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Ovarian Cancer Prevention (PDQ®): Prevention - Patient Information [NCI]
This information is produced and provided by the National Cancer Institute (NCI). The information in this topic may have changed since it was written. For the most current information, contact the National Cancer Institute via the Internet web site at http://cancer.gov or call 1-800-4-CANCER.
Ovarian Cancer Prevention
What is prevention?
Cancer prevention is action taken to lower the chance of getting cancer. By preventing cancer, the number of new cases of cancer in a group or population is lowered. Hopefully, this will lower the number of deaths caused by cancer.
To prevent new cancers from starting, scientists look at risk factors and protective factors. Anything that increases your chance of developing cancer is called a cancer risk factor; anything that decreases your chance of developing cancer is called a cancer protective factor.
Some risk factors for cancer can be avoided, but many cannot. For example, both smoking and inheriting certain genes are risk factors for some types of cancer, but only smoking can be avoided. Regular exercise and a healthy diet may be protective factors for some types of cancer. Avoiding risk factors and increasing protective factors may lower your risk but it does not mean that you will not get cancer.
Different ways to prevent cancer are being studied, including:
- Changing lifestyle or eating habits.
- Avoiding things known to cause cancer.
- Taking medicines to treat a precancerous condition or to keep cancer from starting.
General Information About Ovarian Cancer
Ovarian cancer is a disease in which malignant (cancer) cells form in the ovaries.
The ovaries are a pair of organs in the female reproductive system. They are in the pelvis, one on each side of the uterus (the hollow, pear-shaped organ where a fetus grows). Each ovary is about the size and shape of an almond. The ovaries make eggs and female hormones (chemicals that control the way certain cells or organs work in the body).
Anatomy of the female reproductive system. The organs in the female reproductive system include the uterus, ovaries, fallopian tubes, cervix, and vagina. The uterus has a muscular outer layer called the myometrium and an inner lining called the endometrium.
Ovarian cancer is the leading cause of death from cancer of the female reproductive system.
Since 1992, the number of new cases of ovarian cancer has stayed about the same. The number of deaths from ovarian cancer has slightly decreased since 2002.
It is hard to find ovarian cancer early. Early ovarian cancer may not cause any symptoms. When symptoms do appear, ovarian cancer is often advanced.
See the following PDQ summaries for more information about ovarian cancer:
- Ovarian Cancer Screening
- Ovarian Epithelial Cancer Treatment
- Ovarian Germ Cell Tumors Treatment
- Ovarian Low Malignant Potential Tumors Treatment
- Genetics of Breast and Ovarian Cancer
Ovarian Cancer Prevention
Avoiding risk factors and increasing protective factors may help prevent cancer.
Avoiding cancer risk factors may help prevent certain cancers. Risk factors include smoking, being overweight, and not getting enough exercise. Increasing protective factors such as quitting smoking, eating a healthy diet, and exercising may also help prevent some cancers. Talk to your doctor or other health care professional about how you might lower your risk of cancer.
The following risk factors may increase the risk of ovarian cancer:
Family history of ovarian cancer
A woman whose mother or sister had ovarian cancer has an increased risk of ovarian cancer. A woman with two or more relatives with ovarian cancer also has an increased risk of ovarian cancer.
Inherited risk
The risk of ovarian cancer is increased in women who have inherited certain changes in the following genes:
- BRCA1 or BRCA2 genes.
- Genes that are linked to hereditary nonpolyposis colorectal cancer (HNPCC; Lynch syndrome).
Hormone replacement therapy
The use of estrogen -only hormone replacement therapy (HRT) after menopause increases the risk of ovarian cancer. The longer estrogen replacement therapy is used, the greater the risk may be. It is not clear whether the risk of ovarian cancer is increased with the use of HRT that has both estrogen and progestin.
Fertility drugs
The use of fertility drugs may be linked to an increased risk of ovarian cancer.
Having too much body fat, especially during the teenage years, is linked to an increased risk of ovarian cancer. Being obese is linked to an increased risk of death from ovarian cancer.
The following protective factors may decrease the risk of ovarian cancer:
Oral contraceptives
The use of oral contraceptives ("the pill") lowers ovarian cancer risk. The longer oral contraceptives are used, the lower the risk may be. The decrease in risk may last up to 25 years after a woman has stopped using oral contraceptives.
Taking oral contraceptives increases the risk of blood clots. This risk is higher in women who also smoke. There may be a slight increase in a woman's risk of breast cancer during the time she is taking oral contraceptives. This risk decreases over time.
