robot to construct a cellular map of its environment. Sugeno developed a fuzzy control system for a model car capable of driving inside a fenced-in track. Ultrasonic sensors mounted on a pivoting frame measured the car's orientation and distance to the fences. Fuzzy rules were used to guide the car parallel to the fence and turn corners (Sugeno et al., 1989). The most known fuzzy models in the literature are Mamdani fuzzy model and Takagi- Sugeno-Kang (TSK) fuzzy model. The control strategy based on Mamdani model has the linguistic expression (Mamdani, 1981): ⇐ Fuzzy sets ⇐ Fuzzy sets Rule k: IF condition C1 AND condition C2 ..... THEN decision Dk The TSK models are formed by logical rules that have a fuzzy antecedent part and functional consequent (Sugeno, 1985): ⇐ Fuzzy sets ⇐ Non fuzzy sets Rule i: IF x1 is C1i AND x2 is C2i AND ..... THEN ui = fi(x1, x2, ..... , xn) www.intechopen.com 112 Frontiers in Robotics, Automation and Control where Cij, j = (1, p), i = (1, n) are linguistic labels defined as reference fuzzy sets over the imput spaces (X1, X2, ....), x1, x2, ..... are the values of imput variables and ui is the crisp output inferred by the fuzzy model as a nonlinear functional. The advantage of the TSK model lies in the possibility to decompose a complex sistem into simpler subsystems. The TSK model allows to use a fuzzy decomposition and an interpolative reasoning mechanism. In some cases this method can use a decomposition in linear subsystems. 2. Robot control system by fuzzy logic 2.1 Control methodology Consider the conventional control system of a robot (Fig. 2. 1) which is based on the control of the error by using standard controllers like PI, PID. θd + e Conventional τ θ ROBOT regulator - Fig. 2. 1. Conventional control system e(t) = θd(t) – θ(t) (2.1) The control strategy determines the torque of the robot arm so that the steady error converges to zero e s = lim e( t ) = 0 t →∞ (2.2) We can conclude that in the classical approach, the basic decisions imply the use of simple feedback control loops, loop interactions, internal feedbacks by cascade controllers and multimode controllers. The basic idea of Fuzzy Logic Control (FLC) centre on the labelling process in which the reading of a sensor is translated into a label as performed by human expert controllers (Yan et al., 1994), (Van der Rhee, 1990), (Gupta et al., 1979). The general structure of a fuzzy logic control is presented in Fig. 2. 2. qd + e u q Driving Mechanical FLC system structure - Fig. 2. 2. General structure of a fuzzy logic control www.intechopen.com Robot Control by Fuzzy Logic 113 The main component is represented by the Fuzzy Logic Controller (FLC) that generates the control law by a knowledge-based system consisting of IF … THEN rules with vague predicates and a fuzzy logic inference mechanism (Jager & Filev, 1994), (Yan et al., 1994), (Gupta et al., 1979), (Dubois & Prade, 1979). A FLC will implement a control law as an error function in order to secure the desired performances of the system. It contains three main components: the fuzzifier, the inference system and the defuzzifier. Fuzzifier Inference Defuzzifier system Crisp Fuzzy Fuzzy Crisp variables variables variables variables Fig. 2. 3. The structure of the fuzzy logic control The fuzzifier has the role to convert the measurements of the error into fuzzy data. In the inference system, linguistic and physical variables are defined. For the each physical variable, the universe of discourse, the set of linguistic variables, the membership functions and parameters are specified. One option giving more resolution to the current value of the physical variable is to normalize the universe of discourse. The rules express the relation between linguistic variables and derive from human experience-based relations, generalization of algorithmic non fully satisfactory control laws, training and learning (Gupta et al., 1979), (Dubois & Prade, 1979). The typical rules are the state evaluation rules where one or more antecedent facts imply a consequent fact. Defuzzifier combines the reasoning process conclusions into a final control action. Different models may be applied, such as: the most significant value of the greatest membership function, the computation of the averaging the membership function peak values or the weighted average of all the concluded membership functions. The FLC generates a control law in a general form: u(k) = F(e(k), e(k-1), … e(k-p), u(k-1), u(k-2), ... ,u(k-p)) (2.3) Technical constraints limit the dimension of vectors. Also, the typical FLC uses the error change Δe(k) = e(k) - e(k-1) (2.4) and for the control Δu(k) = u(k) - u(k-1) (2.5) www.intechopen.com 114 Frontiers in Robotics, Automation and Control xd e(k) + - Δu(k) u(k) x x FLC ROBOT + + + - Δ Δ e(k-1) Δe(k) Fig. 2. 4. The structure of the robot control by fuzzy logic Such a control law can be written as (2.6) and (2.7) (Gupta et al., 1979), (Dubois & Prade, 1979) and it is represented in Fig. 2. 4. Δu(k) = F(e(k), Δe(k)) (2.6) u(k) = u(k-1) + Δu(k) (2.7) The error e(k) and its change Δe(k) define the inputs included in the antecedents of the rules and the change of the control Δu(k) represents the output included in the consequents. The methodology which will be applied for the control system of the robot arm is: - Convert from numeric data to linguistic data by fuzzification techniques - Form a knowledge-based system composed by a data base and a knowledge-base. - Calculate the firing levels of the rules for crisp inputs. - Generate the membership function of the output fuzzy set for the rule base. - Calculate the crisp output by defuzzification 2.2 Control System Consider the dynamic model of the arm defined by the equation & x = f( x ) + b( x )u (2.8) where x represents the state variable, a (n x 1) vector, and u is control variable. The desired state of the motion is defined as: [ & ] ( n - 1) T x d = x d , x d , ... , d d (2.9) and the error will be [ & & (n ) e * = x - xd , x - xd , ... , x - xd (n) ] T (2.10) www.intechopen.com Robot Control by Fuzzy Logic 115 consider the surface given by the relation s = e * + σe * & (2.11) where σ = diag(σ1, σ2, … σn) (2.12) is a diagonal positive definite matrix. The surface S(x) = 0 (2.13) defines the switching surface of the system. For n = 1, the switching surface becomes a switching line (Fig. 2.5) s = e + σe & (2.14) & e e 0 Sliding mode Evolution towards -p1 the switching line Fig. 2.5. Trajectory in a variable structure control The control strategy is given by (Dubois & Prade, 1979). u = -ksgn(s) (2.15) Assuming a simplified form of the equation (2.8) as x & m&& + kx = u (2.16) from (2.14) one obtains && = s - σe e & & (2.17) www.intechopen.com 116 Frontiers in Robotics, Automation and Control & x For a desired position x d , x d , && d this relation can be written as k 1 & s=- s+H - u (2.18) m m where k k H(e , x d , e , x d , && d ) = σe + σ & & x & e + && d - x d x (2.19) m m Conventional Controller u1 u1 = -cs +H xd e + u x ROBOT + - + uF CLF Fig. 2.6. Control system of the robot We shall consider the control law of the form u = - cs + m(H + u F ) (2.20) where c is a positive constant, c > 0, the second component mH compensates the terms determined by the error and desired position (2.19) and the last component is given by a FLC (Fig. 2.6). The stability analysis of the control system is discussed following Lyapunov's direct method. The Lyapunov function is selected as 1 V = s2 (2.21) 2 hence & & V = ss (2.22) and, from the relation (2.18) one has 2 & s ( - k + c ) + su V= (2.23) F m www.intechopen.com Robot Control by Fuzzy Logic 117 Thus, the dynamic system (2.16), (2.20) is globally asymptotical stable if & V< 0 (2.24) One finds that c<k (2.25) uF = -α sgn s (2.26) The last relation (2.26) determines the control law of FLC. Consider the membership & functions for e, e and u represented in Fig. 2.7 and Fig. 2.8 where the linguistic labels NB, NM, Z, PM, PB denote: NEGATIVE BIG, NEGATIVE MEDIUM, ZERO, POSITIVE MEDIUM and POSITIVE BIG, respectively. μ NB NM Z PM PB e -1 -0.6 -0.4 -0.1 0 0.1 0.4 0.6 1 & e & Fig. 2.7. Membership functions for e and e μ NB NM Z PM PB - 0.8 - 0.4 0 0.4 0.8 uF Fig. 2.8. Membership functions for uF. The rule base, represented in Table 2.1 is obtained from the relation (2.26). www.intechopen.com 118 Frontiers in Robotics, Automation and Control & e e NB NM Z PM PB PB Z NM NM NB NB PM PM Z NM NM NB Z PM PM Z NM NM NM PB PM PM Z NM NB PB PB PM PM Z Table 2.1. Rule base for uF The rule base for uF is the following: Rule 1: IF e is NB AND e is PB & THEN uF is Z Rule 2: IF e is NB AND e is PM & THEN uF is PM ......................................................... Rule 25: IF e is NB AND e is PB & THEN uF is Z 3. Mobile robot control system based on artificial potential field method and fuzzy logic 3.1 Artificial potential field approach Potential field was originally developed as on-line collision avoidance approach, applicable when the robot does not have a prior model of the obstacles, but senses them during motion execution (Khatib, 1986). Using a prior model of the workspace, it can be turned into a systematic motion planning approach. Potential field methods are often referred to as "local methods". This comes from the fact that most potential functions are defined in such a way that their values at any configuration do not depend on the distribution and shapes of the obstacles beyond some limited neighborhood around the configuration. The potential functions are based upon the following general idea: the robot should be attracted toward its goal configuration, while being repulsed by the obstacles. Let us consider the following dynamic linear system with can derive from a simplified model of the mobile robot: & x=A x+BF (3.1) where x= [x1 , ... xn , x1 , ... xn ]T ∈ R 2n is the state variable vector & & F = u ∈ R2n is the input vector ⎡0 nxn I nxn ⎤ ⎡0 nxn ⎤ A= ⎢ ⎥;B= ⎢ ⎥ ⎣0 nxn 0 nxn ⎦ ⎣ I nxn ⎦ (3.2) 0n x n ∈ Rn x n is the zero matrix www.intechopen.com Robot Control by Fuzzy Logic 119 In x n ∈ Rn x n is the unit matrix using the artificial