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David Kirkpatrick
Phone: 847-285-6782
Cell: 847-409-0519
San Diego veterinarian, American Veterinary Medical Association team up to help puppies
(SCHAUMBURG, Illinois) July 16, 2012 – Pet owners who have lost hope are relinquishing their dogs and turning them in to shelters because of behavior problems. A local expert in puppy socialization, along with the American Veterinary Medical Association, is hoping to change that.
When people acquire a pet, what they often get is a puppy – and what they want is a well-behaved dog. There is a critical period of time where the opportunity is there for people to properly raise the puppy to become the dog they want to spend their lives with, rather than the dog growing up without the manners and skills necessary to live in harmony with its owners and the community.
Dr. Patrick Melese, a board-certified veterinary behaviorist and director of
Veterinary Behavior Consultants
in San Diego, will lead a hands-on puppy socialization lab for veterinarians on Sunday, Aug. 6, from 2 p.m.-5:50 p.m., during the AVMA's Annual Convention at the San Diego Convention Center.
Dr. Melese will be available for media interviews, and journalists are welcome to observe, film and photograph portions of the socialization lab.
While the lab is geared toward veterinarians, Dr. Melese hopes the media will help spread the message to the public that proper early puppy socialization – starting as young as 9-10 weeks of age – is critical for the long-term welfare and well-being of the family pet. This, along with proper "well-puppy" health and vaccination programs provided by your veterinarian, are equally important for the puppy to develop into a physically and behaviorally healthy adult dog that will spend the rest of its life in your home.
"Behavior issues that can usually be avoided by knowing how to properly choose and then raise a puppy are a leading cause of dog relinquishment," Dr. Melese says. "Proper and early puppy socialization is critical for the owner to have a dog that has the very best chance of being an enjoyable pet that likes other dogs and people. Having a dog with these qualities helps foster a good, long-term relationship between pet and pet owner, giving the dog the best chance to live a happy life with the initial adoptive owner."
The socialization lab will also benefit the puppies that will be taking part, providing them exposure and interaction with different people and situations.
Dr. Melese also wants pet owners to know that training a puppy isn't difficult.
"Socializing and training a new puppy is typically easy and a lot of fun," he says. "The easiest way to obtain guidance is to ask your veterinarian about an appropriate puppy kindergarten socialization class as soon as you get your new pet or even before you get the new pup."
# # #
The AVMA, founded in 1863, is one of the oldest and largest veterinary medical organizations in the world, with more than 86,500 member veterinarians worldwide engaged in a wide variety of professional activities and dedicated to the art and science of veterinary medicine.
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Islamic Fundamentalists' Global Network - Modus Operandi -
DOCUMENTATION CENTRE OF REPUBLIC OF SRPSKA BUREAU FOR RELATION WITH ICTY OF REPUBLIC OF SRPSKA BANJA LUKA Islamic Fundamentalists' Global Network - Modus Operandi - Model Bosnia The Documentation ce
By: lpcyu | Comments: 7 | Views: 75118 | Votes: 1 | Shared: 70
Location: Bloomingdale, New Jersey, United States | Leaked: Jun-28-2011 in Other News
Thru Jerusalem
special tnx to the local musicians who create the sound of Jerusalem. In This piece I didn't browse YouTube, I actually wandered around Jerusalem , met with musicians and filmed them. Sousaphone - Ud
By: watercarrier | Comments: 5 | Views: 1855 | Votes: 2 | Shared: 0
Location: Jerusalem, Israel, Israel | Leaked: Jun-15-2011 in Other Middle East, Other Entertainment
New Details About Obama's Social Security Number Reserved For Connecticut Applicants
Back on April 13, 2011, the T-Room predicted that President Obama would soon post a scanned version of what his inner circle would designate as his "Official" long-form birth certificate - "Mor
By: nolibs-returns | Comments: 7 | Views: 7164 | Votes: 2 | Shared: 0
Leaked: Jun-6-2011 in Politics
Islam: A Religion Custom Made for Men
Muslims, by belief and practice, are the most blatant violators of human rights. We hardly need to detail here Muslims' systemic cruel treatment of the unbelievers, women of all persuasions, and any
By: Islam_Is_A_Death_Cult | Comments: 36 | Views: 10970 | Votes: 0 | Shared: 0
Leaked: Jan-12-2011 in Iran, Middle East
Drunk driver gets into more trouble after posting Facebook photo
By Thomas J. Prohaska NEWS NIAGARA REPORTER Updated: January 28, 2010, 2:13 am / Published: January 27, 2010, 4:34 pm LOCKPORT — Ashley M. Sullivan is in Niagara County Jail, and Facebook may
By: gregory_peckory | Comments: 13 | Views: 8425 | Votes: 0 | Shared: 1
Location: Lockport, New York, United States | Leaked: Feb-1-2010 in News
NJ shootout: From 'Quiet and Sweet' to Muslim Convert and Death at Gunman's Side
NYTimes: New York Times By CHRISTINE HAUSER Published: July 22, 2009 Like the female counterpart in Bonnie and Clyde, Amanda G. Anderson was a faithful accomplice in crime, who ran from
By: Awsomatic | Comments: 23 | Views: 10685 | Votes: 0 | Shared: 0
Leaked: Aug-10-2009 in News
The Price of Liberty is...Hot Dog Gruel?
As you readers may recall from earlier postings, I had jury duty yesterday for King County Superior Court. You may also recall that back in January I emailed them, in good faith, a list of principles
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Leaked: Jun-23-2009 in Other
Serteneja duo music
Typical from the Brazilian countryside, mainly in the Southeastern states, the sertaneja (or caipira) music is performed almost always by a duo of singers (singing in an interval of a third) playing a
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Location: S�o Jos� Dos Campos, Sao Paulo, Brazil | Leaked: Apr-11-2009 in Arts and Entertainment
Campaign to close down School of The Americas
The US Army School of Americas (SOA), based in Fort Benning, Georgia, trains Latin American security personnel in combat, counter-insurgency, and counter-narcotics. SOA graduates are responsible for s
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Leaked: Mar-2-2009 in News, Other
Queens Priest Used Confessional To Pick Up Woman
A Queens priest who worked as a chaplain at a hospital has been suspended after apparently using his confessional booth to take advantage of a vulnerable parishioner and engaging in a sexual relations
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Leaked: Oct-31-2008 in Other
Foreclosure fallout: Houses go for a $1
DETROIT -- One dollar can get you a large soda at McDonald's, a used VHS movie at 7-Eleven or a house in Detroit. The fact that a home on the city's east side was listed for $1 recently shows how
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Location: Detroit, Michigan, United States | Leaked: Aug-13-2008 in Other
Global Warming - a Hoax - by Weather Channel Founder
John Coleman's Comments Before the San Diego Chamber of Commerce Global Warming and the Price of a Gallon of Gas by John Coleman You may want to give credit where credit is due to Al Gore and
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Location: Minneapolis, Minnesota, United States | Leaked: Jun-13-2008 in Other
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8 Comments on "Are You Doing the Bend and Snap with Monthly Report Numbers"
You can never really go wrong if you're armed with "social media magic beans"…I sense you really don't like pie charts. I guess it comes down to give them what they want, but usually there is a lot of fluff in them there graphs and spreadsheets. I love the FB example, and really glad it was successful.
Elle in Legally Blonde does the bend and snap the best – who are we to try and compete? :) love the witty headline – and great post, Gerry!
Gerry, good post and you know how I feel on this topic. The proof, bottom line sales! Who wants to pay someone to sit around talking and sharing with very little real impact, sign me up Scotty! The social media arena is the original Madison Avenue Agencies bells and whistles pumped-up on Lance Armstrong steroids. So much junk pushed around by snake-oil peddlers that the good guys, and there are plenty have gotten a bad name from association.
Thanks for stopping by Randy, I can't predict what my client is going to want in the way of reports, but I can assure you the goal is increased bottom line….
Thanks for stopping by Kristy, I supply a report to those clients that request it, but most often after a few months they tell me they don't feel they need it because of my contact with them. I just don't believe those type of reports are reliable. Just my humble opinion.
Thank you for the post Gerry. Even though I just started a new report for my association's board, I wonder how useful it really is. One boss I worked for as a market researcher had this quote in her email signature:
"Lies, damn lies and statistics."
Seems fairly accurate and why I tend to disregard all the political mumbo-jumbo!


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- Exchange: Shanghai
- Sector: Consumer Discretionary
- Industry: Apparel & Textile Products
- Sub-Industry: Textile & Textile Products
Shanghai Haixin Group Co+ Add to Watchlist
As of 01:04:06 ET on 03/30/2015.