Pregnancy and breastfeeding
Pregnancy and breastfeeding are linked to a decreased risk of ovarian cancer. Ovulation stops or occurs less often in women who are pregnant or breastfeeding. Some experts believe that women who ovulate less often have a decreased risk of ovarian cancer.
Bilateral tubal ligation or hysterectomy
The risk of ovarian cancer is decreased in women who have a bilateral tubal ligation (surgery to close both fallopian tubes) or a hysterectomy (surgery to remove the uterus).
Prophylactic oophorectomy
Some women who have a high risk of ovarian cancer may choose to have a prophylactic oophorectomy (surgery to remove both ovaries when there are no signs of cancer). This includes women who have inherited certain changes in the BRCA1 and BRCA2 genes or in the genes linked to hereditary nonpolyposis colon cancer (HNPCC). (See the PDQ summary on Genetics of Breast and Ovarian Cancer for more information.)
It is very important to have a cancer risk assessment and counseling before making this decision. These and other factors should be discussed:
- Early menopause: The drop in estrogen levels caused by removing the ovaries can cause early menopause. Symptoms of menopause include the following:
- Hot flashes.
- Night sweats.
- Trouble sleeping.
- Mood changes.
- Decreased sex drive.
- Heart disease.
- Vaginal dryness.
- Osteoporosis (decreased bone density).
- Risk of ovarian cancer in the peritoneum: Women who have had a prophylactic oophorectomy continue to have a small risk of ovarian cancer in the peritoneum (thin layer of tissue that lines the inside of the abdomen). This may occur if ovarian cancer cells had already spread to the peritoneum before the surgery or if some ovarian tissue remains after surgery.
Cancer prevention clinical trials are used to study ways to prevent cancer.
Cancer prevention clinical trials are used to study ways to lower the risk of developing certain types of cancer. Some cancer prevention trials are conducted with healthy people who have not had cancer but who have an increased risk for cancer. Other prevention trials are conducted with people who have had cancer and are trying to prevent another cancer of the same type or to lower their chance of developing a new type of cancer. Other trials are done with healthy volunteers who are not known to have any risk factors for cancer.
The purpose of some cancer prevention clinical trials is to find out whether actions people take can prevent cancer. These may include eating fruits and vegetables, exercising, quitting smoking, or taking certain medicines, vitamins, minerals, or food supplements.
New ways to prevent ovarian cancer are being studied in clinical trials.
Clinical trials are taking place in many parts of the country. Information about clinical trials can be found in the Clinical Trials section of the NCI Web site. Check NCI's list of cancer clinical trials for ovarian cancer prevention trials that are now accepting patients.
Changes to This Summary (01 / 04 / 2013)
The PDQ cancer information summaries are reviewed regularly and updated as new information becomes available. This section describes the latest changes made to this summary as of the date above.
Editorial changes were made to this summary.
Questions or Comments About This Summary
If you have questions or comments about this summary, please send them to Cancer.gov through the Web site's Contact Form. We can respond only to email messages written in English.
Get More Information From NCI
Call 1-800-4-CANCER
For more information, U.S. residents may call the National Cancer Institute's (NCI's) Cancer Information Service toll-free at 1-800-4-CANCER (1-800-422-6237) Monday through Friday from 8:00 a.m. to 8:00 p.m., Eastern Time. A trained Cancer Information Specialist is available to answer your questions.
Chat online
The NCI's LiveHelp® online chat service provides Internet users with the ability to chat online with an Information Specialist. The service is available from 8:00 a.m. to 11:00 p.m. Eastern time, Monday through Friday. Information Specialists can help Internet users find information on NCI Web sites and answer questions about cancer.
Write to us
For more information from the NCI, please write to this address:
NCI Public Inquiries Office |
Suite 3036A |
6116 Executive Boulevard, MSC8322 |
Bethesda, MD 20892-8322 |
Search the NCI Web site
The NCI Web site provides online access to information on cancer, clinical trials, and other Web sites and organizations that offer support and resources for cancer patients and their families. For a quick search, use the search box in the upper right corner of each Web page. The results for a wide range of search terms will include a list of "Best Bets," editorially chosen Web pages that are most closely related to the search term entered.
There are also many other places to get materials and information about cancer treatment and services. Hospitals in your area may have information about local and regional agencies that have information on finances, getting to and from treatment, receiving care at home, and dealing with problems related to cancer treatment.