potential field (artificial potential ∏ which generates artificial force We can stabilize the system (3.1) toward the equilibrium point [x1 .. xn]T = [xT1… yTn]T by system F). ∂ W P (x) ∂ Π (x) F( t ) = − Fd − ∂x ∂x (3.3) where the first term compensates the gravitational potential, the second term assures the damping control and the last component defines the new artificial potential introduced in order to assure the motion to the desired position. ∂ Π (x) ⎡ ∂ Π (x) ∂ Π (x) ∂ Π (x) ⎤ =⎢ T ⎥ ∂x ⎣ ∂x 1 ∂x 2 ∂x n ⎦ , , ... (3.4) from the obstacles, ∏ is constructed as the sum of two elementary potential functions: In order to make the robot be attracted toward its goal configuration, while being repulsed ∏(x) = ∏A(x) + ∏R(x) (3.5) where: ∏A(x) is the attractor potential and it is associated with the goal coordinates and it ∏R(x) is the repulsive potential and it is associated with the obstacle regions and it isn't dependent of the obstacle regions. isn't dependent of the goal coordinates. In this case, the force F(t) is a sum of two components: the attractive force and the repulsive force: F(t) = FA(t) + FR(t) (3.6) 3.2 Attractor potential artificial field The artificial potential is a potential function whose points of minimum are attractors for a controlled system. It was shown (Takegaki & Arimoto, 1981), (Douskaia, 1998), (Masoud & possible if the function has a minimum in the desired point. The attractor potential ∏A can Masoud, 2000), (Tsugi et al., 2002) that the control of robot motion to a desired point is be defined as a functional of position coordinates x in this mode: ∏A : Ω R; Ω = Rn (3.7) ∑ ⎢k i (x i - x Ti )2 + k n + i x i2 ⎤ Σ = xTKx 1 n⎡ ∏A(x) = ⎥ 1 ⎣ ⎦ & 2 i =1 (3.8) 2 www.intechopen.com 120 Frontiers in Robotics, Automation and Control where K = diag (k1, k2, …., k2n), (3.9) ki > 0 (i = 1, …, 2n) The function ∏A(x) is positive or null and attains its minimum at xT, where ∏A(xT) = 0. ∏A(x) defined in this mode has good stabilizing characteristics (Khatib, 1986), since it generates a force FA that converges linearly toward 0 when the robot coordinates get closer the goal coordinates: FA(x) = k(x – xT) (3.10) Asymptotic stabilization of the robot can be achieved by adding dissipative forces & proportional to the velocity x . 3.3 Repulsive potential artificial field The main idea underlying the definition of the repulsive potential is to create a potential barrier around the obstacle region that cannot be traversed by the robot trajectory. In addition, it is usually desirable that the repulsive potential not affect the motion of the robot when it is sufficiently far away from obstacles. One way to achieve these constraints is to define the repulsive potential function as follows (Latombe, 1991): ⎧1 ⎛ 1 1 ⎞ ⎪ k⎜ ⎟ ⎜ d (x) − d ⎟ if d (x) ≤ d 0 2 Π R (x) = ⎨ 2 ⎝ 0 ⎠ ⎪ (3.11) ⎩ 0 if d (x) > d 0 where k is a positive coefficient, d(x) denotes the distance from x to obstacle and d0 is a positive constant called distance of influence of the obstacle. In this case FR(x) becomes: ⎧ ⎛ 1 ⎞ 1 ∂ d (x) ⎪k ⎜ − ⎟ if d (x) ≤ d 0 F R (x) = ⎨ ⎜ d (x) d 0 ⎟ 2 1 ⎝ ⎠ d (x) ∂ x ⎪0 (3.12) ⎩ if d (x) > d 0 For those cases when the obstacle region isn't a convex surface we can decompose this region in a number (N) of convex surfaces (possibly overlapping) with one repulsive potential associated with each component obtaining N repulsive potentials and N repulsive forces. The repulsive force is the sum of the repulsive forces created by each potential associated with a sub-region. 3.4 Dynamic model of the system influence of an artificial potential field ∏ whose local variations are expected to reflect the The mobile robot is represented as a point in configuration space or as a particle under the www.intechopen.com Robot Control by Fuzzy Logic 121 "structure" of the space. Usually, the Lagrange method is used to determinate the dynamic model: ⎛ ∂ L (q, q ) ⎞ ∂ L (q, q ) ⎜ ⎜ ⎟− ⎟ =F d & & dt ⎝ ∂q & ⎠ ∂q (3.13) or ⎛ ∂ W C (q, q ) ⎞ ∂ W C (q, q ) ∂ W P (q) ⎜ ⎜ ⎟− ⎟ + =F d & & ⎝ ∂q ⎠ ∂q ∂q (3.14) dt & where: L = WC – WP is Lagrange function WC – total kinetic energy WP - total potential energy (3.15) q = [ x y]T – coordinate vector F = [FX FY]T – force vector The dynamics of the mobile robot becomes: m&& + μmg − k f x = FX x & (3.16) m&& + μmg − k f y = FY y & (3.17) The artificial potential forces which are the control forces are: ∂Π FX = − k 1 x − ∂x & (3.18) ∂Π FY = − k 1 y − ∂y & (3.19) The dynamical model of the system is: ∂Π m&& + μmg − k f x = − k 1 x − ∂x x & & (3.20) ∂Π m&& + μmg − k f y = − k 1 y − ∂y y & & (3.21) www.intechopen.com 122 Frontiers in Robotics, Automation and Control where: Π = ΠA + ΠR (3.22) The potential function is typically (but not necessarily) defined over free space as the sum of an attractive potential pulling the robot toward the goal configuration and a repulsive potential pushing the robot away from the obstacles. 3.5 Fuzzy controller We denote by x = [x, y]T the trajectory coordinates of the mobile robot in XOY plane and let be the error between the desired position and mobile robot position. e = xT – x (3.23) The switching line σ in the real error plan is defined as σ( e , e) = & & e + me (3.24) & A possible trajectory in the ( e , e) plane is presented in Fig. 3.1. Fig. 3.1. System evolution We can consider that the final point is attained when the origin O is reached. A great control procedure, DSMC (Ivanescu, 1996) can be obtained if the trajectory toward the moving target has the form as in Fig. 3. 2. Fig. 3. 2. DSMC procedure www.intechopen.com Robot Control by Fuzzy Logic 123 & When trajectory in the ( e , e) plane penetrates the switching line, the motion is forced toward the origin, directly on the switching line. The condition which ensure this motion are given in (Ivanescu, 2001). The fuzzy logic controller used here has two inputs and one output. The displacement and speed data are obtained from sensors mounted on the mobile robot. The displacement error and velocity error are taken as the two inputs while the control force is considered to be the output. For all the inputs and the output the range of operation is considered to be from -1 to +1 (normalized values). The fuzzy sets used for the three variables are presented in Fig. 3. 3. The linguistic control rules are written using the relation (3.24) and Fig. 3.2 and are presented in Table 3.1. NB NM NS NZ PZ PS PM a) & e, e NB NS Z PS PB b) F Fig. 3. 3. The fuzzy sets for the inputs and the output variables & e/e NB NM NS NZ PZ PS PM PB PB Z NS NS NB NB NB NB NB PM PS Z NS NS NB NB NB NB PS PS PS Z NS NS NB NB NB PZ PB PS PS Z NS NS NB NB NZ PB PB PS PS Z NS NS NB NS PB PB PB PS PS Z NS NS NM PB PB PB PB PS PS Z S NB PB PB PB PB PB PS PS Z Table 3.1. The linguistic control rules 3.6 Simulations We propose the mobile robot to move from initial point (x, y) = (0, 0) to final point (xT, yT) = (7, 5). First, we consider that aren't any obstacles in moving area and the mobile robot is [ ] driven toward goal point by attractor artificial potential field (Fig.3.4). Π(x) = Π A (x) = 1 (x − 7 )2 + (y − 5 )2 (3.25) 2 www.intechopen.com 124 Frontiers in Robotics, Automation and Control ⎧ ⎛ ⎞ ⎪1 ⎜ ⎟ (x − 4 )2 + (y − 3 )2 2 ⎪ ⎜ − 1⎟ ≤1 (x − 4 ) + (y − 3 ) 1 ΠR (x) = ⎨ 2 ⎜ ⎟ if ⎪ ⎝ ⎠ (3.26) (x − 4 )2 + (y − 3 )2 2 2 ⎪ >1 ⎩ 0 if Second, we consider that there is a dot obstacle, in (xR, yR) = (4, 3), with distance of influence d0 = 0.4. The expression for repulsive potential is (3.26). The trajectory is shown in Fig. 3.5. Fig. 3. 4. The robot trajectory without obstacles Fig. 3.5. The constrained robot trajectory by one obstacle www.intechopen.com Robot Control by Fuzzy Logic 125 4. Fuzzy logic algorithm for mobile robot control next to obstacle boundaries 4.1 Control algorithm In this section a new fuzzy control algorithm for mobile robots is presented. The robots are moving next to the obstacle boundaries, avoiding the collisions with them. The mobile robot is equipped with a sensorial system to measure the distance between the robot and object that permits to detect 5 proximity levels (PL): PL1, PL2, PL3, PL4, and PL5. Fig. 4.1a presents the obstacle (object) boundary and the five proximity levels and Fig. 4.1b presents the two degrees of freedom of the locomotion system of the mobile robot. This can move either on the two rectangular directions or on the diagonals (if the two degrees of freedom work instantaneous). a b Fig. 4.1. The proximity levels and the degrees of freedom of the robot motion The goal of the proposed control algorithm is to move the robot near the object boundary with collision avoidance. Fig. 4.2 shows four motion cycles (programs) which are followed by the mobile robot on the trajectory (P1, P2, P3, and P4). Inside every cycle are presented the directions of the movements (with arrows) for every reached proximity level. For example, if the mobile robot is moving inside first motion cycle (cycle 1 or program P1) and is reached PL3, the direction is on Y-axis (sense plus) (see Fig. 4.1b, too). Fig. 4.2. The four motion cycles (programs) In Fig. 4.3 we can see the sequence of the programs. One program is changed when are reached the proximity levels PL1 or PL5. If PL5 is reached the order of changing is: P1 P2 P3 P4 P1 …… If PL1 is reached the sequence of changing becomes: P4 P3 P2 P1 P4 …… www.intechopen.com 126 Frontiers in Robotics, Automation and Control Fig. 4. 