Company Profile for Shanghai Haixin Group Co (900917)
Shanghai Haixin Group Co., Ltd. manufactures and markets plush fabrics and related products. The Company's products include plush fabrics, plush and stuffed toys, blankets, and apparel fabrics. Through its subsidiaries, Shanghai Haixin also manufactures biopharmaceuticals and packing products, develops real estate, and provides transportation services.
Contact Information
Shanghai Haixin Group Co
Key Executives for Shanghai Haixin Group Co (900917)
|Yu FengChairman/Party Secretary
|Chen MouliangPresident
|Wang XiaojingExecutive Vice President
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Houma Chrisitian Downs Hamilton Christian
Published: Friday, October 17, 2008 at 3:00 p.m.
Last Modified: Friday, October 17, 2008 at 10:32 a.m.
HOUMA The Houma Christian volleyball team had a list of priorities set heading into Thursdays District 1-V home match against first-year program Hamilton Christian.
First it wanted to win the match.
Secondly, it wanted to play at a high level although it was facing a winless team.
And lastly, it wanted to get more experience for new setter Lauren Crowdus, who is subbing for injured starter Britany Fournier.
The homestanding Lady Warriors accomplished those goals with a 25-7, 25-11, 25-9 district victory over Hamilton Christian of Lake Charles.
None of the three games were close.
One thing we wanted to focus on was playing to our ability, Houma Christian coach Christi Crowdus said. I believe we achieved that. We played very well at the net. We missed some serves, but we were kind of taking some risks there. We took some risks that we wouldnt have taken in a closer game.
Lauren Crowdus is normally an outside hitter for Houma Christian, but assumed the role of setter when Fournier went down with a severely sprained ankle nearly two weeks ago.
One thing that helped was it was another chance for us to get used to a different setter, Coach Crowdus said. We didnt have a lot of pressure so we were able to relax and try and develop Lauren as our setter.
Fournier is expected back sometime in the next week, but that timeframe is a bit fuzzy.
She isnt progressing as quickly as the doctor anticipated, Coach Crowdus said. So we will have to see.
With Lauren Crowdus now setting, her younger sister Lindsay, the junior varsity setter, is now a varsity outside hitter.
Lauren is getting better each game that she plays, Coach Crowdus said. She still has some work to do. She has always been an outside hitter since she started playing volleyball, but each game she is responding.
Monica Parfait had seven kills and six aces for Houma Christian, Lindsay Crowdus added four kills, five aces and two digs, Shira LaGreca recorded nine aces and a dig, Natalie Voisin tallied 11 kills, three aces and a block, Courtney Collie notched seven kills, two aces and a dig, and Lauren Crowdus had 22 assists, an ace and two digs.
Hamilton Christian fell to 0-6 in district play.
Their serving is very powerful, and they are very strong all along the net, Hamilton Christian coach Kyla McEntire said of Houma Christian. Overall, they are a very good team.
At Thibodaux, the Lady Tigers evened their overall record at 8-8 and moved to 4-4 in District 6-I with a 25-13, 25-16, 25-10 victory.
Jackie Traigle led Thibodaux with 20 assists, Jordan Chiasson had 12 kills, Alyssa Martinez tallied eight kills, Taylor Ford dug 22 balls and Courtney Collins had 15 digs.
Central Lafourche fell to 1-6 in district.
At Franklin, the Lady Cardinals took a 25-3, 25-6, 25-13 District 4-III victory to move to 19-3 overall and 6-0 in district play.
Hailey Silverii led E.D. White with nine kills, Kathryn Stock added seven kills and six blocks, Emily Albert chipped in with two blocks, two aces and a kill, Jessica Politz has 18 assists and four aces and Caroline Becnel added nine digs.
At St. James, the Lady Wildcats fell to 5-2 overall and 1-1 in District 4-IV with a 25-22, 25-12, 25-23 loss on Thursday.
Trineqia Adams led St. James with four kills, Terrev Verret had three assists, Chillia Jasmin and Jenaire Jefferies each notched three digs, and Donriell Melancon had two blocks.
Reader comments posted to this article may be published in our print edition. All rights reserved. This copyrighted material may not be re-published without permission. Links are encouraged.
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Modern Warehouse Wedding
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text: Production Planner Winchester | £21500 - £23000 per annum | From STR Ltd. PRODUCTION PLANNER - Near WINCHESTER - c£21,000-£23,000 Plus benefits A high volume manufacturing site near Winchester are currently recruiting for a Production Planner to join their team on a... Permanent basis. The main function of the role will be schedule required production, materials and information for all aspects of components essential for the completed manufacture of the company's key products. Key tasks will include developing a planning schedule for manufacture, liaising with other internal departments, updating necessary documentation to control production and to improve processes. In order to be considered candidates will need to have production planning or scheduling experience within a manufacturing environment. Candidates will also have to have excellent... Upload Your CV Go To This Job Save This Job


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JUNCTION CITY, Ore. — After years of planning, it's full speed ahead for a new mental health facility. The Oregon legislature approved full funding for the project Monday. The secure, three-story state mental health hospital will serve 174 patients. Most of the patients in the state system have been convicted of a crime, but found … Continue reading »
Mental Health Resources Available
EUGENE, Ore. — In light of recent events, like the tragedy in Newtown, mental health is becoming an important issue across the country. Lane County Public Health wants to make sure people know about mental health resources that are available. Overall, 33 percent of Oregon adults report poor mental health. In Lane County in 2005 … Continue reading »
State of Mental Health in Lane County
EUGENE, Ore. — The tragedy in Newtown, Connecticut spurred a nationwide debate surrounding gun control in our nation. The tragedy also highlighted the state of mental health in our country. It forced states to look at their services. Lane County is leading the way when it comes to providing health care. Like many counties across … Continue reading »
Drug Drop Box Coming to OSU
CORVALLIS, Ore. — An anonymous way of disposing drugs is coming to Oregon State University. It was spearheaded by the campus' Active Minds chapter, an organization that promotes mental health and well-being. Students will be able to drop off leftover prescription drugs, no questions asked. "There has been a few losses here at OSU so … Continue reading »
Health Managers Push for Education
EUGENE, Ore. — National Public Health Week is in full swing, and Lane County health managers are pushing education. Each floor of the Health and Human Services Building has a special purpose dedicated to health of the community. Floor one focuses on basic health care. The first thing you see is the Charnelton Health Clinic. … Continue reading »
Residents Voice Concerns About 4J Cuts
EUGENE, Ore. — Emotions soared as community members pleaded with the 4J School Board on a number of issues. Main concerns Wednesday night focused on the school district cuts to mental health services and libraries along with the change to the school schedule. Dozens of people turned out for the meeting. Some residents talked about … Continue reading »
County Holds Mental Health Discussion
LANE COUNTY, Ore. — Mass shootings spanning the country really spotlighted mental health. Lane County Health and Human Services put on a presentation to discuss the issue in-depth. The recent gun violence in the U.S. prompted many Americans to do some soul searching. With so many tragic events, everyone seems curious about mental health issues, … Continue reading »


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Travel Blogs from Marsciano
Come to Como
... Then up the funicular to the mountain overlooking Como, not happy with view at that height we decide to walk up to the lighthouse. Snow covered following last weeks cold blast we make our way up - a long way - finally arriving at 'the lighthouse'. The view was spectacular, well the view as best it can be here with quite dense haze/smog. We could see the water but sadly the Swiss Alps, whilst could be seen, were blurry. (Switzerland is ...
Not so glamorous Bergamo
Leaving Milano, we started the day with Bergamo which is an ancient town about 40 km east of Milan we've been hearing a lot about. I have to admit that it wasn't as great as I thought it would be. Maybe it's just me setting my expectation too high.
The old town (citta alta) is up on the hill and we had to take ...
Bergamo and the Alps
... We were in awe (see all the pictures I took which does not do the view justice). After this, we walked around the city until we found the botanical gardens. Sadly, some of it was closed due to the cold (it had snowed a couple days before). So we decided to walk to the Castello di San Vigilio on the top of the mountain. We saw that this road would take us there and it looked short and straight. However, the ...
Fingerprinting a Funny Foreigner
... style: normal; font-weight: normal;">Post office payment receipt (for proof it was sent?)
Bread, Biscuits, and Burger King Beers
... to being without a map; we paced up and down the streets looking like the haggard nomads we secretly aspire to be juxtaposed against one outrageously priced store to another. It is so expensive here yet people were casually shopping at Gucci, Prada, and Louis Vuitton. Every single store we passed seemed to have some sort of security officials in the doorway. Still bucketing rain, poor Jeff was only wearing a t-shirt as he had just flew in from Spain and somehow missed ...
