text:
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Novel tracking function of moving target using chaotic dynamics
in a recurrent neural network model
Yongtao Li Æ Æ Shigetoshi Nara
Received: 15 May 2007/Revised: /Accepted: 14 September 2007/Published online: 9 October 2007
? Springer Science+Business Media B.V. 2007
neural network model is applied to controlling an object to
track a moving target in two-dimensional space, which is
set as an ill-posed problem. The motion increments of the
object are determined by a group of motion functions
calculated in real time with firing states of the neurons in
the network. Several cyclic memory attractors that corre-
spond to several simple motions of the object in two-
dimensional space are embedded. Chaotic dynamics
introduced in the network causes corresponding complex
motions of the object in two-dimensional space. Adaptively
real-time switching of control parameter results in con-
strained chaos (chaotic itinerancy) in the state space of the
network and enables the object to track a moving tar-
get alonga certain trajectory
performance of tracking is evaluated by calculating the
success rate over 100 trials with respect to nine kinds of
trajectories along which the target moves respectively.
Computer experiments show that chaotic dynamics is
useful to track a moving target. To understand the relations
between these cases and chaotic dynamics, dynamical
structure of chaotic dynamics is investigated from
dynamical viewpoint.
Chaotic dynamics introduced in a recurrent
Neural network
Chaotic dynamics ? Tracking ? Moving target ?
Associated with rapid development of science and tech-
nology, great attentions on biological systems have been
paid because of excellent functions not only in information
processing, but also in well-regulated functioning and
controlling, which work quite adaptively in various envi-
ronments. Despite many attempts to understand the
mechanisms of biological systems, we have yet poor
understanding them.
In biological systems, well-regulated functioning and
controlling originate from the strongly nonlinear interac-
tion between local systems and total system. Therefore, it is
very difficult to understand and describe these systems
using the conventional methodologies based on reduc-
tionism, which means that a system is decomposed into
parts or elements. The conventional reductionism more or
less falls into two difficulties due to enormous complexity
originating from dynamics in systems with large but finite
degrees of freedom. One is ''combinatorial explosion'' and
the other is ''divergence of algorithmic complexity''. These
difficulties are not yet solved in spite of many efforts. On
the other hand, a novel idea based on functional viewpoint
was introduced to understand the mechanisms. It is a new
approach called ''the methodology of complex dynamics'',
which has been constructed in various fields of science and
engineering in the several decades associated with the
remarkable development of computers and simulation
methods. Especially, chaotic dynamics observed in bio-
logical systems including brains has attracted great interest
(Babloyantz and Destexhe 1986; Skarda and Freeman
1987). It is considered that chaotic dynamics would play
important roles in complex functioning and controlling of
biological systems including brains. From this viewpoint,
many dynamical models have been constructed for
Y. Li (&) ? S. Nara
Graduate School of Natural Science and Technology,
Okayama University, 3-1-1 Tsushima-naka, Okayama 700-8530,
e-mail: firstname.lastname@example.com
Cogn Neurodyn (2008) 2:39–48
DOI 10.1007/s11571-007-9029-6
Page 2
approaching the mechanisms by means of large-scale
simulation or heuristic methods. Artificial neural networks
in which chaotic dynamics can be introduced has been
attracting great interests.
Over decade years ago, chaotic itinerancy was observed
in neural networks and was proposed as a universal
dynamical concept in high-dimensional dynamical sys-
tems. Artificial neural networks for chaotic itinerancy were
studied with great interests (Aihara et al. 1990; Tsuda
1991, 2001; Kaneko and Tsuda 2003; Fuji et al. 1996). As
one of those works, by Nara and Davis, chaotic dynamics
was introduced in a recurrent neural network model
(RNNM) consisting of binary neurons, and for investigat-
ing the functional aspects of chaos, they have applied
chaotic dynamics by means of numerical methods to
solving, for instance, a memory search task which is set in
an ill-posed context (Nara and Davis 1992, 1997; Nara
et al. 1993, 1995; Kuroiwa et al. 1999; Suemitsu and Nara
2003). In their papers, they proposed that chaotic itinerancy
could be potentially useful dynamics to solve complex
problem, such as ill-posed problems. Standing on this
viewpoint, auditory behaviour of the cricket shows a typ-
ical ill-posed problem in biological systems. Female
cricket can track towards directions of male position leaded
by calling song of male in dark fields with a large number
of obstacles (Huber and Thorson 1985). This behaviour
includes two ill-posed properties. One is that darkness and
noisy environments prevent female from accurate deciding
of directions of male positions, and the other is that a large
number of big obstacles in fields force female to solve two-
dimensional maze as one of ill-posed problems. Therefore,
in order to investigate the brain from functional aspects, we
try to construct a model to approach insect behaviours to
solve ill-posed problems. As one of functional examples,
chaotic dynamics introduced in a recurrent network model
was applied to solving a two-dimensional maze, which
is set as an ill-posed problem (Suemitsu and Nara 2004).
A simple coding method translating the neural states into
motion increments and a simple control algorithm adap-
tively switching a system parameter to produce chaotic
itinerant behaviours are proposed. The conclusions show
that chaotic itinerant behaviours can give better perfor-
mance to solving a two-dimensional maze than that of
random walk.
In order to further investigate functional aspects of
chaotic dynamics, it was applied to tracking a moving
target, which is set as another ill-posed problem. Generally
speaking, as an object is tracking an target that is moving
along a certain trajectory in two-dimensional space, it is an
ill-posed problem because there are many tracking results
with uncertainty. In conventional methods, the object is set
to obtain more precise information from the target as
possible, so as to successfully capture the moving target.
However, in our study, the object obtain only rough
information of the target and successfully capture the
moving target using chaotic dynamics in RNNM.
In the case of tracking a moving target, the first problem
is to realize two-dimensional motion control of the object.
In our model, we assume that the object moves with dis-
crete time steps. The firing state in the neural network is
transformed into two-dimensional motion increments by
the coding of motion functions, which will be illustrated in
the later section. In addition, several limit cycle attractors,
which are corresponding to the prototypical simple motions
of the object in two-dimensional space, are embedded in
the neural network. At a certain time, if the firing pattern
converges into an prototypical attractor, the object moves
in a monotonic direction of several directions in two-
dimensional space. If chaotic dynamics is introduced into
the network, the firing pattern could not converge into an
prototypical attractor, that is, attractors fall to ruin. At the
same time, the corresponding motion of the object is cha-
otic in two-dimensional space. By adaptive switching of a
certain system parameter, chaotic itinerancy generated in
the neural network results in complex two-dimensional
motions of the object in various environments. Considering
this point, we have proposed a simple control algorithm of
tracking a moving target, and quite good tracking perfor-
mances have been obtained, as will be stated in the later
section .
This paper is organized as follows. In the next section
we describe the network model and chaotic dynamics in it,
the control algorithm of tracking a moving target is illus-
trated in Sect. ''Algorithm of tracking a moving target''.
We discuss the results of computer simulation and evaluate
the performance of tracking a moving target in Sect.
''Experimental results''.
Chaotic dynamics in a recurrent neural network model
Our study works with a fully interconnected recurrent
neural network consisting of N neurons , which is shown as
Fig. 1. Its updating rule is defined by
Siðt þ 1Þ ¼ sgn
sgnðuÞ ¼
where Si(t) = ± 1 (i = 1 * N) represents the firing state of
a neuron specified by index i at time t. Wij is an
asymmetrical connection weight (synaptic weight) from
the neuron Sjto the neuron Si, where Wiiis taken to be 0.
Gi(r) means a connectivity configuration set of connectivity
40Cogn Neurodyn (2008) 2:39–48
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r (0\r\N) that is fan-in number for the neuron Si. At a
certain time t, the state of neurons in the network can be
represented as a N-dimensional state vector S(t), called as
state pattern. Time development of state pattern S(t)
depends on the connection weight matrix Wij and
connectivity r, therefore, in the case of full connectivity
r = N – 1, if Wij could be appropriately determined,
arbitrarily chosen state pattern nðtÞ would be multiple
stationary states in the development of S(t), which is
equivalent to storing memory states in the functional
context. In our study, Wij are determined by a kind of
orthogonalized learning method and taken as follows.
ljk ¼ 1...K;l ¼ 1...Lg is an attractor pattern
set, K is the number of memory patterns included in a cycle
and L is the number of memory cycles. nky
vector of nk
Kronecker's delta. This method was confirmed to be
effective to avoid spurious attractors that affect L attractors
with K-step maps embedded in the network when con-
nectivity r = N (Nara and Davis 1992, 1997; Nara et al.
1993, 1995; Nara 2003; Suemitsu and Nara 2003).
In the case of full connectivity r = N – 1, as time
evolves, the state pattern S(t) converges into one of the
cyclic memory patterns. Therefore, the network can func-
tion as a conventional associative memory. If the state
pattern S(t) is one of the memory patterns, nk
output S(t + 1) will be the next memory pattern of the
cycle, nkþ1
: Even if the state pattern S(t) is near one of the
memory patterns, nk
l: the output sequence S(t + kK)(k =
1,2,3...) will converge to the memory pattern nk
words, for each memory pattern, there is a set of the state
patterns, called as memory basin Bl
memory basin Bl
(k = 1,2,3...) will converge to the memory pattern nk
Þi? ðnk
where fnk
lis the conjugate
l0 ¼ dll0 ? dkk0; where d is
lwhich satisfies nky
l? nk0
l; then the next
l: In other
k. If S(t) is in the
k, then the output sequence S(t + kK)
It is quite difficult to estimate basin volume accurately
because one must check the final state (limk!1SðkKÞÞ of all
initial state patterns (the total number is 2N), as requires an
enormous amounts of time. Therefore, a statistical method
is applied to estimating the approximate basin volume.
First, random initial state patterns are generated with a
sufficiently large amount so that they can cover the entire N-
dimensional state space uniformly. As state updating
develops, it is specified that the final state limk!1SðkKÞ of
each initial pattern would converge into a certain memory
attractor. The ratios between the number of initial state
patterns that converge into a certain memory attractor and
the total number of initial state patterns are taken. The rate
of convergence to each memory attractor is proportional to
the basin volume, and is regarded as the approximate basin
volume for each memory attractor. An actual example of
the basin volume is shown in Fig. 2. The basin volume
shows that almost all initial state patterns converge into one
of the memory attractors averagely, that is, there are mainly
the memory attractors in the whole state space.
Next, we continue to decrease connectivity r. When r is
large enough, r ^ N, memory attractors are stable, the
network can still function as a conventional associative
memory. When r becomes smaller and smaller, the basin
volume of all the memory attractors are becoming smaller
and smaller, in other words, more and more state patterns
gradually do not converge into a certain memory pattern
despite the network is updated for a long time, that is, each
basin vanishes and the attractor becomes unstable. So that
if the number of connectivity r becomes quite small, state
patterns do not converge into any memory pattern even if
the network is updated for a long time.
Fig. 1 Fully interconnected recurrent neural network model
05 1015202530
Basin volume
Memory pattern number