3. The sequence of the programs The motion control algorithm is presented in Fig. 4.4 by a flowchart of the evolution of the functional cycles (programs). We can see that if inside a program the proximity levels PL2, PL3 or PL4 are reached, the program is not changed. If PL1 or PL5 proximity levels are reached, the program is changed. The flowchart is built on the base of the rules presented in Fig. 4.2 and Fig. 4.3. Fig. 4.4 The flowchart of the evolution of the functional cycles (programs) 4.2 Fuzzy algorithm The fuzzy controller for the mobile robots based on the algorithm presented above is simple. Most fuzzy control applications, such as servo controllers, feature only two or three inputs to the rule base. This makes the control surface simple enough for the programmer to define www.intechopen.com Robot Control by Fuzzy Logic 127 explicitly with the fuzzy rules. The above robot example uses this principle, in order to explore the feasibility of using fuzzy control for its tasks. Fig. 4.5 presents the inputs (distance-proximity levels and the program on k step) and the outputs (movement on X and Y-axes and the program on k+1 step) of the fuzzy algorithm. Fig. 4.5. The inputs and outputs of the fuzzy algorithm For the linguistic variable "distance proximity level" we establish to follow five linguistic terms: "VS-very small", "S-small", "M-medium", "B-big", and "VB-very big". Fig. 4.6a shows the membership functions of the proximity levels (distance) measured with the sensors and Fig. 4.6b shows the membership functions of the angle (the programs). If the object is like a circle every program is proper for a quarter of the circle. a) Membership functions of the proximity levels (distance) measured with the sensors b) Membership functions of the angle (the programs) c) Membership functions of the X commands www.intechopen.com 128 Frontiers in Robotics, Automation and Control d) Membership functions of the Y commands Fig. 4.6 Membership functions of the I/O variables Fig. 4.6c and Fig. 4.6d present the membership functions of the X, respectively Y commands (linguistic variables). The linguistic terms are: NX-negative X, ZX-zero X, PX-positive X, and NY, ZY, PY respectively. VS S M B VB P1 P4 P1 P1 P1 P2 P2 P1 P2 P2 P2 P3 P3 P2 P3 P3 P3 P4 P4 P3 P4 P4 P4 P1 Table 4.1. Fuzzy rules for evolution of the programs VS S M B VB P1 PX PX ZX NX NX P2 ZX NX NX NX ZX P3 NX NX ZX PX PX P4 ZX PX PX PX ZX Table 4.2. Fuzzy rules for the motion on X-axis VS S M B VB P1 ZY PY PY PY ZY P2 PY PY ZY NY NY P3 ZY NY NY NY ZY P4 NY NY ZY PY PY Table 4.3. Fuzzy rules for the motion on Y-axis www.intechopen.com Robot Control by Fuzzy Logic 129 Table 4.1 describes the fuzzy rules for evolution (transition) of the programs and Table 4.2 and Table 4.3 describe the fuzzy rules for the motion on X-axis and Y-axis, respectively. Table 1 implements the sequence of the programs (see Fig. 4.2 and Fig. 4.4) and Table 4.2 and Table 4.3 implement the motion cycles (see Fig. 4.2 and Fig. 4.4). Fig. 4.7. The trajectory of the mobile robot around a circular obstacle Fig. 4.8. The trajectory of the mobile robot around a irregular obstacle www.intechopen.com 130 Frontiers in Robotics, Automation and Control 4.3 Simulations In the simulations can be seen the mobile robot trajectory around an obstacle (object) with circular boundaries (Fig. 4.7) and around an obstacle (object) with irregular boundaries (Fig. 4.8). One program is changed when are reached the proximity levels PL1 or PL5. If PL5 is reached the order of changing becomes as follows: P1 P2 P3 P4 ... If PL1 is reached the order of changing is becomes follows: P4 P3 P2 P1 P4 …… 5. Conclusions The section 3 presents a new control method for mobile robots moving in its work field which is based on fuzzy logic and artificial potential field. First, the artificial potential field method is presented. The section treats unconstrained movement based on attractive artificial potential field and after that discuss the constrained movement based on attractive and repulsive artificial potential field. A fuzzy controller is designed. Finally, some applications are presented. The section 4 presents a fuzzy control algorithm for mobile robots which are moving next to the obstacle boundaries, avoiding the collisions with them. Four motion cycles (programs) depending on the proximity levels and followed by the mobile robot on the trajectory (P1, P2, P3, and P4) are shown. The directions of the movements corresponding to every cycle, for every reached proximity level are presented. The sequence of the programs depending on the reached proximity levels is indicated. The motion control algorithm is presented by a flowchart showing the evolution of the functional cycles (programs). The fuzzy rules for evolution (transition) of the programs and for the motion on X-axis and Y-axis respectively are described. The fuzzy controller for the mobile robots based on the algorithm presented above is simple. Finally, some simulations are presented. 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Knowledge based fuzzy control system, IEEE Transactions on Automatic Control, Vol. 35, No. 2. www.intechopen.com Robot Control by Fuzzy Logic 131 Gupta, M.M.; Ragade, R. K. & Yager, R.R. (1979). Advances in Fuzzy Set Theory and Applications, North Holland, New York. Dubois, D. & Prade, M. (1979). Fuzzy Sets and Systems: Theory and Applications, Academic Press, New York. Jager, R & Filev, D.P. (1994). Essentialt of Fuzzy Modeling and Control, John Wiley-Interscience Publication, New York. Boreinstein, J. & Koren, Y. (1989). Real-time obstacle avoidance for fast mobile robots, IEEE Trans. on Systems, Man., and Cybernetics, Vol. 19, No. 5, Sept/Oct. pp. 1179-1187. Jamshidi, M.; Vadiee, N. & Ross, T. J. (1993). Fuzzy Logic and Control. Software and Hardware Applications, PTR, Prentice Hall, New Jersey, USA. Ivanescu, M. (2007). From Classical to Modern Mechanical Engineering-Fundamentals, Ed. Academiei Romane, ISBN 978-973-27-1561-1, Bucharest, Romania. Schilling, R.J. (1990). Robot Control, Prentice Hall Inc. pp. 235-306, New York, USA. Sprinceana, N.; Dobrescu, R & Borangiu. Th. (1978). Digital Automations in Industry, Ed. Tehnica, pp. 115-299, Bucharest, Romania (in Romanian). Sugeno, M. (1985). An Introductory Survey of Fuzzy Control, Informational Science, Vol. 36. Douskaia, N.V., (1998). Artificial potential method for control of constrained robot motion. IEEE Trans. On Systems, Man and Cybernetics, part B, 28, pp. 447-453. Hashimoto, H., Y. Kunii, F. Harashima, V.I. Utkin, and S.V. Grakumov (1993). Obstacle Advoidance control of multi degree of freedom manipulator using electrostatic potential field and sliding mode. J. Robot Soc. Jpn., vol. 11, no. 8, pp. 1220-1228. Ivanescu, M., Stoian, V. (1995). Variable Structure Controller for a Tentacle Manipulator. Proceedings of the 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, May 21-27, vol. 3, pp. 3155-3160, ISBN: 0-7803-1967-2. Ivanescu, M. (2001). Moving target interception for walking robot by fuzzy controller. Proceedings of the Fourth International Conference on Climbing and Walking Robotics (CLAWAR 2001), pp. 363-376. Khatib., O. (1986). Real-time Obstacle Avoidance for Manipulators and Mobile Robots. Int. J. Robot. Res., vol. 5, no. 1, pp. 90-98. Latombe J.C. (1991). Robot Motion Planning, Kluwer Academic Publishers, Boston. Masoud, S.A., Masoud, A.A. (2000). Constrained motion control using vector potential fields, IEEE Trans. On Systems, Man and Cybernetics, part A, 30, pp. 251-272. Mohri, A., X. D Yang & A. Yamamoto, (1995). Collision free trajectory planning for manipulator using potential function. Proceedings 1995 IEEE International Conference on Robotics and Automation, pp. 3069-3074. Morasso, P.G., V. Sanguineti & T. Tsuji, (1993). A Dynamical Model for the Generator of Curved Trajectories, in Proceedings International Conference on Artificial Neural Networks, pp. 115-118. Sundar, S. & Z. Shiller. (1995). Time-optimal Obstacle Avoidance, Proceedings 1995 IEEE International Conference on Robotics and Automation, pp. 3075-3080. Takegaki, M. & S. Arimoto (1981). A new feedback methods for dynamic control of manipulators. Journal of Dynamic Systems, Measurement and Control, pp. 119-125. Tsugi, T., Y. Tanaka, P.G. Morasso, V. Sanguineti & M. Kaneko (2002). Bio-mimetic trajectory generation of robots via artificial potential field with time base generator. IEEE Trans. On Systems, Man and Cybernetics, part C, 32, pp. 426-439. www.intechopen.com 132 Frontiers in Robotics, Automation and Control ***, (1994). A Model for the Generator of Target signals in Trajectory Formation, Advances in Handwriting and Drawing: A Multidisciplinary Approach, Faure, Kuess, Lorette, and Vinter Eds., Europia, Paris, pp. 333-348. www.intechopen.com Frontiers in Robotics, Automation and Control Edited by Alexander Zemliak ISBN 978-953-7619-17-6 Hard cover, 450 pages Publisher InTech Published online 01, October, 2008 Published in print edition October, 2008 This book includes 23 chapters introducing basic research, advanced developments and applications. The book covers topics such us modeling and practical realization of robotic control for different applications, researching of the problems of stability and robustness, automation in algorithm and program developments with application in speech signal processing and linguistic research, system's applied control, computations, and control theory application in mechanics and electronics. How to reference In order to correctly reference this scholarly work, feel free to copy and paste the following: Viorel Stoian and Mircea Ivanescu (2008). Robot Control by Fuzzy Logic, Frontiers in Robotics, Automation and Control, Alexander Zemliak (Ed.), ISBN: 978-953-7619-17-6, InTech, Available from: http://www.intechopen.com/books/frontiers_in_robotics_automation_and_control/robot_control_by_fuzzy_logic InTech Europe InTech China University Campus STeP Ri Unit 405, Office Block, Hotel Equatorial Shanghai Slavka Krautzeka 83/A No.65, Yan An Road (West), Shanghai, 200040, China 51000 Rijeka, Croatia Phone: +385 (51) 770 447 Phone: +86-21-62489820 Fax: +385 (51) 686 166 Fax: +86-21-62489821 www.intechopen.com
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drake - Page 2
Drake Sued for Allegedly Getting Too Big for His Britches
Rihanna + Drake Drop Big Bucks at Houston Strip Club
Listen to Drake's 'Nothing Was the Same' Album
Today (Sept. 24) brings some good news for a select group of people. If you're one of the Drake fans who've been waiting eight days to legally listen to 'Nothing Was the Same' but aren't ready to pay for the album quite yet, you're in luck. Spotify has the effort available for streaming. The stream excludes 'The Motto,' the album's Best Buy bonus track.