Other places to stay in Marsciano
Il Casale Di BuccoleVocabolo Buccole 25, Marsciano | Hotelfrom $151


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White flat-screen TV
smleersFebruary 27, 2014
We are looking for a white flat-screen 32-40 inch LED TV for the kitchen. I have found Samsung and Toshiba white TVs for sale online but they are in the UK and Australia! Does anyone know if they are available in the USA? Thanks.
This is the Flat Screen I recently bought. I absolutely love it.
Here is a link that might be useful: Flat Screen


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Celebrity Central / Top 25 Celebs
Lindsay Lohan
Credit: X17online; National Photo Group; AKM-GSI
Published: Tuesday October 01, 2013 16:00 PM EDT
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Latest News!
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Syracuse Crunch
Drouin Nets Game-Winner in Pro Debut, Crunch Top FalconsSubmitted by jghoughtaling on October 17, 2014 - 21:47
Jonathan Drouin chipped the puck past the defenseman, rushed down the ice and wristed the puck into the top right corner.
Drouin, the Tampa Bay Lightning's third overall pick in 2013, netted the game-winning goal in the third period of his professional debut to lift the Syracuse Crunch to a 3-2 victory over the Springfield Falcons at the Onondaga County War Memorial Friday.
"I tried some passes today and they didn't go through," Drouin said. "I decided to shoot that one, and I'm pretty happy it went in."
Drouin, on a rehab assignment after sustaining a slight fracture in his right hand during training camp, was on the ice for all three Crunch goals.
"Those guys are easy to play with," Drouin said of his linemates. "(Jonathan) Marchessault is fast and (Cedric Paquette) thinks the game well."
Ikonen Focused on Making More MemoriesSubmitted by jghoughtaling on October 16, 2014 - 13:09
It was a feeling Henri Ikonen couldn't describe.
Representing Finland in the 2014 World Junior Championships and winning his homeland's first gold medal since 1998 was a memory he will never forget.
To top it off, the Finns beat host (and rival) Sweden in overtime.
"It was an unbelievable experience," Ikonen said. "The best two weeks of my life."
With his professional career just getting started, Ikonen is hoping to make many more memories like the one he had in Sweden. But the Syracuse Crunch forward is taking it one step at a time.
"I just go to the rink every morning and do my best there," Ikonen said.
Blujus Settling In On Syracuse BluelineSubmitted by jghoughtaling on October 14, 2014 - 17:53
Two games into his professional career, Dylan Blujus is showing he belongs in the AHL.
The 20-year-old defenseman made his pro debut with the Syracuse Crunch Saturday against Springfield, and over two games last weekend had an even plus-minus rating with six shots.
"It went pretty well, just getting that first pro game under my belt felt nice," Blujus said. "Get the nerves out early, now I can start playing my game and start making plays."
Despite a few expected hiccups, Crunch coach Rob Zettler was impressed with the puck movement by each of his rookie defensemen.
Crunch Let Multiple Leads Slip Away in Loss to Wolf PackSubmitted by jghoughtaling on October 12, 2014 - 21:17
For multiple members of the Crunch, the team deserved better.
Syracuse took three one-goal leads but let them slip away, as it fell to the Hartford Wolf Pack in overtime, 4-3, at the Onondaga County War Memorial Sunday.
"They kept coming, they didn't give up," said Crunch captain Mike Angelidis. "I thought we deserved a better fate, but that's how it goes sometimes."
After a scoreless first period, the teams combined for five goals over the first 11 minutes of the second.
AHL Game Night: 10-12-14 Wolf Pack at CrunchSubmitted by pete on October 12, 2014 - 18:54
Crunch clipped in OT.
Andrei Vasilevskiy allowed 4 goals on 27 shots for the loss in his AHL debut.
First Period
Second Period
SYR Richard, (1) (Gourde, Marchessault), 1:35 (PP)
HFD Lindberg, (1) (Bourque, Mueller), 2:25 (PP)
SYR Paquette, (1) (Samson, Koekkoek), 4:37
HFD Mueller, (1) (Bodie, Bourque), 9:36
SYR Paquette, (2) (Vermin, Cote), 11:02
Third Period
HFD Hrivik, (1) (Kristo, Bodie), 6:35 (PP)
HFD Lindberg, (2) (Bourque, Allen), 4:53
Cedric Paquette was the game's third star. Slater Koekkoek also made his AHL debut, chipping in an assist on Paquette's first goal.
Syracuse faces Springfield on Friday.
Box score from TheAHL.com.


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6 Bio-inspired Robotic Fish with Multiple Fins Parasar Kodati and Xinyan Deng University of Delaware U.S.A. 1. Introduction In order to improve the performance of AUVs in terms of efficiency and maneuverability, researchers have proposed biomimetic propulsion systems that swim using flapping fins rather than rotary propellers. This calls for the exploration of unique locomotion characteristics found in a variety of fish for use in underwater robots. (Sfakiotakis et. al., 1999) present a good review of fish swimming modes targeted at roboticists interested in aquatic locomotion. A classification scheme of fish locomotion mechanisms, originally presented in (Lindsey, 2006) and was modified in (Colgate & Lynch, 2004), is shown in Fig. 1. The three main swimming styles are characterized by undulatory body motion, undulatory fin motion, and oscillatory fin motion. A more traditional classification is one proposed by Breder (Breder, 1926) that broadly identifies two styles of swimming: one is Body and/or Caudal Fin (BCF) locomotion, and the other is Median and/or Paired Fin (BMP) locomotion. Fish classes that use varying degrees of body undulation and/or caudal fin oscillations for thrust generation are examples of BCF swimming, and fish that use paired fins like the left and right pectoral fins, dorsal, and ventral pelvic fins for thrust generation are classified under the MPF swimming style. Open Access Database www.intechweb.org Fig. 1. Fish Classification based on swimming styles (Lindsey, 1978 & Colgate, 2004). MIT's Robotuna marked the beginning of the biomimetic approach in underwater vehicles (Triantafyllou & Triantafullou, 1995). Barrett et. al. (Barrett, et. al, 1999) demonstrated that Source: Underwater Vehicles, Book edited by: Alexander V. Inzartsev, ISBN 978-953-7619-49-7, pp. 582, December 2008, I-Tech, Vienna, Austria www.intechopen.com Bio-inspired Robotic Fish with Multiple Fin 97 the highly articulated robotic fish experienced less drag with undulatory motion than that seen without body undulation. Zhu (Zhu, et. al, 2002) also identified a vorticity control phenomenon, which explains the interaction of the vortices shed by the undulating body and the ones in the wake shed by the tail fin. Such interaction of the body with the wake was also shown to reduce the muscle activity in fish (Liao, et. al, 2003). Anguilliform requires a greater amount of body undulation and thus more degrees of freedom must be connected in series to form a robot. McIsaac and Ostrowski (McIsaac & ostrowski, 2003) studied motion planning and control of a serial chain robotic eel. They generated gaits (time functions of the joint angles) for the straight and turning motions of 3-link and 5-link robots. MacIver (MacIver, et. al, 2004) presented some aspects of underwater vehicle design in the areas of sensing and motion mechanisms of a knifefish in (Epstein, et. al, 2006). The Biologically Inspired Robotics Group at EPFL presented a swimming and crawling robot, BoxyBot (Lachat, et. al, 2006) that is "loosely inspired by the boxfish". The focus there was to mimic boxfish-like switching of swimming modes under different speed ranges. More recent biologically inspired robot designs include Basilisk lizard like water running robot (Floyd, et. al, 2006). Recently, a new class of biorobotic underwater vehicles based on the biomimetic principles of flapping foils are being designed. These platforms employ fin designs and motion kinematics that are the result of experimental and computational fluid mechanics work. Licht et. al. (Licht, et. al, 2004) presented the design of a vehicle platform with four heaving and pitching foils. A team of ocean engineers, fluid mechanists and biologists proposed a concept vehicle taking advantage of high efficiency foils in combination with articulated pectoral fins with rays for enhanced maneuverability (Fish, et. al, 2003). Pulsatile jet formation loosely inspired by squid is presented in (Mohseni, 2004). Kato's Bass III (Kato & Wicaksono, 2000) is the latest 3 DOF pectoral fin based vehicle designed for low speed precise maneuvering. Bandyopadhyay (Bandyopadhyay, 2005) presented a comprehensive review of approaches on various fronts of biomimetic underwater vehicle technology like high lift generating fin hydrodynamics, vehicle maneuverability using pectoral fins, muscle- like actuators and neuroscience based control. Fig. 2. Bio-inspired robotic fish with multiple fins. Most Autonomous Underwater Vehicles (AUVs) today are larger ones applied extensively from environmental monitoring to oil and gas exploration (Yuh, 2000). However, these AUVs are not suitable for applications where the vehicle has to explore confined spaces like ship wrecks or oil pipe lines, where maneuverability and stability are more important than speed. Tasks such as these call for designs that are small, maneuverable and precisely www.intechopen.com 98 Underwater Vehicles controlled. The work presented in this chapter is a step towards realizing such Micro Underwater Vehicles(MUVs). Here we present the research leading to the design and fabrication of a bio-inspired robotic fish with multiple fins for propulsion and control [Fig.2]. We present the experimental setup for studying flapping fin hydrodynamics and the force measurement results from flexible fins, and we presents the modeling of boxfish-like engineering shapes incorporating key morphological features that are responsible for self correcting vorticity generation as explained by Bartol et. al. in (Bartol, et. al, 2005). 