Fig. 2 Basin volume fraction (r = N – 1 = 399): The horizontal axis
represents memory pattern number (1–24). The basin number 25 shows
the volume fraction which corresponds to the initial patterns that
converged into cyclic output states with a period of six steps but not any
one of the memory attractors. The basin number 26 shows the volume
fraction which corresponds to the initial patterns which did not
converged, that means chaotically itinerant. The vertical axisrepresents
the ratio of each sample to the total number of samples. Alternative
hatching and nonhatching are used to show different cyclic attractors
Cogn Neurodyn (2008) 2:39–4841
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Since chaotic dynamics in the network depends on
system parameter—the connectivity r, in order to analyze
the destabilizing process in our model, we have calculated
a bifurcation diagram of overlap, where overlap means
one-dimensional projection of state pattern S(t) to a certain
reference pattern. Therefore, an overlap m(t) is defined by
mðtÞ ¼1
NSð0Þ ? SðtÞð3Þ
where S(0) is an initial pattern(reference pattern) and S(t) is
the state pattern at time step t. Because m(t) is a normalized
inner product, –1 £ m(t) £ 1. For connectivity from 1 to
N – 1, we have respectively calculated the corresponding
overlap m(t) as state pattern S(t) evolves for long time.
Figure 3 shows the overlap m(t) as a function of connec-
tivity. In the case of large enough connectivity r, state
pattern S(t) at each K time step is same with S(0). With the
decrease of connectivity r, state pattern S(t) at each K time
step gradually becomes different to S(0), that is, cyclic
memory attractor becomes unstable. Finally, non-period
dynamics occurs, that is, cyclic memory attractors ruin.
In our previous papers, we confirmed that the non-period
dynamics in the network is chaotic wandering. In order to
investigate the dynamical structure, we calculated basin
visiting measures and it suggests that the trajectory can
pass the whole N-dimensional state space, that is, cyclic
memory attractors ruin due to a quite small connectivity
(Nara and Davis 1992, 1997; Nara et al. 1993, 1995; Nara
2003; Suemitsu and Nara 2003).
Motion control and memory patterns
Biological data show that the number of neurons in the
brain varies dramatically from species to species and the
human brain has about 100 billion (1011) neurons, but one
human has only over 600 muscles that function to produce
force and cause motion. These motions are controlled by
the neuron system. That is, the motions of relatively few
muscles are controlled by the activities of enormous neu-
rons. Therefore, the neural network consisting of N neurons
is used to realize two-dimensional motion control of an
We confirmed that chaotic dynamics introduced in the
network does not so sensitively depend on the size of the
neuron number (Nara 2003). However, if N is too small,
chaotic dynamics can not occur; whereas if N is oversized,
it results in excessive computing time. Therefore, the
number of neurons is N = 400 in our actual computer
simulation. At a certain time, the state pattern in the net-
work is represented by 400-dimensional state vectors,
while the motion in two-dimensional space is only two-
dimensional vectors. Suppose that a moving object moves
from the position (px(t),py(t)) to (px(t + 1), py(t + 1)) with a
set of motion increments (Dfx(t), Dfy(t)). The state pattern
S(t) at time t is a 400-dimensional vector, so we must
transform it to two-dimensional motion increments by
coding. The coding relations are implemented by replacing
motion increments with a group of motion functions
(fx(S(t)), fy(S(t))). In 2-dimensional space, the actual
motion of the object is given by
pxðt þ 1Þ ¼ pxðtÞ þ fxðSðtÞÞð4Þ
pyðt þ 1Þ ¼ pyðtÞ þ fyðSðtÞÞ
where fx(S(t)), fy(S(t)) are the x-axis increment and y-axis
increment respectively, and they are calculated from firing
states of the neural network model and defined by
fxðSðtÞÞ ¼4
NA ? CfyðSðtÞÞ ¼4
where A, B, C, D are four independent N/4 dimensional
sub-space vectors of state pattern S(t). Therefore, after the
inner product between two independent sub-space vectors
is normalized by 4/N, motion functions range from –1 to
+1, that is,
?1 ? fxðSðtÞÞ?þ1
?1 ? fyðSðtÞÞ?þ1
Referring to Eq. (4) and (5) and the definition of motion
functions, in our actual simulations, two-dimensional space
is digitized with a resolution 8/N = 0.02 due to the binary
neuron state ±1 and N = 400.
Next, let us consider the construction of memory
attractors corresponding to prototypical simple motions. It
is considerable that two-dimensional motion consists of
several prototypical simple motions. We take four types of
0 50 100 150 200 250
connectivity r
300 350 400
Fig. 3 Bifurcation diagram with respect connectivity r: The hori-
zontal axis represents connectivity r (0–399). The vertical axis
represents the long-time behaviours of overlap m(t) at K-step
42Cogn Neurodyn (2008) 2:39–48
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motion that one object moves toward (+ 1, + 1), (–1, + 1),
(–1, –1), (+ 1, –1) in two-dimensional space, as prototyp-
ical simple motions. Under these situations, four groups of
attractor patterns, which are corresponding to the proto-
typical simple motions of the object in two-dimensional
space, are embedded in the neural network by means of
embedding of associative memory introduced in the pre-
vious section. Each group of attractor patterns includes six
patterns that are corresponding to one prototypical simple
motion. Each group is a cyclic memory, or a limit cycle
attractor in 400-dimensional state space. We take nk
(l = 1, 2, 3, 4 and k = 1, 2, …, 6) as the attractor pattern
that is k pattern in l group (see Fig. 4). Therefore, in our
actual simulation, L = 4, K = 6. In the present simulation,
we directly employed K = 6 because it is an optimized
selection after one of the authors and his collaborators had
done a number of simulations for various K (3, 5, 6, 10, for
instance). All of the results show that , if K is too small, it is
difficult to avoid spurious attractors, on the other hand,
quite large K can not also give stronger attraction. The
corresponding relations between attractor patterns and
prototypical simple motions are shown as follows.
When connectivity r is sufficiently large, one random
initial pattern converges into one of four limit cycle
attractors as time evolves. The corresponding motion of the
object in 2-dimensional space becomes monotonic, and a
simulation example is shown in Fig. 5. On the other hand,
when connectivity r is quite small, chaotic dynamics is
observed in the network with the development of time. At
the same time, the corresponding motion of the object is
chaotic, and Fig. 6 shows an simulation example of chaotic
1Þ; fyðnk
2Þ; fyðnk
3Þ; fyðnk
4Þ; fyðnk
1ÞÞ ¼ ðþ1;þ1Þ
2ÞÞ ¼ ð?1;þ1Þ
3ÞÞ ¼ ð?1;?1Þ
4ÞÞ ¼ ðþ1;?1Þ
motion in two-dimensional space. Therefore, when the
network evolves, monotonic motion and chaotic motion
can be switched by switching the connectivity r.
Algorithm of tracking a moving target
Now we want to discuss how to realize motion control so
as to track a moving target. In our study, we suppose that
an object is tracking a target that is moving along a certain
trajectory in two-dimensional space, and the object can
obtain the rough directional information D1(t) of the
moving target. At a certain time t, the present position of
the object is assumed at the point (px(t), py(t)). This point is
taken as the origin point and two-dimensional space can be
divided into four quadrants. If the target is moving in the
first quadrant, D1(t) = 1. Therefore, if the target is moving
in the nth quadrant, D1(t) = n (n = 1,2,3,4), which is called
global target direction for it is a rough directional
Fig. 4 Memory attractor patterns: Pattern (1–24) includes l = 4
groups of cyclic memory consisting k = 6 patterns. Each cyclic
memory corresponds to a prototypical simple motion
Fig. 5 An example of monotonic motion: When associative network
state (r = 399) occurs in the state space, the object performs
monotonic motion (+ 1, + 1) after some updating steps, from start
point (0, 0) in two-dimensional space
-3 -2.5-2 -1.5-1 -0.50 0.51
Fig. 6 An example of chaotic motion: When chaotic network state
(r = 40) occurs in the network, correspondingly, the object moves
chaotically from start point (0,0) in two-dimensional space
Cogn Neurodyn (2008) 2:39–4843
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Next, we also suppose that the object can also know
another directional information D2(t), which means which
quadrant the moving object has moved toward from time
t – 1 to t, that is, in the previous step. The direction D2(t) is
called global motion direction, and defined as
D2ðtÞ ¼
ðcxðtÞ ¼ þ1 and cyðtÞ ¼ þ1Þ
ðcxðtÞ ¼ ?1 and cyðtÞ ¼ þ1Þ
ðcxðtÞ ¼ ?1 and cyðtÞ ¼ ?1Þ
ðcxðtÞ ¼ þ1 and cyðtÞ ¼ ?1Þ
where cx(t) and cy(t) are given as
cxðtÞ ¼pxðtÞ ? pxðt ? 1Þ
jpxðtÞ ? pxðt ? 1Þj
cyðtÞ ¼pyðtÞ ? pyðt ? 1Þ
jpyðtÞ ? pyðt ? 1Þj
Now we know that global target direction D1(t) and
global motion direction D2(t) are time-dependent variables.
If the network can get feedback signals from these two
directions in real time, the connectivity r also becomes a
time-dependent variable r(t) and is determined by global
target direction D1(t) and global motion direction D2(t).
Therefore, a simple control algorithm of tracking a moving
target is proposed and shown in Fig. 7, where RLis a
sufficiently large connectivity and RS is a quite small
connectivity that can lead to chaotic dynamics in the neural
network. Adaptive switching of connectivity is the core
idea of the algorithm. If global motion direction and global
target direction is coincident, that is, D2(t) = D1(t), the
network is updated with sufficiently large connectivity
r(t) = RL; otherwise, if global motion direction and global
target direction is not coincident, the network is updated
with quite small connectivity r(t) = RS. When the synaptic
r(t) isdetermined
directions, D1(t – 1) and D2(t – 1), the motion increments
of the object are calculated from the state pattern of the
network updated with r(t). The new motion causes the next
D1(t) and
D2(t), andproduces
by comparing two
connectivity r(t + 1). By repeating this process, the
synaptic connectivity r(t) is adaptively switching between
RL and RS, the object is alternatively implementing
monotonic motion and chaotic motion in two-dimensional
In closing this section, one point we must mention is
that we have to use an engineering approach to switch
the parameter r in computer simulation experiments
because we started from heuristic approach using a sim-
ple model to apply chaotic dynamics to complex
problems which includes ill-posed property. However, as
the future scope, we will develop it to investigate bio-
logical mechanism of advanced functions or controls in
real biological systems.
Experimental results
Generally speaking, it is difficult to give mathematical
proof that our method always produces correct solutions in
tracking of arbitrarily moving target. Necessarily, we must
rely on computer experiments and showing typical prop-
erties connected to universal effectiveness of chaos in
biological systems. Therefore, at the start point, some
simple trajectories along which the target moves should be
set. In future, more complex orbits of moving target will be
investigated. In order to simplify our investigation, we
have taken nine kinds of trajectories that include one cir-
cular trajectory and eight linear trajectories, shown in
Fig. 8.
Suppose that the initial position of the object is the
origin (0,0) of two-dimensional space. The distance d
between initial position of the object and that of the target
is a constant value. Therefore, at the beginning of tracking,
the object is at the circular center of the circular trajectory
and the other eight linear trajectories are tangential to the
circular trajectory along a certain angle a, where the angle
is defined by the x axis. The tangential angle a = np/
4(n = 1,2,…,8), so we number the eight linear trajectories
as LTn.
Fig. 7 Control algorithm of tracking a moving target: By judging
whether global target direction D1(t) coincides with global motion
direction D2(t) or not, adaptive switching of connectivity r between
RSand RLresults in chaotic dynamics or attractor's dynamics in state
space. Correspondingly, the object is adaptively tracking a moving
target in two-dimensional space
Fig. 8 Trajectories of moving target: one is circular and eight are
linear(LT1– LT8)
44 Cogn Neurodyn (2008) 2:39–48
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Next, let us consider the velocity of the target. In
computer simulation, the object moves one step per dis-
crete time step, at the same time, the target also moves one
step with a certain step length SL that represents the
velocity of the target. The motion increments of the object
ranges from –1 to 1 (see Eq. (7) and (8)), so the step length