Drake Hit with $76,000 Lawsuit by Stylist
Just days after his explosive performance at the 2013 MTV Video Music Awards, Drake was slapped with a lawsuit from a stylist who claims that the rap superstar owes him thousands of dollars in fees and expenses.
Drake Kisses Kylie Jenner at Sweet 16 Birthday Party
Drake Calls Rich Homie Quan's 'Type of Way' the 'Song of the Summer'
Drake has spoken. The Toronto rapper has dubbed Rich Homie Quan's 'Type of Way' as the song of the summer.
Drake Created 'Hold On, We're Going Home' to Play at Weddings
Drake Delivers Tender Love Song 'Hold On, We're Going Home'
Drake Makes Men's Fashion Look Sexy – The Daily Swoon
Who doesn't love Drake? (Have a seat, Amanda Bynes. You too, Rosie.) The Canadian rapper and singer/songwriter makes the ladies swoon hard with the way he blends his beautiful voice with hip hop beats and rhymes.
Justin Bieber 'Right Here' Lyric Video [Watch]
New to the airwaves is Justin Bieber's track "Right Here" featuring Drake. The lyric video is a stop-motion and a little different than the usual. Check out the track and let us know if you are feeling the song?!
Drake Disses Chris Brown + Shades Rihanna in Radio Interview [AUDIO]
Drake just can't let his brief dalliance with Rihanna go. The 'Started From the Bottom' MC took to a radio interview to once more air his, Rihanna's and Chris Brown's dirty laundry, and it's a doozy.

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Okay!!! ^^ Here is the finished product. Took so long because I had no idea what I wanted to do!!! Also..I asked darkninja if it was okay if I didn't add the text on the left and right. Way too long and I just suck at text in general. Anyway...here it is:
Hope you likey!!!I tried!!! >.<


text:
- Guest Commentary: the Rockford Apartment Association
- State Roundup: NIU employee improperly reimbursed $30K
- State Roundup: Governor signs budget fix bills
- Rauner, Democratic leaders shake hands and make law
- State roundup: National guardsman and cousin arrested in terror plot
- Lawmaker says license plate readers a privacy threat
- Bryant not the first to feel impact of free agency rules
- State Roundup: Parents' group calls for standardized test opt-out bill
- Hononegah Mack: 'The best woman in the county'
- The tip of the iceberg: Human trafficking in America
Fierce Green Fire: Thinking like a prairie
By Jonathan Hicks
Staff Writer
On a trip out West last winter, a Utah bar offered their pizza in two styles of crust: prairie or mountain. Much like a grassland, the "prairie crust" was thin and flat, while the "mountain crust" was thick like the peaks of the western U.S. Without much thought, I chose the mountain crust, though it had more to do with an affinity for bread than anything.
Only later did I recognize the symbolism in my absent-minded decision. To the waiter, I likely came across as another flatlander looking to escape my landmark-less home habitat. If the question were taken outside of the confines of pizza and taverns, and people were asked if they preferred prairies or mountains, I suspect most would select the latter. Mountains are grand. They have provided a venue for nature conquerors the world over, and have been the fodder for poets and authors for centuries. Romantic notions aside, though, the mountains are obvious. They rise up behind ever-growing cities. They are scenic tapestries that most who reside there will never see as anything but dramatic backdrops.
Prairies are more subtle. They require inspection. They require attention to detail and a keen eye. It's easy to see a snow-capped mountain… it's much more difficult to pick out the detail of a prairie. Indeed, if mountains are tapestries, prairies are mosaics. Mountain color is stark and contrasting. Prairie color is sporadic, shifting and undulating. Like a flag of greens, yellows and purples, it shifts in the wind, mesmerizing those who are fortunate enough to gaze upon it. From a distance, you cannot pick out individual bergamots and compass plants, but they are there dancing harmoniously as they have for centuries.
Of course, prairies are no longer the common sight they once were. Most exist now in small parcels, often the result of individuals or groups with the foresight to preserve their beauty and value. At the same time, they are a testament to the resiliency of the plants themselves, in many cases once regarded even by state scientists as "weeds."
Many "mountain states" exist, but there is only one "Prairie State"—and we are fortunate enough to reside in it. It would be foolhardy not to spend at least a few of our remaining summer days celebrating this fact by taking a hike through one of our many local grasslands. The Natural Land Institute, Rockford Park District, Winnebago County Forest Preserve District and Boone County Conservation District all offer exceptional opportunities to explore Illinois' namesake. Visit their websites for details and locations.
Plenty of species were still blooming in August, and exploring the tallgrass ecosystem is always a process that yields exciting results. Even if you never learn the names of the individual plants, that is OK. Just remember, you travel to the mountains, but you come home to the prairie.
From the Sept. 15-21, 2010 issue


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LOCATION IN MALL: Retail Level 4
(914) 946-9644 | Driving Directions | Yogibo Website |
View Deals | Mall Map
More stores to consider
Read More
Yogibo Bean Bags + Cozybo + Nap X = MAXIMUM #comfy. http://t.co/wa6Fh9X460/p>
Posted by: yogibobags
RT @MrSnuggels: One of the joys in life is turning around and falling onto a yogibo/p>
Posted by: yogibobags
It's #NationalPuppyDay. Might as well get comfy and take a nap like this pup did! http://t.co/dBbMsNuVOb/p>
Posted by: yogibobags
RT @MszShelly: This @yogibobags is amazing ! Making it my bed tonight/p>
Come by @ChunkysCinemas #Nashua this Saturday morning for a sensory-friendly showing of #Cinderella. We'll be on hand to demo Yogibo! :D/p>
Posted by: yogibobags
Heading to one of our stores soon? Buy a Yogibo Max, Midi, Mini, or Support and get another cover for 50% off! #sale http://t.co/vyjkwrqsoG/p>
Posted by: yogibobags
RT @Sm1ttySm1t: @Xiantayne @MeefJ @yogibobags I wish I had before SUGGESTING it. I met some of the team at PAX East and they're really pass…/p>
Posted by: yogibobags
Big thanks to @agentbizzle and @DaemZero from @IGN for checking out Yogibo at #PAXEast2015! http://t.co/QKaQP7txkX http://t.co/8OKMTv4ZZO/p>
Posted by: yogibobags
RT @zero331373: Fell asleep on my @yogibobags dog plush after #PAXEast2015. So comfy./p>
RT @TheDCD: Trying out the Yogibo chair before my next appointment. Only I'm never getting up again. :P #paxeast/p>
Posted by: yogibobags
#PAXEast2015! Two booths on the floor and a handheld lounge. Come get comfy and save 15% off on EVERYTHING. #PAXEast http://t.co/e6e72uBa7f/p>
RT @SoNotShannon: chillin in the yogibo lounge http://t.co/F1ewe01K1g/p>
Posted by: yogibobags
#PAXEast lounge is bumping! Come relax to end day one on Level 1! #PAXEast2015 #yogibo http://t.co/d9ASS6xuex/p>
Posted by: yogibobags
Cozybo, the world's most comfortable #blanket ever, has finally made a return. Oh yes we did. http://t.co/yiDaAziOnn http://t.co/U5tGEnvoeO/p>
Posted by: yogibobags
Our lounge was a huge hit at #PAXEast2015. Get 10% off anything using code PAXEAST all week! http://t.co/RAtWSL8TvO http://t.co/PdwT2DheIU/p>
RT @manderrsthedino: Who needs actual furniture when you can lay in a yogibo?? #comfy #lazy #ineverwanttoleave #PAXEast2015 http://t.co/mb5…/p>
RT @CynthiaBunnay: @PAXEAST2015 my feet hurt and I'm exhausted but I discovered this amazing lounge... I need a #yogibo bean bag http://t.c…/p>
RT @mr_ex: #PAXEast has taught me that yes, it *is* possible to be a snob about bean bag furniture (yogibo > sumo)/p>
RT @SarcasmSickness: Meet me at the Handheld Lounge on Level 1 of the convention hall!