2. Fin hydrodynamics A robotic flapper was designed to generate fin motion in three independent rotational degrees of freedom, with a force/torque sensor attached to the base of the fin. The flapper was mounted on a linear stage that was driven a stepper motor. A larger tank was used to allow for linear motion. The tank was filled with refined paraffinic oil. This setup allows us to reply the fin kinematics while measuring instantaneous hydrodynamic forces. The thrust (force in the direction of motion) produced by a flapping fin is a result of its interaction with the surrounding fluid. In the case of simple flapping (for example the caudal fin of a boxfish in cruise mode) this interaction can lead to lift and drag based forces as well as added mass effects (resulting from the deceleration of fluid set in motion by previous strokes). Fig. 3 shows such forces acting on a foil. The lift component (L) of the total force (F) is a result of periodic vortex shedding while the rest of the components are due to drag(D). Fig. 3. Forces acting on an oscillating tail fin. In this study, a boxfish like fin shape was used as the template to vary the fin geometry, therefore its flexibility. To change the chord wise flexibility, the dimensions c1 and c2 have been varied while fixing the aspect ratio and the total area of the fin. This kind of parametric variation displaces the center of pressure of the fin, thus varying the degree of flexing. Fig. 4 shows the shape template used to obtain different tail fin shapes by varying c1 and c2. Four shapes (labeled S1 to S4) from this continuum have been considered experimentally. Table 1 gives the geometric dimensions. The shapes were cut from 0.6mm thick Delrin, 0.1mm thick Polyimide, and 0.6mm thick Polyethylene in order to look at them over a range of material stiffness. In fact, from a flexibility point of view all twelve shapes (four profiles, three materials) form a continuum of flexural stiffness (EI) values, which have a strong correlation to the amount of flexing (Combes & Daniel, 2003). The term captures the elasticity (E, Young's modulus) of the fin material as well as the shape geometry (I, second moment of area) that together determine the fin's flexibility. www.intechopen.com Bio-inspired Robotic Fish with Multiple Fin 99 Fig. 4. Fin shape parameters. Shape C1 (cm) C2 (cm) S1 4.00 4.11 S2 3.01 4.57 S3 2.02 5.02 S4 1.00 5.50 Table 1. Four shapes studied. Each shape/material combination (with the exception of shape S1 of Polyethylene) was flapped harmonically at frequencies ranging (in 0.1 Hz intervals) from 0.3Hz to 0.8 Hz, while being towed at a speed of 0.08 m/s. The Strouhal number is a non-dimensional number that relates the forward velocity, U to the flapping frequency,f as: St=fw/U (1) where w is the wake width. In our case, w was treated as the width of a single fin stroke. We define the non-dimensional thrust and drag coefficients as CT =2Fx/( AU2) (2) CD =2Fy/( AU2) (3) where Fx and Fy are forward thrust and side way components of the force vector in the horizontal plane, is the density of the fluid and A is the fin area. η is defined as a measure of forward propulsive efficiency η =kFxU/(Mzω) (4) The denominator in Equation 4 is taken as a measure of the torsional power required to drive the fin where Mz is the moment measured by the force sensor and ω (= 2 f) is the circular frequency of flapping. k is a non-dimensional scaling constant. Fig. 5 shows the variation of CT over the four fin shapes of different materials (Delrin, Polyimide, and Polyethylene). CT increased with frequency except for Shape S1 of Polyimide and Shape S2 of Polyethylene fins. These two fins have a drastic drop in CT after a certain frequency and then it begins to increase again. One possible explanation for this is that the force generation at lower frequencies for these two fins is viscous drag dominant. This effect drops after the Reynolds number, contribution of added mass, and pressure drag start to increase. Fig. 6 shows the variation of η (measure of efficiency) with Strouhal number for all the fins used. The relatively more rigid Delrin fins have peak efficiencies in the range of 0.8- 1. Polyimide fins do not have much variation, for most part, with Strouhal number. The low efficiency of the Polyethylene fins can once again be explained by high viscous drag. www.intechopen.com 100 Underwater Vehicles Fig. 5. Variation of thrust coefficient with frequency. Fig. 6. Variation of efficiency with frequency. The criteria for fin selection should be high values for CT and η over a range of frequencies. Caudal fin flapping frequency is one of the key parameters that has to be changed to control the speed of the MUV. Thus, a fin with good thrust production and high efficiency over a range of frequencies is desirable. Shape S3 of Polyimide clearly is the best choice as indicated by the CT and η values. www.intechopen.com Bio-inspired Robotic Fish with Multiple Fin 101 3. Body stability This study seeks to understand the role of different morphological parameters that could be responsible for boxfish stability and transform such findings into engineering design guidelines for the body shape design of a micro underwater vehicle. The analysis was performed using Computer Aided Design and Engineering (CAD/CAE) tools such as solid modeling software and fluid flow simulation software. First approximate models of boxfish were built in 3D modeling software and fluid flow was simulated over such models to analyze the vorticity patterns around the body. The relative role of key morphological features like the dorsal and ventral keels, concavity and convexity of the shape, and changes in the cross section along the length of the body were determined. Different MUV body shape designs were built along these lines and tested for required vortex strength and overall drag to arrive at the best design. Fig. 7 shows the counter rotating vortex shedding by a bluff body. The vortex shedding should result in moments that can correct disturbances in the pitch and yaw(not shown in the Figure) directions. The shape that can demonstrate this 'selfcorrecting vortex shedding' for pitch and yaw disturbances will be the shape suitable for the body of the MUV. The morphological features that contribute to the unique vortex shedding patterns as reported in (Bartol, et. al, 2005) had to be identified to be incorporated into the design. Approximate 3D models capturing essential features of the boxfish were made and flow at different angles of attack was simulated over such models to study the role of the various shapes and fluid flow simulation was carried out using GAMBIT ™ (for defining boundaries features on stability. SolidWorksR , a 3D CAD modeling software was used to build body of the flow and laying computational grid around the body) and FIDAP™ (for solving the flow and post processing) of FLUENT Inc. Fig. 7. Self-correcting vortex shedding in boxfish body. Fig. 7. Cross sections along the body of the buffalo trunk fish. 3D models of boxfish were built in SolidWorks. Essential features like dorsal and ventral keels and variation in cross sections along the length of the body were reproduced in the models. Variation of cross section along the body plays a very significant role in the vorticity www.intechopen.com 102 Underwater Vehicles generation: therefore, cross sections near mouth, eye ridge, peduncle, and any other distinct plane were drawn on 2D planes and joined to obtain the desired shape. Fig.7 shows the planes containing important cross sections of the buffalo trunk fish. Only two, the Spotted boxfish and the Buffalo trunkfish, of the four varieties of boxfish studied in (Bartol, et. al, 2005) were considered here. The other two shapes are not significantly different from the buffalo trunkfish. Fig. 8(a) and 9(a) show the planar views of the actual boxfish used in the study by Bartol et. al. 3D models of the fish used in this study are shown in Fig. 8(b) and 9(b). It has to be noted that the 3D models were developed only based on subjective 'resemblance', capturing the key features and not accurate measurements of the boxfish morphology. Fig. 8. Spotted boxfish Fig. 9. Buffalo trunkfish Once created, the 3D models were imported into GAMBIT in IGES format. The imported models were then 'cleaned' by merging unwanted edges and surfaces that may have hindered mesh generation. To take advantage of the lateral symmetry of the boxfish shape, only (left/right) half of the body was considered for simulation. An external brick volume was used for the fluid flow. The symmetry plane of the boxfish was made coincident to one of the brick side walls and the body was placed midway along the height and length of the brick (see Fig. 15). In future simulations, the size of the brick could be increased further to minimize the wall effects. Fig. 15 shows the 3D mesh generated in GAMBIT. Shape functions have been defined such that the mesh is finer near the body surfaces and gets coarser away from the body. The mesh size was kept fairly coarse in order to keep the www.intechopen.com Bio-inspired Robotic Fish with Multiple Fin 103 convergence time reasonable. The course mesh was not detrimental to the simulation results because the Reynolds number was only about 300, and thus did not require a very dense mesh. It has to be noted that the Reynolds number corresponds to the case where a water wave disturbs an otherwise stationary boxfish and therefore is lower than the average Reynolds number of boxfish swimming. Here the main results and conclusions are summarized and compared to those reported in (Bartol, et. al, 2005). First, it was reported in (Bartol, et. al, 2005)that the ventral keels of