SL is taken with an interval 0.01 from 0.01 to 1 up to 100
different velocities. Because velocity is a relative quantity,
so SL = 0.01 is a slower target velocity and SL = 1 is a
faster target velocity relative to the object.
Now, let us look at a simulation of tracking a moving
target using the algorithm proposed above, shown in
Fig. 9. When an target is moving along a circular tra-
jectory at a certain velocity, the object captured the target
at a certain point of the circular trajectory, which is a
successful capture to a circular trajectory. Another simu-
lation of tracking a target that moves along a linear
trajectory is shown in Fig. 10, which is a successful
capture to a linear trajectory.
Performance evaluation
To show the performance of tracking a moving target, we
have evaluated the success rate of tracking a moving target
that moves along one of nine trajectories. However, even
though tracking a same target trajectory, the performance of
trackingdepends notonlyonsynapticconnectivityr, but also
on target velocity or target step length SL. Therefore, when
we evaluate the success rate of tracking, a pair of parameters,
that is, one of connectivity r (1 £ r £ 60) and one of target
velocity SL (0.01 £ T £ 1.0), is taken. Because we take 100
different target velocity with a same interval 0.01, we have
60 pairs of parameters. We have evaluated the success rate
of tracking a circle trajectory, shown as Fig. 11. From the
simulation results, we can know that the success rate of
tracking a circle trajectory with chaotic dynamics is signifi-
cantly high, and that, the success rate highly depends on
synaptic connectivity r and the velocity of the target.
In order to observe the performance clearly, we have
taken the data of certain connectivities, and plot them in
two-dimensional coordinates, shown as Fig. 12. Compar-
ing these figures, we can see a novel performance, when
the target velocity becomes faster, the success rate has a
upward tendency, such as r = 51. In other words, when the
chaotic dynamics is not too strong, it seems useful to
tracking a faster target.
Certainly, the performance of tracking a moving tar-
get also depends on the target trajectory. In this paper,
because linear target trajectories is too much, we only show
two of them in Fig. 13. From the results of computer
experiment, we know the following two points. First, the
success rate decreases rapidly as the target velocity
increases. Second, comparing these success rate of the
linear trajectories with that of the circular trajectory, we are
sure that tracking a moving target of circular trajectory has
better performance than that of linear trajectory. However,
to some linear trajectories, quite excellent performance was
observed, such as Fig. 13b.
-20 -15-10-505 10 15 20
Fig. 9 An example of tracking a target that is moving along a
circular trajectory with the simple algorithm. The object captured the
moving target at the intersection point
-20 -15-10 -505 10 15 20
Fig. 10 An example of tracking a target that is moving along a linear
trajectory with the simple algorithm. The object captured the moving
target at the intersection point
Success Rate
Target Velocity
Fig. 11 Success rate of tracking a moving target along circle
trajectory: Over 100 random initial patterns, the rate of successfully
capturing the moving target within 600 steps is estimated as the
success rate. The positive orientation obeys the right-hand rule. The
vertical axis represents success rate, and two axes in the horizontal
plane represents connectivity r and target velocity SL, respectively
Cogn Neurodyn (2008) 2:39–4845
Page 8
In order to show the relations between the above cases and
chaotic dynamics, from dynamical viewpoint, we have
investigated dynamical structure of chaotic dynamics. For
small connectivities from 1 to 60, the network takes chaotic
wandering. During this wandering, we have taken a sta-
tistics of continuously staying time in a certain basin
(Suemitsu and Nara 2004) and evaluated the distribution
p(l,l) which is defined by
pðl;lÞ ¼fthe number of l jSðtÞ 2 blin s?t?s þ l
and Sðs ? 1Þ 62 bl
and Sðs þ l þ 1Þ 62 bl;ljl 2 ½1;L?g
where l is the length of continuously staying time steps in
each attractor basin, and p(l,l) represents a distribution of
continuously staying l steps in attractor basin L = l
within T steps. In our actual simulation, T = 105. To
different connectivity r = 15 and r = 50, the distribution
p(l,l) are shown in Fig. 14a and b. In these figures, dif-
ferent basins are marked with different colors and
symbols. From the results, we know, with increase of the
connectivity, continuously staying time l becomes longer
and longer.
0 20 40 60 80 100
Success rate
Target Velocity ( x0.01)
0 20 40 60 80 100
Success rate
Target Velocity ( x0.01)
16: downward tendency
51: upward tendency
Fig. 12 Success rates drawn
from Fig. 11. We take the data
of a certain connectivity and
show them in two dimension
diagram. The horizontal axis
represents target velocity from
0.01 to 1.0, and the vertical axis
represents success rate. With the
increase of target velocity,
(a) r = 16: downward tendency;
(b) r = 51: upward tendency
10 20 30 40 50 60
0 20
Success Rate
Target Velocity
10 20 30 40 50 60
moving target along linear trajectory LT6
0 20
Success Rate
Target Velocity
moving target along linear trajectory LT2
Fig. 13 Success rates of
tracking a moving target along
different linear trajectories.
(a) A moving target along linear
trajectory LT2; (b) A moving
target along linear trajectory
Fig. 14 The log plot of the frequency distribution of continuously
staying time l: The horizontal axis represents continuously staying
time steps l in a certain basin l during long time chaotic wandering,
and the vertical axis represents the accumulative number p(l,l) of the
same staying time steps l in a certain basin l. continuously staying
time steps l becomes long with the increase of connectivity r. (a)
r = 15: l is shorter; (b) r = 50: l is longer
46Cogn Neurodyn (2008) 2:39–48
Page 9
Referring to those novel performances talked in previ-
ous section, let us try to consider the reason. First, in the
case of slower target velocity, a decreasing success rate
with the increase of connectivity r is observed from both
circular target trajectory and linear ones. This point shows
that chaotic dynamics localized in a certain basin for too
much time is not better to track a slower target.
Second, in the case of faster target velocity, it seems
useful to track a faster target when chaotic dynamics is not
too strong. Computer experiments show that, when the
target moves quickly, the action of the object is always
chaotic so as to track the target. In past experiments, we
know that motion increments of chaotic motion is very
short. Therefore, shorter motion increments and faster
target velocity result in not good tracking performance.
However, when continuously staying time l in a certain
basin becomes longer, the object can move toward a certain
direction for l steps. This is useful to track the faster target
for the object. Therefore, when connectivity becomes a
little large (r = 50 or so), success rate arises following the
increase of target velocity, such as the case shown in
Fig. 12.
Third, we try to explain the reason why success rate of
tracking a moving target along a linear trajectory decreases
rapidly when the target velocity increases a little. In this
case, faster target velocity results in more chaotic motions
of the object. At the same time, the target has moved too
far away from the object along a linear trajectory. There-
fore, the success rates become worse. Generally speaking,
chaotic dynamics is not always useful to solve an ill-posed
problem. However, better performance can be often
observed using chaotic dynamics to solve an ill-posed
problem. As an issue for future study, a functional aspect of
chaotic dynamics still has context dependence.
Finally, let us consider the approach in robot navigation.
There are many approaches in robot navigation. As an
approach using dynamical neural network, a simple
mechanism—dynamical neural Smitt trigger was applied to
a small neural network controlling the behaviour of a
autonomous miniatur robot (Hu ¨lse and Pasemann 2002).
On the other hand, our model is a recurrent neural network
with N neurons, that is, a large neural network. Recent
works about brain-machine interface and the parietal lobe
suggested that, in cortical area, the ''message'' defining a
given hand movement is widely disseminated (Wessberg
et al. 2000; Nicolelis 2001). Therefore, the difference
between our novel approach and the Smitt trigger approach
in robot navigation are quite big. Our approach emphasizes
the whole state of neurons, but the Smitt trigger pays
attention to the interaction between a few of neurons.
Furthermore, our approach has a huge reservoir of redun-
dancy and results in great robustness. Generally speaking,
methods in robot navigation often fall into enormous
computing complexity. However, our approach proposed a
simple adaptive control algorithm.
We proposed a simple method to tracking a moving target
using chaotic dynamics in a recurrent neural network
model. Although chaotic dynamics could not always solve
all complex problems with better performance, better
results often were often observed on using chaotic
dynamics to solve certain ill-posed problems, such as
tracking a moving target and solving mazes (Suemitsu and
Nara 2004). From results of the computer simulation, we
can state the following several points.
A simple method to tracking a moving target was
Chaotic dynamics is quite efficient to track a target that
is moving along a circular trajectory.
Performance of tracking a moving target of a linear
trajectory is not better than that of a circular trajectory,
however, to some linear trajectories, excellent perfor-
mance was observed.
The length of continuously staying time steps becomes
long with the increase of synaptic connectivity r that
can lead chaotic dynamics in the network.
Continuously longer staying time in a certain basin
seems useful to track a faster target.
Aihara K, Takabe T, Toyoda M (1990) Chaotic neural networks. Phys
Lett A 114:333–340
Babloyantz A, Destexhe A (1986) Low-dimensional chaos in an
instance of epilepsy. Proc Natl Acad Sci USA 83:3513–3517
Fujii H, Itoh H, Ichinose N, Tsukada M (1996) Dynamical cell
assembly hypothesis—theoretical possibility of spatio-temporal
coding in the cortex. Neural Netw 9:1303–1350
Huber F, Thorson H (1985) Cricket auditory communication. Sci
Amer 253:60–68
Hu ¨lse M, Pasemann F (2002) Dynamical neural Schmitt trigger for
robot control. In: Dorronsoro J (ed) ICANN 2002: topics in
artificial neural networks. International Conference On Artificial
Neural Networks, Madrid, Spain, August 28–30, 2002. Lecture
notes in computer science, vol 2415. Springer Verlag, Berlin,
pp 783–788
Kaneko K, Tsuda I (2003) Chaotic itinerancy. Chaos 13(3):926–936
Kuroiwa J, Nara S, Aihara K (1999) Functional possibility of chaotic
behaviour in a single chaotic neuron model for dynamical signal
processing elements. In: 1999 IEEE International Conference on
Systems, Man, and Cybernetics (SMC'99), Tokyo, October,
1999, vol 1. p 290
Nara S (2003) Can potentially useful dynamics to solve complex
problems emerge from constrained chaos and/or chaotic itiner-
ancy? Chaos 13(3):1110–1121
Nara S, Davis P (1992) Chaotic wandering and search in a cycle
memory neural network. Prog Theor Phys 88:845–855
Cogn Neurodyn (2008) 2:39–4847
Page 10
Nara S, Davis P (1997) Learning feature constraints in a chaotic
neural memory. Phys Rev E 55:826–830
Nara S, Davis P, Kawachi M, Totuji H (1993) Memory search using
complex dynamics in a recurrent neural network model. Neural
Netw 6:963–973
Nara S, Davis P, Kawachi M, Totuji H (1995) Chaotic memory
dynamics in a recurrent neural network with cycle memories
embedded by pseudo-inverse method. Int J Bifurcation and
Chaos Appl Sci Eng 5:1205–1212
Nicolelis M (2001) Actions from thoughts. Nature 409:403–407
Skarda CA, Freeman WJ (1987) How brains make chaos in order to
make sense of the world. Behav Brain Sci 10:161–195
Suemitsu Y, Nara S (2003) A note on time delayed effect in a
recurrent neural network model. Neural Comput Appl 11(3&4):
Suemitsu Y, Nara S (2004) A solution for two-dimensional mazes
with use of chaotic dynamics in a recurrent neural network
model. Neural Comput 16(9):1943–1957
Tsuda I (1991) Chaotic itinerancy as a dynamical basis of
hermeneutics in brain and mind. World Futures 32:167–184
Tsuda I (2001) Toward an interpretation of dynamic neural activity in
terms of chaotic dynamical systems. Behav Brain Sci 24(5):
Wessberg J, Stambaugh C, Kralik J, Beck P, Laubach M, Chapin J,
Kim J, Biggs S, Srinivasan M, Nicolelis M (2000) Real-time
prediction of hand trajectory by ensembles of cortical neurons in
primates. Nature 408:361–365
48 Cogn Neurodyn (2008) 2:39–48