ITS SO COMFY!!!! http://t.co/qc8ekAyfEF/p>
#PAXEast2015 Yogibo lounge is currently at PEAK COMFY. #PAXEast http://t.co/fRmP7ioQhS/p>
Get comfy #PAXEast! Let's go! #PAXEast2015 http://t.co/gX2lMfkkTS/p>
RT @PlunkettPrime: My life is 8-ly better. Went to CT & got my bed & Yogibo. Oh, what's a Yogibo? Better ask somebody! #Fridaying http://t.…/p>
RT @NegativeStacey: @yogibobags I never want to get off of you! http://t.co/bCj50Y4Lc0/p>
RT @streamgibbs: @yogibobags providing the comfort at PAX East!/p>
#PAXEast setup is pretty much done! Hope you're ready to get comfy all weekend. :D #PAXEast2015/p>
Posted by: yogibobags
RT @Crossgates_Mall: Looking for something fun to do this morning? Come be in a @yogibobags commercial. Be at the store by 10:15 for your c…/p>
Posted by: yogibobags
RT @oliviaaatn: Not getting off the yogibo today/p>
Posted by: yogibobags
RT @lhealeyxo: The struggle of needing to get up and go my cell phone charger but being too comfy on my yogibo to do so. #firstworldproblems/p>
RT @Hannah12_11: Love these yogibo couches! @yogibobags http://t.co/lR4nX26n09/p>
Posted by: yogibobags
Looking to get out of the house? Yogibo will be set up at the New England Home Show at @PatriotPlace this weekend! http://t.co/iul5Iqtmyg/p>
Posted by: yogibobags
RT @EyalVictor: Yogibo beans bags arrived to our office in Seoul. We are so happy to have it! Thank you @yogibobags http://t.co/5KALfSUCkF/p>
RT @OmiNomomi: @yogibobags are the best furniture to have for children with #autism . My kids LOVE their pillows and bags./p>
Posted by: yogibobags
RT @Jester512: @yogibobags soooooo comfortable..... #PAXEast http://t.co/o3bve34k5D/p>
RT @SpiritIsInSpace: Ok so these yogibo bean bags a freaking fantastic. I want one. Like I really want one. Why must I have no money #PAXEa…/p>
RT @SouthShorePlaza: #Yogibo has moved! You can now find them in their new location on the main level across from JJill! http://t.co/rzpJ5a…/p>
Hey @Marvel. Any more room in the Avengers for our dude Hugibo? Probably not. Fantastic trailer! #AvengersAssemble. https://t.co/Vcx8bsmOuV/p>
Posted by: yogibobags
Yogibo at @SouthShorePlaza will be closed today in order for us to open tomorrow at our new location on the lower level. Thank you!/p>
Posted by: yogibobags
RT @DSchirmacher: Everyone seriously needs a yogibo/p>
RT @JRSportBrief: @Hannah12_11 @yogibobags yogibo is the best! Saved my back!!!/p>
Did you see us at #PAXEast2015? Read our #recap of the weekend! http://t.co/rfjTIgbL67 http://t.co/06GY5Oiqca/p>
RT @GeekWilliam: Tried @yogibobags at Pax East. That was very comfy and seems like a good buy for any gamer. Also a good price./p>
Posted by: yogibobags
RT @Mentaljen: The real PaxEast experience is going to to Yogibo lounge and never leaving. RRRIIIPPP MEEE./p>
#PAXEast Day 2. We could all use a good nap before the chaos. Come to our lounge lvl 1! #PAXEast2015 http://t.co/I0ixWQf14I/p>
VERY excited to show a more comfortable way to game at #PAXEast2015 this weekend. Learn more: http://t.co/Md4rQeRGGY http://t.co/NUYpzXtGI4/p>
We have Yogibo accessories that make PERFECT #Easter and #Passover gifts. Grab some today! http://t.co/XLSv2wmXHm http://t.co/pc7CJTNWuK/p>
Wanna build a Yogibo fort? What would you build? #awesome http://t.co/ykNQXybPMF/p>
So much green! Happy #StPatricksDay! http://t.co/0aoyThpPuA/p>
Posted by: yogibobags
RT @seanbanks: I love Yogibo! These chairs are amazing! #pax #PAXEast2015/p>
RT @DivorcetheGame: Last day of #PAXEast :-( But come by booth 1220! @yogibobags has a lounge set up right next to us! http://t.co/VxVO3ICr…/p>
RT @GhoulTech: @yogibobags help every human relax #PAXEast2015 http://t.co/Bktybp4uyP/p>
Yo #PAXEast2015! We have a few bean bags for you to get comfy in! Level 1 handheld lounge! http://t.co/gY80B08wYZ/p>
If you're having bad weather and are planning on visiting our Yogibo stores today, please call ahead and make sure we are open! Thanks!/p>
We will have a booth on the floor and at the Handheld Lounge for #PAXEast2015. Check us out! http://t.co/Md4rQf9i5y http://t.co/eFVCzp5pKM/p>
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Winnipeg Free Press - PRINT EDITION
Bullying private wine stores
Touted as a modernization of Manitoba liquor laws, the move by the Selinger government to open MLCC outlets at urban grocery stores is the gambit of a bully to cut into a small, successful market of private wine boutiques. This move, at an opportune time in an election year, tightens the grasp of the nanny-state liquor regulation and marketing in this province.
Some provinces have seen the logic of allowing private operators to enter the booze business -- wine and beer are on the shelves in Quebec grocery stores and Alberta privatized sales of alcohol in 1993. Neither province has fallen into rack and ruin as a result. Many in Manitoba have hoped the government would find its way, finally, into the 21st century, in step with Europe's liberalized sales of beer, wine and spirits. Instead, these amendments to the Liquor Control Act are retrograde, hostile to free enterprise and insulting to an intelligent citizenry. A relative few Manitobans who shop at the five grocery stores that win the lottery as the MLCC moves in next to the bread and cheese section will benefit.
The hostility goes beyond enlarging MLCC's assets. MLCC outlets will start to market merchandise, capitalizing on the very niche of the market private wine stores have carved out -- products such as bar ware, gift boxes and magazines. Premier Greg Selinger stressed Thursday that it was time to make alcohol purchases part of healthy food and dining decisions of Manitobans, precisely the marketing pitch of the private wine market.
The move was part of a series of legislative changes that will expand the hours alcohol can be sold at socials and the Sunday hours for bars and cabarets. More liquor inspectors will prowl the downtown, and fines for disorderly conduct and supplying alcohol to minors will rise steeply.
When the real agenda is laid bare, there is no liberalization here, no move to modern social norms. It is a blatant grab of more power and revenue for the monopolistic importer, distributor and chief salesman of alcohol in Manitoba. Having lost a court challenge -- settling out of court with private operators in 2004 -- the MLCC, operating as regulator and competitor in the wine market, and the government regrouped and hammered out a strategy to chip into the sales of the upstarts.
A modern government would have loosened the chains a little and trusted a sophisticated population with the freedom to buy booze at the corner store, restricting sales licences to retailers that respect the rules. More discouraging is the fact that the Selinger government refuses still to acknowledge the inherent abuse and conflict of maintaining an agency to be sole distributor, to regulate and compete with a handful of private, innovative entrepreneurs, businesses that have fought for scraps in a suffocatingly controlled market and flourished.
Editorials are the consensus view of the Winnipeg Free Press' editorial board, comprising Catherine Mitchell, David O'Brien, Shannon Sampert, and Paul Samyn.
Republished from the Winnipeg Free Press print edition May 20, 2011 A14
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Question about a lightweight 3 qt pot
Hi all,
I have gone through several 3 qt Revere Ware pots recently. I burned one badly, and another one lost it's handle. Here's my question: I have a 3 qt All Clad pot, but it's just too heavy for cooking potatoes, pasta, etc. But Revere Ware's quality is definitely not very good any more.
Is there a higher quality, yet light brand of pots? Thanks.
I saved my Farberware pots, the big ones, for cooking potatoes, pasta, lobster, etc. They are sturdier than my old Revereware pots, and don't fall of the grates of my cooktop either. I don't know if Farberware still has that line, I got them as a wedding gift 34 years and one husband ago, but I really like them. Mine are still in good shape, and the nice flat bottom cooks well.
I do have Calphalon Copper pots and pans, but not the biggest ones, they are too heavy.
Le Creuset has an enameled steel stock pot. I don't have it but it seems to be well regarded.