all the models produced Leading Edge Vortices (LEVs) that grew in circulation along the bodies, and this was verified in the present study. Vorticity concentration was found at the keel edges for all the models at various cross sections. Vorticity contours at different cross sections for both the fish can be found in (Kodati, 2006). This is expected, as the keels form the sharp corners of the body and hence induce circulation into the oncoming water. However, for a given angle of attack an increase in circulation was found only when there is a sudden increase in the cross section. This is true for both the boxfish shapes. For the spotted boxfish in Fig. 10, the maximum concentrated vorticity is located at the eye ridge, where the cross section increases suddenly. Similar behavior was observed for the Buffalo trunkfish. The concentrated vorticity near the keels increased along the length until it reached a maximum at the mid body plane, where the body curve attains a peak (Fig. 11). Second, the present study also verified that vortices formed "above the keels and increased in circulation as pitch angle became more positive, and formed below the keels and increased in circulation as pitch angle became more negative", verbatim from (Bartol, et. al, 2005). Fig. 11 shows the net vertical lift on the spotted boxfish model varying with pitch angle. In (Bartol, et. al, 2005) the lift coefficients of all the boxfish studied were very near the origin (that is, almost no lift at zero angle of attack). The difference might be error due to the fact that the actual boxfish dimensions were not reproduced in the solid model. Third, it was found that vortices formed along the eye ridges of all the boxfish: this was clear from the simulation - the eye ridge regions for both the models have shown concentrated vorticity, which once again can be attributed to the sudden increase in the cross section profile. Finally, when both boxfish were positioned at various yaw angles, regions of stronger concentrated vorticity formed in far-field locations of the carapace when compared with nearfield areas, and vortex circulation was greatest in the posterior of center of mass, just as described in (Bartol, et. al, 2005). The vorticity contours for the yaw case are not presented here for the sake of brevity and can be found in (Kodati, 2006). Fig. 10. Vorticity countour maps at various cross sections of the spotted boxfish. www.intechopen.com 104 Underwater Vehicles Fig. 11. Vorticity countour maps at various cross sections of the buffalo trunkfish. From the analysis of the actual boxfish like shapes, it has been determined that the following two shape factors are mainly responsible for altering the vortex generating characteristics. First, change in the cross section profile: along the body for pitch stability and across the body for yaw stability. Second, sharpness of the keels that, in turn, depend on the concavity and convexity of the joining faces. These two characteristics were explored in the design of the MUV. Fig. 19 shows parameters used to change the body shape of the MUV. In order to verify the first of the two factors (cross section profile change), the shapes shown in Fig. 20 were considered. Both shapes were modified in the front region, and the rear change of area (the 'bump') was increased in the second shape. When flow was simulated at different pitch angles on both models, the peak vorticity was found to be higher for the second case at all angles of attack, as expected. The concavity of the side surfaces determines the sharpness of the keel and hence can affect the flow separation. To verify this, models with concave, flat, and convex surfaces were considered. There was not much variation in peak vorticity in the simulations for different pitch angles, but the vorticity was concentrated more heavily on the keels of the concave shape than on the flat and convex shapes. For yaw angles of attack, the peak vorticity was higher for the concave design and the vorticity was still concentrated near the keels. A comprehensive set of simulation results can be found in (Kodati, 2006). 4. Robotic prototype development Boxfish employ a total of five fins to maneuver effectively. Biologists have observed three main swimming gaits employed at three different speed levels (Gordon, et. al, 2000). The design issue is how many of these fins can be practically implemented in a small underwater vehicle and how many degrees of freedom are used for each fin motion. For effective planar maneuverability, the degrees of freedom have to be distributed around the body. The present design incorporates a single DOF flexible tail fin for propulsion and a pair of 2 DOF pectoral fins for steering (yawing) and diving (pitching). Although the dorsal and anal fins of boxfish are believed to play a role in generating low recoil movement (Gordon, et. al, 2000), they are not included in the design due to size constraints. The 2DOF pectoral fins use flapping and rotational motion in the so-called rowing mode. Rowing mode is a drag based thrust generation stroke with a full cycle of the fins. The power stroke is a quick backward push of the oil with the chord length perpendicular to the water flow. The recovery stroke involves bringing back the fin with the chord length parallel www.intechopen.com Bio-inspired Robotic Fish with Multiple Fin 105 to the flow. The rotation DOF is used to change the orientation of the fin at stroke reversals. This type of system can generate substantial turning moments about the body center of mass for sharp turns (Walker, 2000). The pectoral fins can also be used effectively as lifting surfaces by holding them at a suitable angle of attack to an oncoming flow. Fig. 12. Robotic prototype development. A coaxial wrist mechanism has been designed that is similar to the robotic flapper design presented in (Kodati, 2007). The difference is that there is no deviation DOF and the gearbox size has been shrunk to a 2 cm × 2cm × 2cm volume using the smallest off-the-shelf miter gears available. The tail fin mechanism consists of a gear stage between the tail fin shaft and the motor shaft. The side fin flapping and rotation angles are coupled due to the no-slip condition of the wrist bevel gear box. A parallel plate structure was used to place the pectoral fin motors in front and above the wrist gear box. The electronic chips were placed on the top plate along with the pectoral fin motors and transmission mechanism. The battery pack, tail fin motor, and transmission were mounted on the bottom plate. The plates are made out of 0.125 inch thick Delrin sheet. A CNC mill was programmed to machine all the features on the plates. Fig. 13. Swimming Experiments. www.intechopen.com 106 Underwater Vehicles Accurate positioning of the fin flapping angles was required to control the force generation for turning and cruising. Servo motors with built in feedback were used in place of a DC motor and encoder combination. All the servos are daisy-chained to a servo controller that drives them to the position commanded by the processor. The onboard electronics include a Javelin-Stamp TMmicroprocessor module by Parallax Inc. and a serial motor controller PCB unit by Pololu Inc. The power supply for the motors, motor controller, and processor is provided by a pack of five 1.2V NiMH batteries. The microprocessor was programmed using an embedded Java version. A Java class routine was used to command the motor controller in serial communication mode using a built-in UART object. The outer shape of the MUV was rapid prototyped using the stereolithograhy (3D printing) technique. Features for assembly and fin placement were incorporated into the shape. To seal the robot, layers of adhesive tape and oil resistant film were applied along the dividing line between the two body halves. The fin extensions were covered with latex sheet and attached to the shaft with a plastic O-ring. The latest configuration of the robot is one in which the body shape is assembled in diagonal halves as shown in Fig. 12. Fig. 13 shows the swimming prototype. For the robot to be neutrally buoyant, the weight force must be equal to the buoyancy force. The buoyancy is determined by the volume of oil (experimental trials were conducted in a low viscosity, clear oil to avoid electrical shorting) displaced by the solid model. Copper bars, machined to fit underneath the chassis plates, were used to balance the buoyancy force and the weight force. The heaviest parts, such as the batteries and large copper plate, were designed to fit in the lower region of the robot. By placing the center of mass below the center of buoyancy, the robot was designed to have inherent stability. The location of the center of mass was found by hanging the prototype from a string attached at different points and taking an image. The images were overlaid on top of one another and a line was drawn to extend the line of the string. The approximate point of intersection of all the lines was the experimental center of mass. The current robotic prototype can be programmed to use different gait styles. A CCD camera, by Allied Vision Technology, operating at 30 fps was used to record swimming trials and determine speed, recoil movement, and turning radius. The robot was run in the field of view of the camera and each image was saved in National Instrument's Vision Assistant for LabVIEW. A Virtual Instrument (VI) was created to calibrate the pixels to real world units of inches. Each image was then sequentially analyzed for the speed, recoil, and turning radius. The speed and turning radius were measured by the change in position of a point on the robot and a constant point ing the field of view. The average speed obtained was 0.0411 m/s with an almost zero turning radius. The recoil can be measured by the deviation in each frame from the straight line between the beginning