text:
Charlotte 7-year-old remains in critical condition after near drowning
As a memorial of stuffed animals grew near the site where Samiyah Brown and her brother slipped below the water at Davis Creek last week, hospital officials said on Sunday that the 7-year-old girl remained in intensive care.
Samiyah was listed in critical condition at Carolinas Medical Center after her brother, Randez Brown, 11, died trying to save her on Thursday.
The children were believed to be under the care of their great-grandmother when they slipped away to join a group of children headed to Davis Creek.
Neighbors believe the children were in a concrete-lined culvert that empties into a pond near Interstate 77, not far from Military and Global Leadership Academy at Marie G. Davis.
The pond behind the school has been popular with children who live in the nearby Southside Homes for decades and has been dangerous for just as long. Another child died there in 1984.
Family members who live nearby declined to comment on Sunday, saying they were too upset to talk about the children.
Randez was a fifth-grader at Sedgefield Elementary School and had plans to celebrate his 12th birthday on Monday with a trip to a Charlotte Bobcats game.
He lived with Samiyah, four brothers, his mother, Shaconda Black, and his great-grandmother in a three-bedroom home.
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SPECTRE : Filming Takes Place In Mexico With A Recreation Of The Famous Day Of The Dead Festivial
With The teaser Trailer For Spectre Due To Hit In Less Then 24 Hours Hit The Jump To View Some More Behind The Scenes Stills And A Video From Mexico.
Top 5 Actresses for Captain Marvel
We might be seeing who will play Captain Marvel in the next few days. Instead of using logic to speculate who it will it be, let's just fancast in our dreams so they can be horribly destroyed. Life is grand.
How to make the Spider-Man films cool again
How to fix this once great franchise
EDITORIAL: My Top Ten Episodes of Modern DOCTOR WHO
Ten years ago today, Doctor Who returned with the episdoe titled Rose, (Who else but the legendary Time Lord can celebrate a ten year anniversary almost two years after his 50th) and in honor of this event I have decided to compile a list of my ten favorite stories from the modern adventures of the Doctor, and his companions.
Avengers Age Of Ultron Bumper!
Come Check out Avengers Age Of Ultron Bumper In Theaters and Imax May 1st!
VIDEO: Go Behind The Stunts Of GAME OF THRONES Season 5
HBO has released a new video highlighting the stunts featured in season five of the hit series, Game of Thrones. The video offers some new footage as well as glimpses at some of the series' new faces.
Simon Pegg Says STAR TREK 3 Will Bring Frontierism And Optimism Back To The Franchise
While speaking with Spinoff Online Simon Pegg revealed that he and his Star Tek 3 co-writer Doug Jung are trying to bring the spirit of the original television series back to the franchise. Check it out after the jump.
Amazing Spider-Man issue 016
When a Murderous family of interdimensional creautures called The Inheritors began hunting and feasting on the lifeforces of Spider-people from across the multiverse, it fell to Peter Parker, The Amazing Spider-Man, to lead his fellow Spider-Men and women to victory. One Inheritor leeched some of Spider-Man's lifeforce and, as a result, Peter now feels especially exhausted.
However Peter's spirits could not be higher. After literally leading an army against certain doom, he's sure he can lead his company, Parker industries, to a successful future.
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Loren Weeks Says Netflix's DAREDEVIL Is "Not The Stuff You See In Agents Of S.H.I.E.L.D."
In a recent interview, production manager Loren Weeks reveals that Netflix's
will relate to the things we see everyday, instead of Inhuman abilities, Asgardian strength, super soldier speed, and all that crazy stuff! Hit the jump to check it out!
COMICS: The 50 Cities Of DC's CONVERGENCE Finally Revealed
DC has release the first look at the cities involved in their upcoming event Convergence. Among the location involved are cities from the popular video game Injustcie: Gods Among Us, and Mark Waid's Kingdom Come.
UPDATE: DC has released a trailer for the upcoming event.
Amazing Spider-Man issue 015
A terrifying family called the Inheritors is traveling around the multiverse feasting on the life-essence of Spider-people. A group Of Spiders who have bound together to fight the Inheritors sought out Peter Parker, the only spider who ever defeated an Inheritor.
The Amazing Spider-Man discovered that a second team of Spiders had been assembled by the Superior Spider-Man (Doc Ock in The Amazing Spider-Man's brain), but even their combined forces were not enough to fend off a surprise attack from the Inheritor family! The Spiders were scattered on missions across the multiverse; meanwhile, Superior Spider-Man declared himself leader of those that remain.
Netflix Daredevil series updates cast
The long awaited Daredevil Netflix series is slated for an April 10 premier. With much of the cast already set, Marvel and Netflix recently announced several new actors in supporting roles.
Kevin Feige Praises Joss Whedon's & James Spader's Work In AVENGERS: AGE OF ULTRON
In a recent interview, Kevin Feige revealed that he once worried about Ultron being the main villain in the second
film. Also, Joss Whedon praises the work James Spader has put into the role as Ultron! Hit the jump to check it out!
Five Ideas On How to Incorporate Future MCU Franchises
What Crossovers in TV should happen?
In this article I list three crossovers in Television I would love to see. Hope you enjoy!
Steven Spielberg To Adapt Geeks' and Gamers' Favorite Novel READY PLAYER ONE For Warner Bros.
Fans of 80's pop culture Rejoice, as the acclaimed Sci-Fi epic novel Ready Player One which is filled with 80's references written by Ernest Cline, has found its directer and it's none other than Steven Spielberg. Click for more details...
Earth's Mightiest Heroes Assemble On New AVENGERS: AGE OF ULTRON Banner
Marvel has released a new banner in anticipation of the release of Joss Whedon's
sequel. Though it doesn't feature any new looks at the team, it combines their recent character posters to great effect. Click on to check it out...
RUMOUR: Is ENDER'S GAME Actor A Candidate For MCU's Spider Man?
17-Year Old English actor Asa Butterfield is reportedly on Marvel's list of potential candidates for the part of Spider-Man. Hit the jump for more details!
'Ray Palmer' Is Devoted To Bringing 'The Arrow' To Justice In New Clip From Tonight's ARROW
The CW have released a new clip from tonight's episode of Arrow which features a press conference about what the Arrow may or may have not done in last weeks episode. Take the jump to check out the clip!
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"WITH SUFFICIENT OVERSIGHT, N KOREA's GOVT COULD BE TRUSTED WITH STORAGE OF A SQUADRON OF NUCLEAR-BOMB LOADED B-2's!!"
The obvious motivations for North Korea's (& similarly positioned nations such as Iran's) fractious, oppositional relationships with developed world nations need to be "constructively addressed" instead of- in a perceived-as-bullying, hostile way- opposed.
Outsiders 'currying insurrection' in any country- as the USA has reportedly been doing in N Korea & Iran for years- can only cultivate lack of goodwill & animosity- if not unspoken 'states of war'- between countries that otherwise could have mutually beneficial relationships.
Done right, engagement policies could, realistically, generate the internal changes people living in Iran & North Korea need most: "democratic, rule-of-law & economic-development INERTIA"!!
Engagement-policies ought to mean attempting to get these countries (leaders) to VOLUNTARILY 'work with' & assist the world community in long-term projects, preferably types that are perceivably prestigious & that would, indirectly, oblige these countries' opening up to the rest of the world: in 'productive-for-all parties' ways.
Led by the UK, USA & leading EU nations such as France, the developed world ought to:
- />>> Offer both N Korea & Iran the rights to be exclusive locations for the International Thermonuclear Energy Research project, ITER (in planning stages, recently awarded to Cadarache, France, http://www.iter.org ).
ITER is, by its design & nature, international in function, thereby enabling competent oversight, precluding Iran or N Korea from misusing the project's resources.
Publicly offering the ITER project would, in effect, call these nations' leaders' bluff about needing secretive nuclear technology development programmes... & also would neutralize their basis for alleging that many developed-world nations harbour unseemly motives for being against their development of advanced nuclear technology.
An ITER campus/sight in North Korea would invariably lead to South Korean technical & financial participation.
South Korea co-developing/maintaining & co-running an ITER campus/sight in North Korea could only greatly assist & productively amplify the currently improving political, social & business ties between these two unnecessarily separated, highly-culturally similar states...
- />>> Offer Iran rights to co-host the 2016 Olympics with Qatar (which was bidding for the games).
Guaranties of significant logistical & financial support to Iran (from developed world nations) for its participation in such a 'world project' would go a long way to making such an offer seem palatable & not-too-contrived to Iran's citizens.
Other states in the wider region could be approached for participation, with a "Middle East" Olympic games an optimal objective.
- />>> Additionally, offer to pay for, & partner in the building of significant infrastructure for N Korea, & possibly Iran, of a type that will instill national-prestige, as well as facilitating an improved connectedness- both physical & psychological- to the outside world.
Japan's government has been pushing for a greater global role for Japan.
Supporting/participating in strategies like the above would go a long way towards this... as would paying for & assisting in the construction of a Japanese-type high-speed "bullet" train to connect North & South Korea's capital cities to each other & to China.
A pan-Korean peninsula high-speed rail link could only contribute to & make more permanent the existent, but very counterproductively limited, trade, industry & societal connections between these two (virtually) culturally homogenous states.
If accepted, altruistic overtures such as the above would enable global stages where these 2 egotistically defensive country's- & many Islamic nations- could feel that they can show their positive potential & achievements.
As well- meeting the developed world's political & defense objectives- would effectively require these countries to "fit", & productively "work with" the world community.
Furthermore, & most importantly, offering N Korea & Iran the ITER project; the 2016 Olympics & committing to pay-for & partner-in-the-building-of much needed infrastructure would go a long way to eliminating their ( many Islam nations/people's) perceptions of threat from developed world & "Judeo Christian" country's- removing their leaders' main argument for alleging a requirement for developing: advanced nuclear technologies that are applicable to the production of nuclear weapons; & long-range ballistic missile programmes.
If attempts to constructively "set directions of development" for N Korea & Iran do not work- the developed world has sufficient fire-power to revert to heavy handedness, & "bash" till both these mal-governed countries are moonscapes.
Roderick V. Louis
Min Kim:The problem is not the quantity. It's the willingness to share/sell to those who may have plans to do more than just flex their nuclear muscles.
Is there "belief" in international politics?
This article poses skepticism to Pyongyang's intention to give up its ongoing nuclear program. In my view, the reporter argues implicitly in this article that North Korea will not sincerely fulfill its obligations, which have been agreed in so-called Six-Party talks.
Reading the article, I want to express skepticism not to North Korean will for her disarmament, but to the naïve analysis of the reporter. Yes. I know, you know and most people who have interests in North Korean nuclear crisis know that North Korea will not easily forgive its long-standing efforts to be a member of nuclear club.
However, the diplomatic task the related countries such as the U.S. and S. Korea are facing is to attain denuclearization process of Pyongyang. The point I want say is that whatever Pyongyang's true mind and attitude to its participating in the negotiations regarding its disarmament are, the concerned countries have to go their long and difficult way for attaining their ultimate goal: the full dismantlement of North Korean nuclear programs including HEU, plutonium and whatsoever.
That means, the concerned countries should not depend on political belief that North Korean will abide by its commitment to solve the problem. Based on so-called realism in international politics, Washington, Beijing and Seoul have to prepare and elaborate political and material conditions, under which North Korea has to follow the other countries' requests and cannot restart its nuclear program any more. I think that was the point the author had to propose considering the feature of international politics and the seriousness of this problem.
I do not see why 'powerful' nations sweat over North Korea's cute nukes.
7 or 10 or whatever the number is, this figure is tiny compared to nukes in hands of Russia or USA.
North Korea only use their missiles to earn international support. But when they receive such aids they turn their back and restart this whole schism. Just let them do what they pursue. I guarantee within a decade they would give up what they have now due to a chronic starvation.
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Ricky Martin's 'hurricane' twins
Ricky Martin's two-year-old twin boys Valentino and Matteo are like a ''hurricane'' force in his life.
Ricky Martin's twin boys are like a "hurricane" in his life.
The 39-year-old singer - whose two-year-old sons Valentino and Matteo were born via a surrogate mother in 2008 - explained there is always a party going on in his home now the twins have arrived, so he's getting used to not having much sleep.
He explained: "They're a little hurricane in my house. At 7 o'clock in the morning, there's a party going on! My mother told me, 'Ricky you're never going to sleep ever again in your life, now because they're babies and when their teenagers because they don't come back home!'
"So, it's getting used to the idea of not being able to sleep."
The 'She Bangs' hitmaker also revaled he has had to turn his tour bus into a playroom for the twins, so they are able to accompany him on the road.
Ricky added to US TV show 'Access Hollywood': "We haven't started the potty training yet, but it's all about the toys. The front of the bus is a big playroom, and then the bunk beds and my bed in the back, but yes they're ready."
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The Obama administration won't allow construction of the Keystone XL pipeline from Canada to the United States, citing environmental concerns. But it is willing to allow ocean drilling off the Atlantic coast - a risk to the environment and to the economic well-being of states like South Carolina that depend on coastal tourism.
Indeed, the administration is willing to let the anticipated Atlantic oil boom start off with a bang. Exploratory work preparatory to sinking offshore wells will be done with sonic cannons, which help determine where oil might be located.
The federal government's own review of the project acknowledges the potential damage to marine mammals and other marine life.
As The Post and Courier's Bo Petersen reported: "In the seismic tests, crews detonate compressed air guns dragged behind ships, creating a series of blasts every 10 seconds or so to read the 'echo' beneath the sea floor. The blasts have been demonstrated to deafen or injure marine mammals, such as whales or dolphins, that navigate by sonar echoes. The blasts also are suspected of injuring other marine life."
Acting Bureau of Ocean Energy Management Director Walter D. Cruickshank says that his agency will provide protections "aimed at trying to mitigate the effects on marine animals."
"We are taking every step we can that is reasonable to take," he said.
Well, except for continuing the nation's decades-long moratorium on offshore Atlantic and Pacific drilling.
The underwater confusion created by sonic blasts is like the cognitive dissonance created by the president's energy policy.
The Keystone XL pipeline has been vetted for years by a variety of federal agencies and has passed every test. It is a project that would create thousands of construction jobs in the U.S.
It would provide a conduit for Canadian tar sands oil, which will be produced in any event. Sending that oil to U.S. refineries would help make this nation energy independent. And it would be an economic boon to Canada - one of our closest allies.
Keystone is a shovel-ready project. There is nothing speculative about the venture. And while environmentalists point to the downside of producing tar sands oil, our nation's refusal to permit the project won't dampen Canada's resolve to exploit this plentiful resource. Indeed, frustrated Canadian officials are making plans to ship the oil to a ready market in China.
Drilling off the Atlantic, however, will require exploration that risks the well-being of marine mammals, including a whale species on the brink of extinction.
And assuming oil or natural gas is discovered, there will be further hazards to the coastal environment - for example, the threat of spills and oil rig accidents.
Coastal tourism, in contrast, is a clean industry, and an economic mainstay of South Carolina.
It's highly unlikely that offshore drilling will somehow improve the quality of our clean beaches and wetlands.
So why buy a pig in a poke? Elected officials in this state should oppose it.
If the administration wants to increase the quantity of oil flowing into the U.S., allow the Keystone pipeline to be built.
But keep ocean drilling off limits.
- Keywords
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MEMBERS ONLY: To Boldly Go Where WhiteHouse.gov Dares Not!
March 30th, 2015
George W. Bush was easily the least qualified person in U.S. history to hold the presidency. Other failed presidents occasionally have one element of their tenure that they can hail as a success, but George W. Bush ended his presidency with failure on both domestic and foreign policy.
By the time he mercifully left office on January 20, 2009, thousands of American soldiers were unnecessarily dead, thousands of Iraqis were dead, and millions of Americans were out of work. That doesn't even account for global instability thanks to the vacuum of leadership in the Bush White House.
Yet somehow, my fellow liberals are too soft in assessing Bush's failure.
They claim that he was a puppet, a tool of other, craftier forces. Most often Cheney is invoked as the man behind the curtain, who used Bush to achieve his evil goals.
Bush is responsible. Bush was the President. Bush was the man who made the ultimate decision to invade Iraq, to do so with an incompetent fool like Donald Rumseld in charge. Bush chose not to react to the memo that warned him about Bin Laden's plan to attack on 9/11. Bush chose to take resources away from fighting Al Qaeda in order to invade Iraq. Bush chose to put industry cronies in key regulatory positions, including those who were supposed to be watching Wall Street. Bush chose to cut taxes for the super-rich without regard to its long-term effect on the U.S. economy. It was Bush who looked out of an airplane window with that same blank expression he always had, watching as New Orleans drowned.
At practically every critical juncture in his presidency, Bush made the decisions that lead to failure, death, and strife for Americans and people around the world. The buck stopped at his desk.
So when liberals lay the blame on people like Cheney, or Rice, or any of the other goons that ran amok in the White House for eight years, they're letting the ultimate bad actor off the hook.
Bush is responsible for what happened. We shouldn't ever forget that.
March 30th, 2015
March 30th, 2015
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Hit GirlCost: $50-$70 (Depending where you buy it)
This is a real complete costume. The only thing things that don't come with it are the gloves and the boots, but other than that, you have it all. The Kick-Ass film, which was released back in the Spring, seems to have a cult following, so expect to see a few women, and even a few little girls, dressed up as Hit Girl this Halloween. My favorite thing about this costume is that they didn't try to "sexy-it-up" like they did with essentially everyone other costume on the market, regardless of who the character was. This is one of the two major Hit-Girl costumes on the market this year, and this one, in my opinion, is just a tad better because the jacket is less shiny.
Kick-AssCost: $45-$80
You'll have to supply your own Doc Martin/Dickies boots for this one though. The price on this one varies a lot, and I couldn't find out why. However, I did find a quote from one website that creeped me out a bit: " Like every serial killer knows, eventually fantasizing just doesn't do it for you anymore!" Please tell me this is a quote from the book and not something Buy.com made up themselves. (Look under the features section if you don't believe me) Anyway, again, we have a dead on costume, as long as you buy the boots. Again, for comic book fans who just want to buy something and wear it, this is going to be immensely popular.
LinusCost: $40
There's a whole bunch of Peanuts Gang costumes going around this year, and I couldn't be happier. Here we have Linus, and this costume comes with shorts, the shirt, the mask, and the blanket. Growing up, I always watched Peanuts when the were on, and I loved the comic strips. I don't know if many kids the generation after me got to experience these characters, but they were a lot of fun, so seeing a chunk of them in Halloween costume form this year is so cool. I just get really excited about the mask I guess. This is actually the childrens' version of the costume. There is an adult version as well, but for about $60-$80.
Green HornetCost: Around $60 (realistically $170)
I was really excited when I first saw this, but when I read the description today, I was insanely bummed out. " This deluxe Green Hornet costume includes coat, hat and mask. Pants, shirt, vest and tie not included." Black slacks and a white button-up shirt are pretty easy to find, but a green vest? Good luck. It's hard enough finding any vest for less that $50. In total, if you don't have the shirt, shoes, and vest, so you have to buy it all, you're looking at spending at least $170. Is it worth it? Heck yes! Who doesn't want to be the Green Hornet?
Best of 2010 - Princess PeachCost: Around $50
When I first saw this costume, I was super-excited. It looks great, reminds me of the character, and the costume designers didn't try to sexy it up, like they did with a few other Peach costumes. Also, $50 isn't a bad price; however, you will be stuck buying your own wig, since that is not included with costume set. This costume is so cool though that I'm thinking about getting it, but I'm already going to be Elektra, or Paul Stanley... Can't decide yet. Out of all the new costumes I've seen this year, this one really deserves the prize of best of 2010: it's original, affordable, and is a great translation from the original character.
What do you guys think about these costumes? Did I miss something? Which costumes do you like the best?