text: Long story short, we are DVC members and our points went into holding because we had to cancel a trip within 30 days. We are going in September and we won't be able to book until 60 days out because of the points in holding. We usually stay at Bay Lake so staying in OKW or Saratoga will be different for us but they are likely going to be the only one that is available (maybe AKL), what would be your choice? We have small kids and are looking for the most convenient of the two.


text:
|Reviews for Monkey Business
| HighOnBrokenWings chapter 1 . 2/1/2013
So the first paragraph is phrased a little oddly. You use third person as an example, but then you switch back to first in the same sentence. Also, I would suggest changing numerical values to their written versions, it looks more professional, and easier to read. You have a nice sense of humour stringed through this beginning, but it does feel as though you need to fine tune it a little more. Keep working at it :)


text:
We Talk to Everybody
The editors here at Linux Journal have been talking about doing a Who's Who in Linux for some time, but couldn't decide on a way to do it that would make sense and not need the space of a book. With so many people contributing to Linux and new ones joining the community every day, it would be almost impossible to compile a list that didn't leave someone out. We finally decided that what we wanted to do was present short profiles of the developers who contributed to kernel 1.0, and of a few others who were involved at the time of its release. We got the kernel 1.0 credits file and split it up. I took a few names, including Linus', having talked to him just last year. With the help of Jason Kroll, we spent a good bit of time tracking people down, and were not entirely successful. A list of those whom we couldn't get hold of and the contribution they made to the kernel is included as a sidebar. If any of you guys are reading this, please get in touch (email@example.com)—we'd like to talk to you.
We wish to thank all these people for talking to us and providing this look at who they were then and now. Since there was not room to include each interview in its entirety, we will put the interviews on the LJ web site in the coming weeks. We also thank these folks for their invaluable contributions to Linux—without them, where would it be today? Or LJ, for that matter?
Everyone knows who Linus Torvalds is. He's the metaphoric father of the Linux community, having brought the Linux operating system into being. After doing so, he kicked it out of its nest and onto the Internet and invited others to try it out and participate in its growth, not realizing at the time what a tiger he had let loose on the world. He is a quiet, self-assured young man, a family man who obviously loves his daughters, allowing them to join him onstage at conferences they attend with him and his wife Tove.
Writing Linux earned Linus his master's degree at Helsinki University. Since then, he has turned kernel maintenance over to Alan Cox. Development is done by many others, yet Linus remains the mainstay of Linux. He makes the final decisions about what will and will not go into the kernel and when a new version will be released. His word is law, and no one disputes it.
After leaving the university, Linus moved to the United States with Tove, near San Jose, California, and went to work for the ultra-secret Transmeta. Early this year, Transmeta announced their Crusoe chip, which is headed for the mobile appliance market. Linus had been helping by making a Linux version that would fit in flash ROM—here's what he said about it in a conversation with Doc Searls.
It's the standard 2.3 kernel with some power management stuff done on it, but anybody can see what that is. There is the compressed file system that I made part of the standard kernel not long ago. And that's really the question of... you have a very limited amount of ROM. You want to fit Netscape in there, too. And you want to page things in from the ROM. You obviously want to compress it. That's number one. But how do you compress it so you can still do random seeks and paging in things? Those are the kinds of questions I spent a fair amount of time thinking about. What's the good way of doing this? What fits in and works well? These are not fundamental design shifts.
Linus agrees to make appearances at many trade shows, although these days, he prefers question-and-answer sessions over giving talks. In fact, he agrees to so many that I once wondered if he knew how to say "No". (He does.) But he also realizes he is a big draw, and helping Linux and Linux shows become successful is something he is willing to do. He remains unassuming, and says fame has not intruded on his personal life.
Linus has proven to be a good father to both his children and Linux. The community couldn't have a better leader.
Donald didn't respond to any of our messages, but we know a bit about him so we decided to wing it. First of all, we know Donald because he was on the cover of issue 10, February 1995, where he was a part of the Linux Conference at Open Systems World in Washington, DC.
Donald was a big contributor early in the Linux game, writing the code for the Ethernet drivers. He did this while working for NASA at the Center of Excellence in Space Data and Information Sciences as a staff scientist. Information on Donald and his code can be found at cesdis.gsfc.nasa.gov/people/becker/whoiam.html.
He was the principal investigator on NASA's Beowulf Project, "an effort to develop a software distribution to help others build high-performance workstations based on a cluster of off-the-shelf processing nodes running Linux."
He is now the Chief Technical Officer of Sycld Computing Corporation, where he "continues the Beowulf work, making available the expertise to non-NASA entities."
For fun, Donald likes to kayak, and you can read about his kayaking trip down the Yukon River in 1993 at his web site. There is also a beautiful picture of the river and mountains, as well as information on how to reach him.
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U.S. imposes record fine on BNP in sanctions warning to banks
NEW YORK/WASHINGTON/PARIS, July 1 (Reuters) - French bank BNP Paribas has pleaded guilty to two criminal charges and agreed to pay almost $9 billion to resolve accusations it violated U.S. sanctions against Sudan, Cuba and Iran, a severe punishment aimed at sending a clear message to other financial institutions around the world.
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Sikivu Hutchinson: Whenever a rape case becomes high profile, the inevitable questions about the victim's reputation, race, whereabouts, and alleged complicity in the assault are trotted out.
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Lauren Steiner: To our surprise, the regulators didn't try to shut us down. Security didn't storm the room. None of the workshop attendees booed us. So we continued the same chant for three minutes.
Joe Mathews: Thanks to Xi Jinping, Chinese millionaires have propped up the state's sagging real estate market, universities, and companies.


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Semarang is a commercial port located roughly halfway between Jakarta and Surabaya, along Java's north central coast. Today, many of the island's most important exports, including tobacco, sugar, rubber, coffee, and cacao are shipped through Semarang. Because of its accessibility to the island's interior, it is an ideal gateway to numerous coffee plantations and the spectacular UNESCO World Heritage Site of Borobudur.


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Tribune News Service
- April 16, 2015 – JEA/NSPA Spring National High School Journalism Convention
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Scholastic journalism organizations provide network of support
The resources that scholastic journalism organizations offer are invaluable in fostering growth and improvement for advisers and their staffs even when student media budgets are tight. Here's a quick rundown of the benefits offered by the Columbia Scholastic Press Association, the Journalism Education Association, the National Scholastic Press Association and Quill and Scroll: Columbia Scholastic Press Association CSPA is an international student press association whose goal is to unite student journalists and faculty advisers at schools and... Read More »
Think carefully about April Fools' Day content to avoid legal, ethical problems
Student journalists famously use April 1 as an annual opportunity to publish humorous material. Although some of these attempts at humor are successful, students should think carefully about April Fools' Day content so that they retain their credibility come April 2. "Failed attempts at humor produce an unfortunate number of controversies that damage journalism programs," said Frank LoMonte, executive director of the Student Press Law Center. LoMonte said student news organizations should not use April Fools' Day to pick on vulnerable people, including using racial stereotypes or... Read More »
Ethics a critical component of journalism education
Doing the right thing in a professional environment isn't always easy, but it's especially important in journalism, when the consequences of an action can be broadcast to an entire community. Like professional journalists, students should hold themselves to a high ethical standard that emphasizes serving the needs of their community and readers before their own. ASNE member Gene Foreman, a former managing editor of The Philadelphia Inquirer and the inaugural Foster Professor of Journalism at Penn State University, said that ethical standards are an important distinguishing characteristic... Read More »
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Academic Unit
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Prof. Chamberland will be a member of the editorial board for the magazine Math Horizons from 2014-2018. Math Horizons, published four times a year, is a vibrant and accessible forum for mathematics, especially with students in mind. You can find issues of this magazine spread across the Math Commons.
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Gunman opens fire at LA International airport
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LOS ANGELES — A lone gunman stormed into a packed terminal at the Los Angeles International Airport and opened fire with an assault weapon on Friday, killing a federal security agent before he was shot and captured, authorities said.
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Use With Caution: The Value and Limits of Deterrence Against Asymmetric Threats
National security policy can resemble the fashion industry. A defense strategy that is in vogue in one era can fall out of fashion, only to come back into style, perhaps in slightly different form, at a later date. So it is with deterrence. This strategy was central during the Cold War, but 9/11 convinced many people that deterrence was no longer useful. In the years after, however, interest in deterrence revived as scholars and government officials sought ways to adapt it to meet contemporary threats.
This deterrence revival is a mixed blessing. Just as it was during the Cold War, deterrence remains both necessary and dangerous. As long as there are actors willing to contemplate the use of violence to achieve their ends, seeking ways to deter attacks will remain important. But relying on deterrence is risky, and a preoccupation with deterrence can lead to unwise decisions. ...
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- Strategic Horizons: Staffing the Future U.S. Military Will Require Thinking Outside the Box
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Home Inventory with Scanning Features
Have any of you come across a fully functional home inventory system that includes scanning capabilities.
I've seen a few examples out there, but they are other small business systems (overkill) or not functional.
I'm somewhat tech savvy and could create the databases, but didn't want to reinvent the wheel if I don't have to.
My particular functionality that is a priority is storage - so printing a bar-code for a tote and then scanning the items in it (either using the UPC if a product or a created label or key in item) - that is the type of thing I'm looking for.
Any ideas?
You are overthinking it.
If you want to be able to find something by looking in the computer and finding out which storage container it's in, (as often happens when you sell things online and can't remember where the danged book went) scanning ONE barcode per tote to get the tote number into a database doesn't save you enough work to be worth it.