Find Publications
The NCI has booklets and other materials for patients, health professionals, and the public. These publications discuss types of cancer, methods of cancer treatment, coping with cancer, and clinical trials. Some publications provide information on tests for cancer, cancer causes and prevention, cancer statistics, and NCI research activities. NCI materials on these and other topics may be ordered online or printed directly from the NCI Publications Locator. These materials can also be ordered by telephone from the Cancer Information Service toll-free at 1-800-4-CANCER (1-800-422-6237).
About PDQ
PDQ is a comprehensive cancer database available on NCI's Web site.
PDQ is the National Cancer Institute's (NCI's) comprehensive cancer information database. Most of the information contained in PDQ is available online at NCI's Web site. PDQ is provided as a service of the NCI. The NCI is part of the National Institutes of Health, the federal government's focal point for biomedical research.
PDQ contains cancer information summaries.
The PDQ database contains summaries of the latest published information on cancer prevention, detection, genetics, treatment, supportive care, and complementary and alternative medicine. Most summaries are available in two versions. The health professional versions provide detailed information written in technical language. The patient versions are written in easy-to-understand, nontechnical language. Both versions provide current and accurate cancer information.
Images in the PDQ summaries are used with permission of the author(s), artist, and/or publisher for use within the PDQ summaries only. Permission to use images outside the context of PDQ information must be obtained from the owner(s) and cannot be granted by the National Cancer Institute. Information about using the illustrations in the PDQ summaries, along with many other cancer-related images, are available in Visuals Online, a collection of over 2,000 scientific images.
The PDQ cancer information summaries are developed by cancer experts and reviewed regularly.
Editorial Boards made up of experts in oncology and related specialties are responsible for writing and maintaining the cancer information summaries. The summaries are reviewed regularly and changes are made as new information becomes available. The date on each summary ("Date Last Modified") indicates the time of the most recent change.
PDQ also contains information on clinical trials.
A clinical trial is a study to answer a scientific question, such as whether a certain drug or nutrient can prevent cancer. Trials are based on past studies and what has been learned in the laboratory. Each trial answers certain scientific questions in order to find new and better ways to help cancer patients and those who are at risk for cancer. During prevention clinical trials, information is collected about the effects of a new prevention method and how well it works. If a clinical trial shows that a new method is better than one currently being used, the new method may become "standard." People who are at high risk for a certain type of cancer may want to think about taking part in a clinical trial.
Listings of clinical trials are included in PDQ and are available online at NCI's Web site. Descriptions of the trials are available in health professional and patient versions. Many cancer doctors who take part in clinical trials are also listed in PDQ. For more information, call the Cancer Information Service 1-800-4-CANCER (1-800-422-6237).
Last Revised: 2013-01-04
If you want to know more about cancer and how it is treated, or if you wish to know about clinical trials for your type of cancer, you can call the NCI's Cancer Information Service at 1-800-422-6237, toll free. A trained information specialist can talk with you and answer your questions.
This information does not replace the advice of a doctor. Healthwise, Incorporated disclaims any warranty or liability for your use of this information. Your use of this information means that you agree to the Terms of Use. How this information was developed to help you make better health decisions.
Healthwise, Healthwise for every health decision, and the Healthwise logo are trademarks of Healthwise, Incorporated.


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Bosphorus Bowls
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- Overview
Our cylindrical bowls are hand blown by a renowned glass manufacturer in Turkey.
- Holds objects, collections of stones or shells, or candles (sold separately) for a striking display.
- Weighty bases are designed to counterbalance top-heavy stems.
- Fluid design is finished with a cut rim.
- Monogramming is available at an additional charge.
- Monogram will be centered on the side of the bowl.
- See available sizes below.
- Watch a video about arranging flowers in our glass vases and candleholders.
- Watch a video about how to create a dramatic vertical floral arrangement.
- Dimensions & Care
- Small: 6.5" diameter, 7" high
- Large: 6" diameter, 9" high
- Hand wash.
- Shipping Info
Orders for monogrammed and personalized items cannot be cancelled. Once placed, your order cannot be returned except when due to defect.
This is a general shipping item.
View our Shipping Information
Customer Service - Shipping Information
Return Policy
At Pottery Barn, we take great pride in the quality and craftsmanship of our products. Attention to design, materials, safety and construction is our priority. We carefully inspect your order prior to shipment. Upon receipt, please inspect your purchase and notify us of any damage; we will arrange for a prompt replacement. If, within 7 days for Quick Ship upholstery and 30 days for all other products, you are dissatisfied for any reason, you may return your purchase for a refund of the merchandise value.