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Agency Management
Do agencies need a leader dedicated to data management? (Stock image)
Big data experts on Dec. 12 gave another nudge to agencies contemplating chief data offer positions. Bill Cull, vice president of the public sector at big-data firm Splunk, even offered a timeline: "I think we might see CDOs appointed in the next year," he said.
The position is not new to the federal government – in 2010, the Federal Communications Commission became the first agency to appoint a CDO, and it now has 10 CDOs across its offices and bureaus – but the notion has garnered more attention recently as agencies look to leverage huge amounts of data.
Teresa Carlson, vice president of Amazon Web Services' Worldwide Public Sector, asked whether agencies might soon have CDOs directing teams of data scientists, said it would be worth trying. However, she added, "You have to make sure you have the right individuals in place." Carlson made the comment while speaking at an executive briefing sponsored by FCW and TechAmerica on Dec. 12.
In October, TechAmerica released a report calling for a CDO in each agency and governmentwide. However, skeptics have questioned whether another C-level position within federal agencies is necessary.
"[A] good CIO or CTO should already be doing what a CDO would be hired to do," Daniel Castro, senior analyst with the Information Technology & Innovation Foundation, told FCW in October. "Data and technology are intimately linked, and strategies should be developed around both of them together
Castro suggested more CIOs should pay attention to data. "This reminds me of the 'chief revenue officer' or other similar titles that were popular especially in the dot-com era," he said in October, "which generally reflected the need for someone to come in and develop a core competency that every business or organization needs, but some had unfortunately ignored."
About the Author
Frank Konkel is a former staff writer for FCW.
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Click here for the full list
Unisys Federal Systems' Venkatapathi Puvvada, this year's Eagle award winner for industry, stresses the importance of community.
Experts tell committee that business models, not technology, are the main obstacle to better sharing across systems.
Protests have delayed SEWP V, but industry experts say the contract vehicle offers agencies service and value that are hard to find.
The power of the individual informs FCW's coverage each and every day, but with the Federal 100, we take time to really spotlight and celebrate it. Get to know each of this year's winners.
The latest version of the Cybersecurity Information Sharing Act purportedly protects companies from liability and individuals from government intrusion.
Popular CIO is headed for the private sector.
The Census Bureau hasn't established a time frame for its cloud computing plans, including testing for scalability, security, and privacy protection, as well as determining a budget for cloud services.
President Obama's proposal to boost government coordination with the private sector got a warm welcome in the House Homeland Security Committee.
The spy agency wants to better integrate cybersecurity into its traditional human intelligence operations.
An Executive Enterprise Data Architect, yes, but another Executive Manager, there is absolutely no need. The CIO can handle the accountability of appropriate information management regardless of the size, and if not, then look for a new CIO.
How many "Chief xxx Officers" do we need? This is getting way out of hand. What's next, a Chief Helpdesk Officer?
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I have successfully scheduled local notifications in my app using the code below:
Class cls = NSClassFromString(@"UILocalNotification");
if (cls != nil) {
UILocalNotification *notification = [[cls alloc] init];
notification.fireDate = self.alarmNotificationDate;
notification.timeZone = [NSTimeZone defaultTimeZone];
notification.alertBody = @"Alarm is due";
notification.alertAction = @"Show Alarm";
notification.soundName = @"alarm.mp3";
[[UIApplication sharedApplication] scheduleLocalNotification:notification];
[notification release];
Where self.alarmNotificationDate is a NSDate assign in another method.
All works fine in the simulator, but when I test on my trusted old iPhone 3G running iOS4 I get the notification, but only with the default sound.
I have tried with different sound files but no success.
Any clue why it could be like this and how to correct it?