1 - Number your storage containers with consecutive numbers: 1001, 1002, 1003 ... up to 9999.
2 - Write them on whatever adhesive label product works and stick it on the tote as soon as you start processing the items in it. that way, unlabelled totes are also uncatalogued.
4 - Enter the totes into your home inventory program as things you own. Give them the correct location: garage, attic, whatever.
3 - Most home inventory programs let you assign a location name or number to the items, so you would assign the container number to the things in the tote as "location".
So when you are looking for something, you look it up in the inventory program and see location 1013. You look up item named 1013 and see that it's in the south wall of shelves in the garage.
Thanks for your input! That would work for some storage situations. I have a couple of others though that aren't as static.
I am the organizer of some events - cook-offs, canoe trips, etc. and pull together a lot of stuff in support of those.
So, I have many crates that have stored items, but also add everyday items to them. I'd like to scan or enter as I go so that I can have a list of what is where when we get to the destination and everyone is searching for the back-up grill light or whatever.
Do you see what I mean?
I would pack the stuff you store in as few crates as possible, and print their inventory before the cookout. Post it at the campsite.
For the other stuff, use a printed checklist with a space for the bin numbers on it, write in the bin numbers as you pack, and post it at the campsite.
A bin may appear on both lists if it has stored stuff and then you added stuff that is not stored.
Interesting idea, but I suspect the reason you are not finding programs like that for everyday living is the impracticality of barcoding diverse items that are stored, used and put away again, and the amount of work it would take to maintain the system. At the end of a cook-off or camping trip, you can throw things into logically labeled totes faster than you can scan them and then put in tote containers.
What barcode are you going to scan? Who is going to create that barcode, and maintain the list of what number goes to what item (i.e., 52534 is paper plates...)?
That seems like way too much work
If a small scanning program is too much for you, then you have a simple set up, and I think any scanning program is more energy diverted to maintaining it than it's worth.
I would think a simple list in Microsoft Word would be more useful.
The paper plates purchased for the dance-club cookoff can't really be used for hockey team's chili supper--can they?
So create totes for each activity, and stick a piece of paper to the front with a list of contents, and date it. Heck, give each tote a name too: "HockeyPaperGoods1" and the list could be "*paper plates: 12pkg/100; •plastic forks, 527; • spoons, 27; •napkins: 6 pkg/500" or whatever.
Then take a picture of the sheet of paper with a smartphone, and email it to a dedicated, specialized gmail address that's something like: "firstname.lastname@example.com." Use the subject line to help you find it in the inbox later: "leftover paper goods," for one photo and "tablecloths, tent pegs, centerpieces" for another. Or maybe even more specific: "paper plates, 12 pkg/100." Whatever is the info you need to know.
Or, take a picture of the inside of the tote (or the contents before you pack them), along w/ something that indicates the date and the event (like that label).
When you want to know how many packets of paper plates were left over from last year's chili supper, or whether you need to buy spoons, go check the email inbox, and see what the photo says.
(I'm assuming you want to know this info without walking out to the garage.)
When you -do- buy more spoons, update the piece of paper, snap (scan?) another photo, and email it. Then go delete the old picture (but if you forget, the new date and the photo will help you see what went on, and how many spoons you have).
If indeed the paper plates are fungible and can move from one event to another, then you take a picture of the paper plates (maybe a closeup if you want to know how many of which type), and the cover sheet w/ the date & other amount info ("12 packs of 100"), and email it to a specialized gmail account like, "email@example.com" with a subject line like, "paper plates: 12pkg/100." In the body of the message, you can type the location or the bin's label (I'm *against* bin numbers--be direct; use words that you'll understand instantly, not numbers that needs cross-reference sheet)
And then you go delete the old photo emails, so you don't get confused.
You'd want to be sure that each time you sent an inventory "scan," you included *all* objects of that type; no "partial scores." So you might want one photo/scan of all the foam plates separate from all the paper plates. But when you send the pic of the foam plates, you include the total amount of *all* of the foam plates, not just the ones you took out of box A today, or not just the new ones you bought today. (I suppose you could make a partial score work, if you included the info that it was *additional*--but I don't think it would be as helpful.)
This post was edited by talley_sue_nyc on Sun, Aug 24, 14 at 16:00
Oh,and this?
So, I have many crates that have stored items, but also add everyday items to them.
Don't do that.
Make your crates be strictly and cleanly dedicated. Even if it means you leave some empty space in the top. Or even if it means you need more, smaller crates.
And this:
at I can have a list of what is where when we get to the destination and everyone is searching for the back-up grill light or whatever.
I don't think a separate inventory list is going to be helpful when "everyone" is searching for something.
Make your crates strictly defined, and the back-up grill light will be in the "grill equipment" crate. Or the "cooking area" crate--however you define it.
Believe me, the extra space you might need for the 3 extra crates you had to bring (bcs you haven't crammed out-of-category stuff into the gaps) will be well worth it.
And label the totes with real words that other people will understand.
Another thought about the "email a photo" type of "inventory scan":
You can print out pics for everybody who needs them--copy and paste them into a Word file, and shrink 'em down a little.
But if you label the outside of the crate properly, you should be fine. You probably won't even need that.
Find a way to affix a full-size sheet of paper to the crate (or write on the side of a plastic one with a china marker--it can be removed with some effort so you can write a new list, but will last through smudging)
Thanks for all of the great ideas.
I think as an IT guy I was over-complicating this! I think incorporating your ideas will help me out. I'll give it a try! I'm putting stuff away from this past weekend's contest, so am trying to reorganize as I do that.
I get you, with the "as a techie, I was over-complicating this" concept.
When you're an expert w/ a drill, every nail looks like it should be a screw w/ a plastic anchor. I think we all turn to our strengths to solve our problems. I do similar sorts of stuff all the time.
I have become a big fan of the smartphone-snapshot form of information gathering. And the "dedicated email inbox" has worked for me before.
Using the Cloud means you can check how many paper plates or tent pegs you have when you're at the store and realize they're on sale, or something. It also means you can share that info with anyone to whom you give the email address and password (me, I'd make the password be the same thing as the email address itself; I wouldn't worry about it being hacked, I don't think, but you'd be better able to assess the risk).
Another thought about this, from someone else above:
I would pack the stuff you store in as few crates as possible, and print their inventory before the cookout. Post it at the campsite.
Posting the inventory would be useful, but don't neglect the importance of clearly labeling the crates themselves.
A centralized list can be substituted for by a centralized location for *all* crates (or, maybe two or three locations; like, one location that all the cooking/food type crates go, and another location where all the kayaking or tent/sleeping/campfire stuff goes).
Once the crates are all in the same location, they themselves can serve as the centralized list, if they've got clear labels on the front with whatever's in them. (Write in Sharpie on a full-sheet sticker, and slap that on the front of the crate; it'll resist rain then, even.)
Because, the list may be stuck on a tree, and it may tell you that box #1015 (or box "Grill stuff") has the extra grill lamp in it, but where is that box at the campsite?
Oh, and labeling--I label both ends of boxes, so nobody has to worry about which end gets stuck onto the shelf first.
Good luck w/ your sorting.
If any of these ideas work for you (even if they're simple ones), come update us! We'd love to hear; we're all learning from one another.
And someone coming later may find it helpful too--if you look at the forum enough, you'll see that old threads get resurrected here a lot.
This post was edited by talley_sue_nyc on Mon, Aug 25, 14 at 15:18
Have you tried Quicken Home Inventory system?
Why spend time and energy to develop your own system if you can buy one that is relative inexpensive?
Years ago I used a Home Inventory System that came with Quicken. It was easy and user friendly. It helped us with insurance claim when we were burglarized.


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Retail Man POS 2.0.22 Free Download
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white climber suggestions
from a friend in the zone 7: Growing up we had a fence that was covered in some kind of climbing vine type rose with huge blooms. I would like to do this in my back yard where it is mostly sunny but kind of dappled in the afternoon. What would you advise? I would like something that really climbs and totally fills the fence (chain link) with beautiful white blossoms? What should I get and when should I plant??
I don't have a large white climber. I just ordered 'Purezza,' but the blooms will not be large.
Suggestions from the forum?
I don't know how easy it might be for you to find Ilse(capital I looks like small L) Krohn Superior . In my garden this has been as close to perfect as a climber can be. It reblooms fairly well, is fragrant. I love the white blooms. I don't know how it will do in your zone, but I do know it is a Kordes rose. So it might be fine.
Climbing Iceberg is beautiful and gets big. It doesn't rebloom much unless the summer is mild.
Mary Lovett is a rambler with large white flowers.
You might consider the Hybrid Musk, Pax. You can train it as a climber.
Currently, I am enamored with Barfield White Climber and plan to get it this year. Thornless!
Here is a link that might be useful: Barfield White Climber


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Grassy Weed ID - WI
mn_pikeMay 29, 2009
My family moved into a house two years ago and I have been slowly improving the health of the lawn, but am not too good on weed identification. The below is a grassy weed that seems to seed out like wheat after it is only a couple inches tall. I pulled a weed before I mowed last night and have some pictures attached.
Image link:
That looks like perennial rye grass to me, but I am not an expert. Maybe a lawn expert could confirm or deny it. Or, google it and see if it is what you have.


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Accessing the right details for Velma Miller is easy if you turn to PeopleFinders.com for assistance. We provide a wealth of info about Velma Miller like: phone numbers, age, and known aliases. Velma Miller was born in [YOB] and is 61 years old. Velma's recent address is located in Portland, OR. Based on our records, Velma's include [RELATIVES], among others.
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In the writer-director's new film, Ben Stiller and Naomi Watts' characters befriend a younger, free-spirited couple.