and end points. The average recoil was found to be 0.826 cm. The gait used for the test is shown in Fig. 27. The green color of the fins indicates the phase of the stroke where forward propulsive thrust is produced, and the red color indicates the phase where the force generated is either minimal (like the recovery stroke of the pectoral fin) or in the direction opposite to the motion of the robot (as in the case of the caudal fin). The gait in Fig. 27 is one where a constant forward propulsive force is applied to the body during most of the caudal fin cycle. www.intechopen.com Bio-inspired Robotic Fish with Multiple Fin 107 5. Conclusion In this chapter present the research leading to the design of a biologically inspired robotic boxfish using multiple fins. The design attempts to achieve the maneuverability of a small scale, multiple fin underwater system like that of the boxfish, while also incorporating a body with a self correcting mechanism. Experimental studies were conducted to characterize and optimize the flapping fin propulsion of the tail fin. Towards this a three DOF robotic flapper was designed to act as the flapping tail or side fin of the fish and a fixed beam based force sensor was designed to measure the instantaneous forces generated by the fin motion. Tail fin with optimal shape induced flexibility has been found. The hydrodynamic force generation of tail fin has been modeled using a combination of quasi steady lift generation and empirically found drag and added mass effects. Fluid flow simulations on 3D CAD models of boxfish like shapes were used to arrive at the outer shape of the MUV. A robotic prototype of the MUV was designed based on the above analysis. The propulsion and maneuvering of the MUV is achieved by tail fin and two 2DOF side fins. One of the immediate goals is to use the prototype to evaluate the efficiency of various gait patterns for a given set of flow conditions. Sensors and command architecture will also be used in future generations to give the robot greater autonomy. Currently, new mechanical sealing techniques and more processing power are being incorporated into the next generation of the prototype to facilitate longer trial runs and effective control of the robot. Studying fin-fin and body-fin interactions can help modify the design of body shape and/or fin kinematics for optimal thrust production or even better maneuverability. One such problem is that of the interaction between the side fin and tail fin. On a small robot like the present MUV the proximity of the side fin and the tail fin is more and can lead to strong interactions between them. Such mechanisms can be investigated using multiple flappers and/or body shape in the tow tank. 6. References Bandyopadhyay, P. (2005) Trends in biorobotic autonomous undersea vehicles," IEEE Journal Of Oceanic Engineering, vol. 30, no. 1, January 2005. Barrett, D.; Triantafyllou, M.; Yue, D.; Grosenbaugh, M. & Wolfgang, M. (1999) Drag reduction in fish-like locomotion," Journal of Fluid Mechanics, vol. 392, pp. 183–212, 1999. Bartol, I.; Gharib, M.; Webb, P.; Weihs, D. & Gordon, M. (2005) Body-induced vortical flows: a common mechanism for self-corrective trimming control in boxfishes," Journal of Experimental Biology, vol. 208, pp. 327–344, 2005. Breder, C. (1926) The locomotion of fishes, Zoologica, vol. 4, pp. 159–256, 1926. Colgate, J. & Lynch, K. (2004) Mechanics and control of swimming: A review, IEEE Journal of Oceanic Engineering, vol. 29, no. 3, July, 2004. Combes S. & Daniel, T. (2003) Flexural stiffness in insect wings. II. spatial distribution and dynamic wing bending." Journal of Experimental Biology, vol. 206, no. 17, 2003. Epstein, M.; Colgate, J. & MacIver, M. (2006) Generating thrust with a biologically-inspired robotic ribbon fin," in Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Beijing, China, 2006. www.intechopen.com 108 Underwater Vehicles Fish, F.; Lauder, G.; Mittal, R.; Techet, A.; Triantafyllou, M.; Walker, J. & Webb, P. (2003) Conceptual design for the construction of a biorobotic auv based on biological hydrodynamics. In Proceedings of the 13th international symposium on Unmanned Untethered Submersible Technology, 2003. Floyd, J.; Keegan T. & Sitti, M. (2006) A novel water running robot inspired by basilisk lizards," in Proc. of IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS), October 2006. Gordon, M.; Hove, J.; Webb, P. & Weihs, D. (2000) Boxfishes as unusually well-controlled autonomous underwater vehicles," Physiol. Biochem. Zool., vol. 74, no. 6, pp. 663– 671, 2000. Kato,B. & Wicaksono, N. (2000) Development of biology-inspired autonomous underwater vehicle bass iii with high maneuverability," in Proceedings of the 2000 International Symposium on Underwater Technology, pp. 84–89, 2000. Kodati, P. (2006) Biomimetic micro underwater vehicle with ostraciiform locomotion: System design, analysis and experiments, Master's thesis, University of Delaware, Newark, DE, USA, August 2006. Kodati P. & Deng, X. (2007) Experimental studies on the hydrodynamics of a robotic ostraciiform tail fin," in Proc. of IEEE/RSJ Int. Conf. On Intelligent Robots and Systems (IROS), October 2006, pp. 5418–5423. Lachat, D.; Crespi, A. & Ijspeert, A. (2006) Boxybot: a swimming and crawling fish robot controlled by a central pattern generator," in Proceedings of The first IEEE / RAS- EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, Licht, S.; Polidoro, V.; Flores, M.; Hover, S. & Triantafyllou, M. (2004) Design and projected performance of a flapping foil auv," IEEE Journal of Oceanic Engineering, vol. 29, no. 3, 2004. Liao, G.; Beal D. & Triantafyllou, M. (2003) Fish exploiting vortices decrease muscle activity," Science, vol. 302, pp. 1566–1569, 2003. Lindsey, C. (1978) Form, function and locomotory habits in fish, Fish Physiology Volume VII: Locomotion, W. S. Hoar and D. J. Randall, Eds. New York: Academic, 1978, pp. 1– 100, 1978. MacIver, M.; Fontaine, E. & Burdick, J. (2004) Designing future underwater vehicles: Principles and mechanisms of the weakly electric fish," IEEE Journal of Oceanic Engineering, vol. 29, no. 3, July 2004. McIsaac K. & Ostrowski, J. (2003) Motion planning for anguilliform locomotion, IEEE Transactions on Robotics and Automation, vol. 19, no. 4, August 2003. Mohseni, K. (2004) Zero-mass pulsatile jets for unmanned underwater vehicle maneuvering, in AIAA 3rd "Unmanned Unlimited" Technical Conference, Workshop and Exhibit, Chicago, IL, September 2004. Sfakiotakis, M.; Lane, D. & Davies, J. (1999) Review of fish swimming modes for aquatic locomotion, IEEE Journal of Oceanic Engineering, vol. 24, no. 2, April 1999. Triantafyllou, M. & Triantafyllou, G. (1995) An efficient swimming machine, Scientific American, vol. 272, no. 3, 1995. Walker, J. (2000) Does a rigid body limit manuerability?, Journal of Experimental Biology, vol. 203, pp. 3391–3396, 2000. Yuh, J. (2000) Design and control of autonomous underwater robots: A survey," Autonomous Robots, vol. 8, pp. 7–24, 2000. www.intechopen.com Bio-inspired Robotic Fish with Multiple Fin 109 Zhu, Q.; Wolfgang, M.; Yue, D. & Triantafyllou, M. (2002) Threedimensional flow structures and vorticity control in fish-like swimming, Journal of Fluid Mechanics, vol. 468, pp. 1–28, October 2002. www.intechopen.com Underwater Vehicles Edited by Alexander V. Inzartsev ISBN 978-953-7619-49-7 Hard cover, 582 pages Publisher InTech Published online 01, January, 2009 Published in print edition January, 2009 For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties. How to reference In order to correctly reference this scholarly work, feel free to copy and paste the following: Parasar Kodati and Xinyan Deng (2009). Bio-inspired Robotic Fish with Multiple Fins, Underwater Vehicles, Alexander V. Inzartsev (Ed.), ISBN: 978-953-7619-49-7, InTech, Available from: http://www.intechopen.com/books/underwater_vehicles/bio-inspired_robotic_fish_with_multiple_fins 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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VANCOUVER WORKSHOPS - Don't forget to Register - eepurl.com/bh97uz
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Last day to submit for the 2015 CCE Awards - be a part of our 5th Annual Awards jotform.ca/screenlight/cce
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2015 Canadian Film FestCongratulations to the CCE members who have films in the upcoming Canadian Film Fest. To purchase tickets: Click here
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2015 CCE Awards Submissions2015 CCE Awards Submissions are now OPEN! Click here to SUBMIT


text: Ride With Koi T-Shirts Tank Tops Sweatshirts Phone Cases Art Prints by StevenToang from Malaysia / Member Since 2009 My Store | My Profile having fun and joy ride with koi. 8x10 12x18 16x20 20x24 Custom Printed in the USA, Just For You Every art print from Design By Humans comes on a gallery quality Giclée print on 100% cotton rag, acid and lignin free paper using Epson archival inks. Print sizes are in inches and include a 1" or 2" inch border. Add to Cart $18-$40


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Networking has become a daily obsession. According to the Pew Research Center, 74 percent of adults online use social-network sites such as Facebook...
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The MSc Program in Marketing emphasizes the Marketing department's competitive strengths in the areas of China marketing, services marketing, brand marketing and strategic marketing. With the pervasive trend of globalization, these areas are particularly instrumental to the success of contemporary marketing professionals in Hong Kong. The Program provides students with a thorough and in-depth knowledge base in marketing and offers a wide range of advanced marketing electives not usually encountered in a normal undergraduate marketing or MBA program.