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Jessica Smith - "Black and Gold" Live and Acoustic
Filmed during a live studio recording of an acoustic cover of Black and Gold
Produced by Donal Canavan, David Larkan & Colm O'Rourke
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Nero Buffalo Leather Metal Briefcase
Practicality at its finest, this elegant briefcase has been meticulously hand-crafted in grainy buffalo leather. Accented with our signature intrecciato handles, hand-engraved plaques and silver tone metalwork, the design features a removable shoulder strap, a cotton lining, two slip pockets and a smartphone sleeve.
- Solid color, Zip closure, Lined interior, Double handle
Composition: 100% Buffalo
Depth: 2.7 Inches
Height: 11.1 Inches
Length of handle: 4.1 Inches
Width: 14.8 Inches
Made In Italy
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Stunning moths, animal tracks, other PAWS updates
Click here to see recent photos from the PAWS campus, including some stunning moths, animal footprints and a number of birds.
If you would like to learn more about the work PAWS performs with sick, injured and orphaned wildlife, visit the wildlife pages of its website.
One of PAWS' biggest fundraisers of the year is coming up Saturday at Marymoor Park. Click here to learn more about PAWSwalk and to register.
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The Sonoma County Task Force for the Homeless is the countywide nonprofit coalition of service providers, advocates, religious congregations, civic organizations, businesses, and individuals working to end homelessness and to assist people who have lost their homes.
The Task Force is a leadership resource, providing a forum for the participation of the whole community in ending homelessness.
NEW! Cold Weather Hotline (Catholic Charities): 707-800-2927. Available from November through March (11/3/14-3/31/15). Anyone can call 24/7, if they need relief from the cold weather, or see someone in need of relief. A staff member or a volunteer will respond either through the cold weather programs (offering emergency shelter or warming stations) or by offering comfort items such as warm drinks, blankets, clothes, etc. The person will be checked on throughout the night.
Cold Weather Conditions:
- Temperatures below 38 degrees Fahrenheit
- Freezing rain/sleet
- Rain conditions such that an unsheltered person
finds it difficult or impossible to remain dry
- Severe wind warning
Chronic Intoxication Sonoma Cost Study
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Thursday October 1, 2015
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France's Ballet Preljocaj in Snow White, With Costumes by Gaultier
* Additional fees apply. No coupon or promo codes necessary to enjoy the displayed discount price.
The last date listed for Ballet Preljocaj: Snow White was Sunday May 4, 2014 / 2:00pm.
Currently at Harris Theater for Music and Dance in Millennium Park
Tennessee Williams' A Streetcar Named Desire Adapted Into a Sexy Ballet
- Full Price:
- $25.00 - $95.00
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Tennessee Williams' Pulitzer Prize-winning drama A Streetcar Named Desire seethes with raw sexuality… More
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Featured review from Goldstar Member
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This is not your children's tale but the darker side of this Brothers Grim story. Although there is a bit of nudity, nothing to really offend a parent if you have a child attend. A few children did accompany their parents and yet, they still found it fascinating.
Along with a breathtaking wardrobe, the young lady from the Joffrey Ballet who filled in that night was fantastic.
star this review starred report as inappropriate
OMG. What a load of crap.! I have seen some bad ballet but this took the cake. The costumes were ill fitting ( some looked as though they were diapers), the dancing and choreography were mediocre and honestly I couldn't stay awake! I literally...continued
star this review starred report as inappropriate
Wow, spectacular. I'm not typically a fan of the ballet. I went for the costumes but fell in love with the whole production. As expected, the costumes were amazing! and the performances were impressive. The Queen was fantastic!! I did not expect...continued
star this review starred report as inappropriate
Although it was a good idea to do a psychological version of Snow White it seemed to us to be rather dull, spiritless and too lengthly in parts. However, the lead dancer was wonderful in the last duo with her Prince Charming. It was full of...continued