The Syrian capital of Damascus, a stronghold of President Bashar Assad, has been largely shielded from the bloody uprising turned civil war. But that's changing now.
Over the summer, Syrians living in Damascus knew they were facing impending chaos, but now "they really are scared," longtime war correspondent Janine di Giovanni told Here & Now's Robin Young.
Giovanni, who just returned from a Syrian reporting trip, said people in the capital city were taking their children out of school, out of fear of suicide bombers.
"There's a worry about a shortage of food, petrol and oil," she said. "I think very much now… it very much is a country at war."


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Wadena eighth-grader advances to state Hoop Shoot contest
Sinking 21 of 25 free throws, Wadena-Deer Creek eighth-grader, Rylie Langer, claimed a first-place trophy in the 12-13 age division at the Elks Hoop Shoot Free Throw Contest Jan. 28 in Brainerd. Langer advances to the State Elks Hoop Shoot Contest in Hutchinson, Minn., on Feb. 11.
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'Main Street' vision to improve quality of life
They have been known as the Afton Beaners and the VHS Citizens Group. Now, however, they go by the name of Main Street Afton.
Irrespective of name, the 65 residents and business owners who make up the group have one common goal: to improve the quality of life in Afton.
"Because we haven't been able to work together on projects for things, it's resulted in a really dreadful business climate," explained Bob Dickie, who is the catalyst for the organization's formation.


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The X Factor runner up, Marcus Collins has revealed how his mentor from the show, Gary Barlow will be writing his debut album with him.


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Advanced Search
In the race for Internet speed, the United States could definitely be called a slacker. According to data from the Organisation for Economic Co-operation and Development, in the area of average advertised broadband download speed this country falls somewhere between those little heralded hotbeds of high tech, Italy and Greece.
The American College & University Presidents' Climate Commitment has lost 15 signatories in a recent move to prune those institutions that haven't met any of their deadlines since committing to the sustainability initiative. The move was made by the consortium's steering committee, which simultaneously congratulated the remaining 673 institutions for the progress they've made.
China renewed Google's licenses as an Internet content provider for that country, according to Google's chief legal officer.
The United States Department of Education and Department of Justice have just issued a reminder calling for colleges and universities--as well as K-12 school districts--to make sure devices such as e-readers that are required in the classroom comply with accessibility laws. The federal action came on the heels of a settlement agreement made by Justice with five institutions that were running Amazon Kindle e-book readers as pilot programs. According to the agencies, Kindle devices aren't accessible to students who are blind or have low vision.
In response to the United States Department of Education's preliminary report on Virginia Tech's response to the 2007 mass shooting, the Blacksburg university has issued a response that vehemently objects to the department's findings.
Reflecting the White House's focus on performance metrics and accountability, a new initiative with an unwieldy name is about to begin measuring the impact of federal investment in the sciences.
DIY U: Edupunks, Edupreneurs, and the Coming Transformation of Higher Education (Chelsea Green Publishing, 2010) explores how students can and will use technology to sidestep the spiraling costs of college to pursue non-traditional paths toward learning. Author Anya Kamenetz talks to CT about the institutional imperative to bring down tuition costs and make higher learning more accessible to more people.
The Cyber Challenge has set as its national goal to identify and train an army of cybersecurity experts to help fill shortages in industry and government. Campuses like Cal Poly are helping to lead the charge.
CT asks Harvard Business School CIO Stephen Laster about the changing role of campus IT in today's challenging economic times.
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AUTO RACING: NLRA drivers enter demanding four-day stretch
Only one of the four regular classes that run weekly at RCS (streets) will race tonight. Other classes include lightning sprints, super trucks, legends and legend mods.
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Best Bets: Dames do doubleheader
The Harbor City Roller Dames, the hometown havoc-on-wheels, closes out its flat track season with a doubleheader Saturday at Pioneer Hall.
Bout one: Shipwreckers versus Iron Range Maidens Attackonites; Bout two: Nautikills versus the North Star Supernovas.
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Leap Wireless Reviews
- Any Location
- Any Job Title
5 Employee ReviewsSort: Popular Rating Date
"Past decisions finally caught up with Leap/Cricket... "
- Comp & Benefits
- Work/Life Balance
- Senior Management
- Career Opportunities
I worked at Leap WirelessPros
The company tended to pay above-market average salaries and provided good benefits which led to a better than average overall compensation package.Cons
The organization's leadership appeared to struggle with formulating and executing on a consistent and relevant strategic direction in an always highly competitive environment. A consistent series of short-term decisions made and strung together over a long period of time, coupled with several missed opportunities in the marketplace, appears to have finally caught up to the organization in a measurable and impacting manner.Advice to ManagementAdvice
Reduce the layer of upper-level management that was loaded onto the organization over the past two to three years in an attempt to "throw bodies at the problem". For those remaining, ensure they can "ride the bus" for the duration.Approves of CEO
"Upper management needs to be managed "
- Comp & Benefits
- Work/Life Balance
- Senior Management
- Career Opportunities
I worked at Leap WirelessPros
The company treats it's employees well on a personal level.
The benefit packages have been good.Cons
The company is horrible at providing a career path.
The company has mismanaged itself.
A few in upper management have the most say and receive the most support, leaving less popular departments to suffer and scramble for resources.Advice to ManagementAdvice
Review the actual quality of work of your managers and directors to see if they are actually cost effective.No opinion of CEO
"Not bad, but ready to move on "
- Comp & Benefits
- Work/Life Balance
- Senior Management
- Career Opportunities
I have been working at Leap WirelessPros
Great colleagues, benefits and locationCons
Career and professional growth is poorAdvice to ManagementAdvice
Support your teamNo opinion of CEO
I worked at Leap WirelessPros
Exposure to tech industry, fast-paced corporate environmentCons
no balance. Long hours. little recognition for those not "favored" by management.Advice to ManagementAdvice
pay more attention to employees outside of the inner circle.No opinion of CEO
3 people found this helpful
I worked at Leap WirelessPros
Solid product focus and a better understanding of cost containment than most wireless companies. Leap's business model is truly more efficient than that of most competitors.Cons
Project management is very immature. Most new initiatives are a deadly combination of firefighting and death march. Office politics soar to new heights, and it's unfortunately true that one's success depends mostly on who you know and are friendly with rather than actual skill level. There's something of a history of tolerance for misconduct among senior staff, but that tolerance absolutely does not extend to the junior levels of the organization.Advice to ManagementAdvice
Understand that valuable advice and feedback can come from all parts of the organization--even the front-line employees who interact with customers!No opinion of CEO
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1,373 Sharpsburg, GA Interior Designers and Decorators
The work of a professional can make all the difference. Whether your Sharpsburg, GA home has 10 bedrooms, or your apartment is 800 square feet, it can be tricky to create a cohesive look that is representative of your style. That's where an interior designer comes in. A home decorator will help distill your tastes and ideas into a design that suits the needs of your space. Whether you need help creating a functional space plan, rearranging existing pieces, designing the inside of a new home, or simply sourcing amazing furniture and decor, seeking the help of professional interior designers and decorators is a must. More
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Interior and Exterior Design Solutions. Carl Mattison Design works with architects and builders to renovate and create new build homes befitting the styles of the old home or the... Read More
Panoply, which means "a magnificent array" sums up both our philosophy & the results we provide to our clients. Our expert designers offer over 55 years of combined experience in interior design work. See my projects
A "Best of Houzz 2014 + 2013" design winner, Donna McAlear creates elegant, modern interiors in harmony with architecture. Her passion and skills for new construction and... Read More
Michael Habachy is an acclaimed interior and furniture designer based in Atlanta, Georgia. His Interior / Architecture design firm, Habachy Designs, Inc., creates atmospheric and... Read More
Projects range from selecting furnishings for a single room to entire home design. My goal is to blend my creative talents with my client's request to produce an interesting... Read More
BEST OF HOUZZ 2015, 2014, & 2013. We design rooms to reflect our client's lifestyles, their needs, and tell their story through creative interior design solutions.. Your home... Read More
Innovative, award-winning interior design, architectural design, specification and design/build services. Respected firm organizes decorating, renovations and home building into... Read More
We offer both Architectural and Interior Design services. Joel has worked throughout the Southeast on more than 300 projects. Since 1998, the company has provided unique design... Read More
Best of Houzz 2014. J. Hirsch Interior Design has been designing award-winning interiors for over 24 years. Janie Hirsch, ASID graduated from Louisiana State University with a... Read More
Best of Houzz 2014 and 2015! We create smart, stylish, livable homes that serve as a backdrop to the refined lifestyle of top CEOs, urban executives, entrepreneurs, professional... Read More
VOTED 2015 AND 2013 BEST OF HOUZZ CUSTOMER SERVICE. Instinctive Design's philosophy is that a designer's job to find the perfect balance of form, function and creativity. To... Read More
We are a full service design firm. Our product line includes custom window treatments, furniture, accessories, lighting, floor coverings and bedding. Read More
With an aesthetic that is both modern and timeless, Dana brings her passion for design to every project. Her goal is to provide each client with a unique space that's stylish,... Read More
A Best of Houzz 2014 & 2015 Winner for both Design and Customer Satisfaction, The Consulting House blends interior architecture and design expertise with professional project... Read More
Kristin Drohan, one of America's most versatile interior designers, offers complete design services and her own furniture line to elite clients throughout the country. Kristin,... Read More
With a passion for design and an intuitive understanding of her clients' needs, MaRae Simone has been transforming homes for more than 10 years. As the founder of CondoStylist,... Read More
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