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Papyrus Oxyrhynchus 35
Papyrus Oxyrhynchus 35 (P. Oxy. 35) is a proclamation and list of emperors by an unknown author. It is written in the Greek language. The papyrus was discovered by Grenfell and Hunt in 1897 in Oxyrhynchus, and is dated to the year 223. The text was published by Grenfell and Hunt in 1898.[1]
The list is generally accurate. It enumerates the Roman emperors along with the number of years each ruled, from Augustus to Decius. Galba is omitted.[1]
The manuscript was written on papyrus in the form of a sheet. The measurements of the fragment are 138 by 134 mm. The text is written in medium-sized cursive letters.[1]
See also[edit]
- ^ a b c Grenfell, B. P.; Hunt, A. S. (1898). Oxyrhynchus Papyri I. London: Egypt Exploration Fund. pp. 74–76.
This article incorporates text from a publication now in the public domain: B. P. Grenfell; A. S. Hunt (1898). Oxyrhynchus Papyri I. London: Egypt Exploration Fund.


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Sludge Management Companies in Cayman Islands
Category: Water & Wastewater ×
Subcategory: Sludge Management ×
Industry: University / Academia / Research ×
Location: Latin America ×
Location: Cayman Islands ×
NILU - The Norwegian Institute for Air Research
based in Kjeller, NORWAY
NILU is an independent research institute founded in 1969. NILU`s environmental building on Kjeller, the outskirt of Lillestrøm and Oslo, became the permanent headquarter in 1994. The institute conducts environmental research with emphasis on the sources of airborne pollution, atmospheric transport, transformation and deposition and is also involved in the ...
Aeration Industries International (AII)
based in Chaska, MINNESOTA (USA)
As a world leading manufacturer of aeration equipment and systems Aeration Industries International (AII) solves a variety of water and wastewater treatment problems using state-of-the-art technology and more than forty years of worldwide field experience.The Company`s product line includes customized oxidation ovals, package plants, surface aerators and mixers to meet ...
Bio-Microbics, Inc.
based in Shawnee, KANSAS (USA)
Bio-Microbics manufactures innovative, advanced wastewater treatment systems, septic system alternative products, and stormwater treatment that provide ideal solutions and water reuse opportunities for single-family & multi-family homes, clustered subdivisions, small communities and commercial properties around the world.
Bibby Scientific Limited
based in Stone, UNITED KINGDOM
Bibby Scientific focuses on the design, manufacture and distribution of four world leading benchtop laboratory equipment brands, Jenway, Stuart, Techne and Electrothermal. The Jenway extensive product range includes UV/Vis Spectrophotometers, Life Science and Environmental Spectrophotometers, Flame Photometers, Colorimeters, Portable and Laboratory meters and probes, for ...
Baioni Crushing Plants Spa
based in Monteporzio, ITALY
Production of: - Horizontal decanter centrifuge for the dehydration of sludge and wastewater treatment. - Wastewater treatment plants. - Soil washing installations for the remediation of soils contaminated. - Dust suppression systems for quarrying and mining applications. - Solidification and stabilization of solid and liquid waste.- Equipment for quarrying, mining and ...


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Sherrod Heights RV Park
Big Spring, Texas
Phone: (432) 816-6730
Visit Campground Website
Sites: 20
Recent Rate: $20 6/2012
Latitude: 32.3087765805047
Longitude: -101.44105208674
These reviews are the opinion of an RVParkReviews' member and not the views of RVParkReviews.com
Date of Stay: June, 2012 - $20.00
This is a quiet place to stay. However, it gives the appeal the owners woke up one day and decided to build an RV Park. After that, there was no thought put into it. There is electricity and sometimes running water. No other amenities. They constantly go up on the rent. I could understand if they offered other amenities, and it wasn't a dirt pit with a few trees. They have non potable water. It stains everything. If you pay for a month and you have to leave a week or 2 after paying, DO NOT request a refund. It will not be given. They do not believe in refunds because people will use your electricity and then leave without paying. If I have paid you for a month of service and I only use 2 weeks of it, you owe me a refund. I haven't used your electricity and run off without paying. Camper beware!! We camped at Sherrod Heights RV Park in a Fifth Wheel.Undo
48 Ratings
Big Spring, Texas
4 Ratings
Big Spring, Texas
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ACE Fit Share
Fit Life Articles
If you're just getting started with a fitness routine, it can be a challenge to know how to properly perform exercises for the various muscles of the body. Here are four introductory lower-body movements for beginners—once you've mastered these exercises you can continue...
When it comes to achieving your goals and being successful, the mind is, by far, the body's most powerful muscle. And just like the rest of the body, the mind needs to be trained to perform at its best. If you feel plagued by self-doubt, self-criticism or fear, you can...
While there is no magic pill or formula that will help you stay fit and healthy, there are some tricks of the trade that can make it a whole lot easier. Here are 8 fitness hacks from some of the top health and fitness experts in the country.
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"Good company but lacking any care for employees "
- Comp & Benefits
- Work/Life Balance
- Senior Management
- Career Opportunities
I have been working at Network Computing Architects
The ability to have time off whenever needed. Management has an open door policy and open book policy on the company status and direction.
No base salary, unequal distribution of support, lack of any career development or advancement. No clear direction of where the company is going.
Give the sales reps a base salary and realize that we don't have the support necessary to be successful at our jobs.
- Any Location
- Any Job Title
"NCA is always adapting to the changing Marketplace to stay relevant to customers. "
- Comp & Benefits
- Work/Life Balance
- Senior Management
- Culture & Values
- Career Opportunities
I have been working at Network Computing Architects full-time (more than 10 years)Pros
Interesting and fast-paced environment; always changing to stay ahead of technology curve. NCA is nimble enough to keep up the Networking and Security market. Having top technology professionals to collaborate with on highly complex projects is responsible for sales success and customer satisfaction. Being the entity between the end-user customer and the manufacturer is one of the hardest places to work. NCA always puts the customer first and has the manufacturer relationships to ensure customer satisfaction. As an employee, the learning curve is steep and always interesting.Cons
Industry is changing too fast. It is sometimes hard to keep up with where everything is going. There is a lot of competition between vendors for mindshare, and sometimes it gets a bit political. It seems like it is impossible to keep up with the technological changes, but it is also exciting.Advice to ManagementAdvice
Keep working on Vendor Relationships and continue to make sure any customer issues are quickly addressed. This is more of a reminder of what to continue doing well!RecommendsPositive Outlook
"NCA has been very good to me and my family. I have been given a chance to develop both personally and professionally. "
- Comp & Benefits
- Work/Life Balance
- Senior Management
- Culture & Values
- Career Opportunities
I have been working at Network Computing Architects full-timePros
This company has been able to build a very solid team of individuals that want to learn and grow. What I like is that we enjoy working together and are responsible for our customers success. We take pride in our work and our reputation. NCA is highly regarded by our partners and when we work together we all share satisfaction in the work we do.Cons
Our customers are faced with uncertainty around what the right strategies are moving forward. Nothing stays the same which puts the challenge on the individual here to be a self starter. In a smaller business not everyone is up for the challenge to push themselves to be better at what they do. If you don't want to learn and do things that are uncomfortable, it is probably not the place for you. I have seen people come and go that that would be better off working for a large company where they can just have a job.Advice to ManagementAdvice
I like that fact that you listen and I feel like I can make a difference in how we do business. There has been some necessary changes over the last 12 months, which for the most part I feel like were required and have things moving in the right direction. I know some of the decisions were difficult. Keep up the good work.RecommendsPositive Outlook


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The Casual Heroes Wrestlecast - TLC, NXT, and 2015
Gavin and....some other people discuss NXT R-Evolution, TLC+Stairs, Raw, and what's coming up for professional wrestling in the first part of 2015 including the Royal Rumble, Ring of Honor, Wrestle Kingdom and more. Listen live and if we get brave or bored we'll take calls. Sorry, Jed.
Casual Awareness - The Pilot
in Pop Culture
We will explore an aggregate of stories, both through rapid fire interviews with random people and through the host's personal viewpoint.
In this episode, we cover a range of stories. From strained French-US relations, Paula Deen's issues, to why there are no new vert skaters in the pipeline
Are we really paying attention to this massive amount of information packaged as stories? Are we really grasping the concepts of each story well enough to make our own judgements, or are we just a herd of shallow minds?
Let's talk to some people on the street and see what they have to say about some random topics and then I will discuss the topic with a deeper focus.
Casual Dating vs Committed Relationship...Is There Really A Difference?