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Reviewed By Martin C (Mendenhall, MS) Reviewed for a 2013 Dodge Ram —3/3/2015 3:55 AM
I have used K&N air filters before and been please with them this is the first time I have installed a full CAI, it came to me fast and well packed the installation was easy and quick. Not sure if this really helps millage yet but more air cannot hurt. I am ordering a new exhaust system next to help with air flow through the engine and will order from auto everything as they are by far the cheapest site I have found..


text: In serious need of an update. We checked in, got our room keys...neither worked. Back to the desk for 10 minutes to get two more keys. Only one worked out door and neither worked the side enterance. Room was clean. No shampoo or conditioner but at least there was soap. Beds were comfortable.


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You can be the first to comment!
@Judith_Godreche And may I humbly add.. http://t.co/poZpIlVX1w 13 hours ago
@Bub_Said_It Innocently took it for a drive around the block right after the take and ten crew guys were chasing us yelling "STOP!!!!" 2 days ago
Exclusive First Look: Citizen Dick - Touch Me, I'm Dick 7" Cover http://t.co/VkYrOQU6Di #pearljam #citizendick #rsd #recordstoreday 3 days ago


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ANNAPOLIS, Md. (AP) — Maryland officials will submit a plan to the federal government aimed at allowing them to hang onto about $1 billion in Medicare reimbursements received under a unique agreement with Washington, the chairman of a panel that sets hospital billing rates told lawmakers Tuesday.
Changes to Md. Medicare waiver in works
John Colmers, chairman of the state's Health Services Cost Review Commission, updated lawmakers on the status of talks with the federal Center for Medicare and Medicaid Services on the state's Medicare waiver.
"I will say that we have been very greatly encouraged by those discussions with CMS," Colmers told the Senate Budget and Taxation Committee. "They are excited, I would say, about the opportunity to see a state as a whole take on this challenge of reducing health care costs and improving care. Now, there are a lot of difficult steps between where we are now and getting it completed."
Maryland is the only state in the nation to have the Medicaid waiver agreement, which has been in place since 1977. It allows Medicare and Medicaid payments to be based on rates set by the state commission, instead of national federal payment principals.
However, Maryland must meet tests showing that cumulative growth in state payments doesn't exceed the rate of growth in Medicare payments nationally.
The state aims to keep a cushion of how much Medicare payments could grow before exceeding the national limit. Maryland has tried to maintain a 10 percent minimum, but it is projected to fall under 2 percent.
As the state gets closer to failing to meet the standard, officials are searching for ways to make changes to keep the waiver.
"The bottom line is that, again, these discussions with Medicare around the waiver test are largely around how is it that we can redesign our delivery system to result in better care, a lower cost and better health, and the waiver test is a way of achieving that," Colmers said.
Continue reading this story on the...