Dating can be frustrating. The wrong people contact you, the right people ignore you, and just when you think you've made a connection–poof–it disappears! While you may just want to give up, quitting is not the answer. Let's face it the dating process can be very frustrating. You can have a great first date, but you don't always get a second one. Sometimesyou don't always know how to respond to texts, sometimes you debate yourself whether you should be calling so soon, or how many dates you should be going on before trying to have sex? Most people don't think of casual Dating and committed relationships as two mutually exclusive worlds that should never meet...but my question is
"Confronting Casual Christianity & Unsaved Christians!"
in Spirituality
Sounds like an oxymoron doesn't it? How can a Christian be unaved? I'm glad you asked grasshopper!
This morning on P2T we are going to show you how a life of sin can derail your salvation and blind you from the truth of your fate in hell if you don't change your mindset!
We are also going to make a connection between Casual Christianity and how the tricks of the enemy can lull Christains to sleep! You don't want to miss this one
The Casual Heroes Wrestlecast for December 10, 2014
Gavin, Jed, Mark, and maybe Chris discuss CM Punk joining UFC, the upcoming NXT R-Evolution event, look back at this week's edition of Monday Night Raw, and as always - a list
How Does Casual Sex Turn Into Love?
On this episode of The Spillover @ambie_zoe talks about "How Does Casual Sex Turn Tune Into Love"..... Dear Karma letter exposes one of our host!!
FTH #80 Filthy Casual Sandbagger Wallet Warrior
in Video Games
The king is missing. Well not so much missing as he is in Orlando close to the parent company of our favorite company - Marvel. Hopefully he is web swinging at universal Studios or something else quite fun. We get a great question from Agent Matthews that we used in place of All Hail the King this week with feed back from the Agents Only Lounge. And we find out that I am a filthy casual sandbagging wallet warrior. Ugh I need a shower now. Enjoy the show!
McFall Crashes into the MCUcast
PVP - Standings & Destroyer Progress
Rogue's Alt - Play time
Chapter 8 is here!
Current Sales
almost nada
New Spartan Shoutouts
Agent Virgo
For complete notes visit TheHelicarrier.com
Casual Saturday
in Christianity
Join us for "Casual Saturday" preshow before Bible Study @ Council of Time (link on this page at top)...kick back and enjoy the ride...
Casual Flock #2
in Lifestyle
Coming soon
Casual Flock #1
in Lifestyle
The Walking Dead
Casual Flock #1
in Lifestyle
Wrestlemania? Where is the hype
Is Carl actually Shane's son?
Whatever, this is episode #1!
KTL presents THE METAPHYSICS OF HIEROGLYPHICS ft Bro Casual
in News
When we speak of consciousness, especially conscious Hip Hop very rarely does the West Coast get factored into that equation. That is a grand omission of the facts on the ground though. Tonite we will hear from one of the progenitors of West Coast consciousness, Brotha Casual from the Hieroglyphics rap collective and get a concise history of Bay Area Hip Hop.
Brotha Casual, or Brotha Jonathan as he is also known, will also speak on his upcoming debut on the lecture circuit, sharing the stage with the KMT contingency facing off against the Hebrew War Machine. Bro Casual is representing the Amen Ra Squad and will be releasing his first tome on Feb 8th as well, Madjai- A Handbook for the Conscious Community, which can be pre ordered at www.rapgod.wordpress.com
- ...
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You may recall that our co-founder Jason Huggins took a leave of absence to help fix HealthCare.gov. He'll be back on April 21 to talk about his experiences there at the next Selenium Meetup in San Francisco. RSVP before it fills up! Info below.
Date + Time: Tuesday, April 21, 2015 at 6:30 PM
Location: If (we): 848 Battery Street, San Francisco, CA (more…)


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Jul 8th, 2006, 04:35 AM
I didn't start really following tenins until after Martina Hingis' retirement. I was always hearing though about how she outsmarted the power players and was a "court artist." I was interested to see what everyone was talking about when she came back. She wasn't really the witty court artist that everyone said that she was; she seemed more like a baseliner... :tape: :tape: Occasionally she would hit a drop shot or good volley but she seems to me just to be a baseliner counterpuncher :tape: I am not denying her greatness or anything but just becuase a girl hits a slice once in a while doesn't make her a "court artist." :tape: :tape: :tape:


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As being (relatively) new to java I was unaware of this. Thanks!
Type: Posts; User: Vinvar
As being (relatively) new to java I was unaware of this. Thanks!
Did you move it because I used a game situation as an example? :)
It thought it to be a theoretic question. Because, the same applies for child classes 'Office' (goal: get paid > 10k) and 'House'...
Hi All,
I have a question about 'rules' or 'common use' while programming. Could someone tell me what the best or most accepted way to handle the following is, please?
Assume you play a game....
Thank you. You gave me some ideas how to do it. :) I will try it the next couple of days.
Hi All,
I was wondering. If you were to create a Isometric program with a fixed background. How can this best be rendered?
For example:
Lets say the screen is non scrollable. This...
Great, thanks!
And there goes everybody's respect of me as good Java 'developper'. :) Sorry, enthusiastic but noobish of me to 'forget' this. But, then I do not know if I understand you, correctly. You are saying...
All the calculations needs to be done once and then they will not change. So, I think your solution will work. Thank you for this answer!
Never thought of that (as I am a self taught java...
Hi All,
I am hoping this is the right subforum as I could not find a 'Graphics' subforum.
I have a question regarding initiating a BufferedImage just for the use of a FontMetrics. To be short:...
CL, thank you very much. Once again :)
I solved it, see the solution below. Much better then the 50+ LoC I came up with (twice)!
I do need to mention that in my case only the x OR y value can...
Thank you all for your quick reply. ChristopherLowe, thanks for the compliment about my question. :) Unfortunately, I am afraid the next questions will be noobish ones...
The assumption was right:...
Hi all,
I have a class in which I convert a list of points to a polygon (and do some other things). Before adding the points to the polygon I would like to check if it is really necessary to add...
I am sorry. Did not know that the forums where releated. I tried to delete the other thread. But I couldn't delete it (or this one). Feel free to delete one of them. :)
Nonetheless, do you know...
I have the following code:
import java.awt.*;
import javax.swing.*;
/**@name DApplet version 0.9
* @made by Vinvar la Lece
public class TestForum extends JFrame {


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NPA East 11U Red
NPA East 11U Red
NPA East 11U Red
NPA East 11U Red
NPA East 11U Red
NPA East 11u Red traveled to Yakima for an early season tournament. After months of indoor practice the boys finally got to "play ball". The first few games, their skills were tested but the boys ended the tournament with a big win 10-3 over the Ballard Chinooks.
1 - 7
Looking to have a good time over spring break? Northwest Prospects Academy is offering a 4-day camp, that promises fun and exercise!
NPA Spring Training: March, April & May
There are still spring training spots available in both for both baseball and softball. These clinics have great player-to-instructor ratios and players are grouped according to skill level. This adds up to a great learning opportunity prior to the summer season.
NPA's baseball & softball clinics run in cooperation with the South Sound Little League have been a great success. This session will focus on pitching and catching ... you'll leave with a higher level of confidence, self-esteem and love for the game!
Is it time to get in shape? The boot camp program is more than just a great workout. It is a healthy solution for busy professionals, new moms/dads, former or current athletes or anyone that wants to make a change in their lives for the better.
Private Instruction
NPA's instructors offer private lessons in all aspects of the game. Our instructors have played at the highest levels of baseball and have a passion for teaching.
Looking For A Team? Request A Private Evaluation
NPA holds tryouts in August, but it is not too late to find a spot on a team for the 2015 season. Request a free evaluation for baseball or softball.
Kobe Bryant made headlines recently when he characterized AAU basketball as failing young athletes. Pointing to the tendency to focus on building winning teams over the development of fundamental skills, Kobe describes the negative impact this has on professional basketball in the US. The solution? Return to teaching fundamentals. Build players from the ground up.
Whether or not Kobe is right about AAU, he is right about the importance of teaching fundamentals. This focus is, well, fundamental to our training at NPA.
We encourage you to read the article.
kobe on fundamentals
John O'Sullivan examines what he considers the enemy of excellence in youth sports -- the drive to build winning teams.
NPA parents had the great opportunity to hear Michael Garciaparra share his knowledge on the college recruitment process.
If you are still wondering what you can really do now to maximize your chances of getting noticed, this article by Coach Matt Lisle is a must read.
Congratulations To These Recent NPA Softball Commits!
2015 Riley Gregoire:
2015 Whitney Hunt:
2015 Maddie Newkirk:
2015 Maddie Scott:
2015 Nicole Shavlik:
2015 Riley Vanderveen:
2016 Sasha Killings:
2016 Austyn Matlick:
2016 Gabby Wenn:
2018 Kindra Davis:
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Academy of Art
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