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|Industry Recognition
|Professional Conduct
Malee received her undergraduate degree from the University of Iowa in Spanish. She subsequently attended Drake University Law School in Des Moines, Iowa where... more
If you're a current or former client, share your thoughts (anonymously, if you prefer). Would you recommend this lawyer to other clients?Review this lawyer
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Home » NewHampshire.com » Outdoors » Slopeside with James Patrick
Former Souhegan student to be remembered at services
Anthony Barksdale II, 19, a freshman at Boston University, was found unconscious at an off-campus party and subsequently died at a Boston Hospital.
Visiting hours will be on Friday from 3 to 8 p.m. at the Smith & Heald Funeral Home in Milford. There will be a celebration of his life at Souhegan High on Saturday at 9 a.m..
Boston University, where Barksdale was studying engineering, is also sponsoring bus transportation to and from the services for its students.
|NH Angle >> Human Interest
0 Sandy Boss regulates the UK's banks fell for a murdering conman who posed as a Rockefeller
0 Sarah Silverman rape prevention tips backlash on Twitter is absurd
0 Lucky Conway dog saved from Saco River
0 NH man killed in Killington ski accident worked at BAE
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0 Manchester priest convicted of molestation continues long road to clear his name
0 Maine charity founder commits suicide amid fraud probe that found he spent $7K at NH liquor stores alone
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Joe McQuaid's Publisher's Notes: If you see leprechauns tomorrow, you might soon be seeing Jean Valjean
Joe McQuaid's Publisher's Notes: The 'professionals' may say Trump is unpolished, but voters may find him more than an apprentice
Joe McQuaid's Publisher's Notes: Cover your ears, little children, Uncle Stacey has a story that will shock the news media


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Jalapeno Poppers
Looking for recipes for jalepeno poppers? Taste of Home has the best jalepeno poppers recipes from real cooks like you, featuring reviews, ratings, how-to videos and tips.
Recipe Spotlight
Jalapeno Poppers with Lime Cilantro Dip
Crispy and crunchy with a creamy filling, these little pepper bites always earn rave reviews. They're fit for any event, from a cocktail soiree to a Super Bowl party. —Tana Rogers, New York, New YorkView Jalapeno Poppers with Lime Cilantro Dip Recipe


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Amended before passing the Senate, Senate Bill 1030 increases the maximum production limit for a microbrewery from 40,000 barrels per location to 200,000 barrels in aggregate; requires a microbrewery that exceeds the calendar year limit …More
Current Issues
Download the latest Monthly Legal Update
Review a consolidated presentation of the latest legal proceedings or filter updates by state below.
Arizona Bill Addresses Beer Festival Sampling and Sales
S.B. 1113 would authorize microbrewery beer festival licenses that allow sampling and sales for both on and off premise consumption.
Arizona Bill Seeks to Modify Microbrewery Licensees Privileges
Senate Bill 1030 seeks to allow microbrewery licensees to keep certain retail privileges currently revoked if they exceed the 40,000 barrel annual limit for the license. Such licensees that exceed the 40,000 barrel cap …More
Representative Boozman (AR) Co-sponsors Small Brewer Excise Tax Reduction Legislation
Arkansas Congressman John Boozman recently signed on in support of HR 4278. Total sponsors for this bill is not at 107.
Representative Ross (AZ) Latest Co-sponsor on Small Brewer Excise Tax Reduction Legislation
Congressman Mike Ross recently signed on in support of HR 4278. Total sponsors of the Bill sits at 92.
Representative Mitchell (AZ) Latest Co-sponsor on Small Brewer Excise Tax Reduction Legislation
Arizona Congressman Harry Mitchell recently signed on to co-sponsor HR 4278. Total of co-sponsors now sits at 80.


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We're sorry, this product is currently unavailable. Don't worry, we have more Road Bicycle Saddles in stock.
Contact Us for future availability.
For 16 years, Terry has been designing and testing saddles with female athletes, distance riders and recreational cyclists. The Terry Butterfly Cromoly Road Bike Saddle for women represents the best in all that research and development. Wider in the rear than typical race saddles for good support of a woman's sit bones. Completely cut away through the nose and mid-section, makes this saddle flexible and comfortable against soft tissues. The Butterfly's low profile combined with the flat top with multi-density injection molded foam is a bit stiffer in the rear for more power while pedaling.


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LAS VEGAS — According to the Las Vegas Sun, the U.S. DOT grant received by the Regional Transportation Commission of Southern Nevada will be used to connect UNLV to downtown Las Vegas and the northwest valley via the new ACExpress C Line, which will end at the center. In addition, a future Maryland Parkway bus rapid transit line, and possibly the bus lines on Maryland Parkway and Tropicana Avenue, will connect to the center. The grant is one of more than 50 that will split $293 million as part of the FTA's Urban Circular Grant and Bus Livability programs. For the full story, click here.
The CTfastrak transit system provides direct service to and from Waterbury, Cheshire, Southington, Bristol, Plainville, New Britain, Newington, West Hartford, Hartford, East Hartford and Manchester with routes that take advantage of the bus-only CTfastrak roadway.
ABQ RIDE is looking to model its plan after the Greater Cleveland Regional Transit Authority's HealthLine, which is sponsored through a hospital partnership. Construction on the so-called ART system could begin in May 2016 with an in-service date of September 2017.
The service, which costs $6 a ride, asks riders to download the Leap app, creating an account, uploading a photo and adding a credit card that enables them to pay via a QR code.
Agencies ordering the company's products, which are now in at least half of all new U.S. and Canadian transit buses, include L.A. Metro, Chicago Transit Authority and New York City Transit.
The contract includes a firm order for 35 XN40 and 20 XN60 Xcelsior buses, with an option for another 150 XN40 and 100 XN60 over the next five years. All buses are to be powered by CNG.
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Still the most comfortable beds around, but the room amenities are declining. Rooms had refrigerators which have been removed. Microwave now sits on desk taking up most of the desk, no room for laptop.
- Reservation Options:
- TripAdvisor is proud to partner with Hotels.com, Expedia, Orbitz, Travelocity, Priceline, Cheap Tickets, Best Western and TripOnline SA so you can book your BEST WESTERN Dartmouth Inn reservations with confidence. We help millions of travelers each month to find the perfect hotel for both vacation and business trips, always with the best discounts and special offers.
- Also Known As:
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- North Dartmouth Best Western


text:
Hello: I had a pipe burst in my dining room ceiling recently that spewed water for approx. a half hour or so before I found it and shut off the water. Water penetrated the floor and surrounding walls & dropped into my unfinished basement. My dining room had blueboard with veneer plaster covering and then wallpaper. I cleaned the area in about 8-10 hours and then had a restoration co. dry the area out for approx. a week with blowers & large dehumidifiers. My concern is the blueboard behind the plaster in the bottom of the walls where the water penetrated. Should that be replaced since everything I read is that when drywall (aka blueboard) gets wet, mold can form eventually & as a result it should likely be replaced. Is that true? My contractor says since the outer plaster is hard, that the drywall behind such is likely OK, is that statement accurate or not?
Also, I presume my plywood flooring drys out OK and does not need replaced. I removed the wet carpet and padding within a few hours of the incident and dry vac'd the plywood floors. There is some back coler stains near the corners of some walls etc. My contractor says it's not mold & is normal. Is that correct or should I be concerned?
Thanks for any advice.
I would think that the black spots could very well be mold. If water got inside your walls then mold will grow there as it is dark and takes a long time to dry out.
Cedar siding & roof
Flashing does not extend all the way to the side of ...
roof leak detection
Bathroom walls
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- 12 Places You Never Clean—But Should!


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Kenmore Elite double oven range
lillethMarch 3, 2013
Has anyone seen one of these? It's a white double oven range with two 3.5 cu foot ovens. I'd love to have one of these with induction top, but it still looks really ice.
Here's more information. Would love input! Thanks.
Here is a link that might be useful: Kenmore Elite 30'' Double-Oven Freestanding Electric Range - White Sears Item# 02297512000 : Model# 97512


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Lift off the capsule top, insert the coin, and snap it shut. Now your Presidential dollar is securely stored and attractively displayed - you can even see the coins's edge, which includes the date, mintmark, and inscriptions. Space for both Philadelphia and Denver Mint Coins. Includes Presidential facts printed on the inside flaps. Holds 80 coins - makes a great display and storage unit.
Size: 13.375" x 11.5" x 1.0"
Size: 13.375" x 11.5" x 1.0"
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Health Information Translations »
Can a person get mono more than once?
- Ethan*
Mono, also known as mononucleosis, is caused by the Epstein-Barr virus (EBV). Once someone has been infected, the virus stays in the body for the rest of that person's life and may even reappear in the saliva from time to time. However, the person usually won't get mono symptoms (like being tired all the time, a sore throat, fever, and loss of appetite) again — at least not from mono.
If you have symptoms of mono — even if you've had it before — see your doctor. Other illnesses such as strep throat and the flu may cause similar symptoms. Your doctor can make an accurate diagnosis.
Reviewed by: Elana P. Ben Joseph, MD
Date reviewed: February 2013
*Names have been changed to protect user privacy.
Note: All information is for educational purposes only. For specific medical advice, diagnoses, and treatment, consult your doctor.
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