We cannot accept returns on monogrammed, personalized, special-order items, or on items damaged through normal wear and tear. We also cannot accept returns of final-sale items which are identified by a price which ends in .99.
For returns of items purchased from your Pottery Barn registry, we will gladly provide a refund or exchange for the merchandise within 90 days of your event or within 90 days of purchase, whichever date is later.
You may return merchandise through the mail for a refund or replacement. For detailed procedures for returning items through the mail, please contact Customer Service at 1.888.779.5176, 7 days a week, 5:00am - 9:00pm (PT).
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3 resign after Benghazi report
New details released Tuesday
Three State Department officials -- including Eric Boswell, the assistant secretary of Diplomatic Security -- have resigned in the wake of an independent review of security failures in Benghazi, Libya, two senior State Department officials told CNN Wednesday
Vivid new details of the attack on the U.S. Consulate in Benghazi were released Tuesday night by a federal committee trying to come to grips with the violence that led to the first murder of a U.S. ambassador since 1988 and the deaths of three other Americans.
The report spoke of grossly inadequate security, an issue that Ambassador J. Christopher Stevens had complained about well before Sept. 11.
Copyright 2012 by CNN NewSource. All rights reserved. This material may not be published, broadcast, rewritten or redistributed.


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Lincolnville welcomes 27th Octoberfest crowd
Mayor Barb Kaiser said it isn't unusual for the city's population of 203 to triple in size during Octoberfest.
"It's important to have this community celebration," she said. "It's not just about bringing Lincolnville together, but more for all the small towns in the area and people living in rural areas (to celebrate)."
Kaiser said she and her husband have been involved with Octoberfest for a very long time.
The Tiemeier family started the celebration many years ago, she said, and later the manager of the Tiemeier store (Kenny Brandt) took it over.
"When (Brandt) retired, he gave it to the city council to keep the celebration going," Kaiser said.
City Councilor Cristina Peterson, who is in charge of celebrations, said she thought this year's Octoberfest had a good turnout.
"It was so cold in the morning, but doing good now," she said. "I think the James Weber Softball Tournament helped, too."
The event is all done by donations, Peterson said.
"We don't make any money off the bracelets, and what little money we do get, we are able to pay for bigger prizes," Peterson said.
Free drawings were held every hour with tickets given away for admission to the Wichita Zoo, Rolling Hills Zoo and Kansas City Royals' game.
One thing Peterson said she was hoping for was a better turnout by vendors, but thought the colder temperatures may have been a deterrent.
In addition to the drawings, live entertainment on stage and several activities for children, the Centre High School freshman class sponsored a fundraiser for prom and graduation.
Dillon Deines, one of the freshman, said Herington Salvage Yard donated a vehicle that people could smash with a sledge hammer.
"There was only one rule," said Justin Silhan, also a freshman, "and that was we couldn't smash the tires because then they couldn't get it back on the trailer."


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Car speakers: What to look for
Ken Nail has written about car audio for Crutchfield since 2003, after four years as Crutchfield Sales Advisor, and 10 years as a music teacher. He's an avid music listener, whose favorites are classical and film music. When not chained to a desk, Ken spends most of his time training for triathlons and marathons, and likes getting outside for backpacking, downhill skiing, and bicycle touring. He attended West Virginia University, where he received a Master's Degree in Music Performance and a Bachelor's Degree in History.
More from Ken Nail
Crutchfield carries car speakers of nearly every size, shape, and type. With so many choices available, it can be hard to know what to look for. But if you keep a few important points in mind, you'll be able to pick out the perfect speakers for your vehicle.
New speakers, like these C2-570X 5x7's from JL Audio, put the life back into your music.
Match your speakers to your system
You should consider two main specifications when considering which speakers will work best in your car.
Sensitivity measures how much sound a speaker yields from the power applied to it. If you have a low-powered car stereo, like most factory systems, speakers with high sensitivity ratings will make the best match. If you have a high-power system, like that provided by a brand-name receiver or external amplifier, then consider speakers with lower sensitivity ratings. Properly powered, they'll provide excellent sound quality.
Power-handling lets you know how much power (measured in watts) a speaker can handle. If you've got a low-powered system, your speakers don't need to be able to handle lots of power. On the other hand, a system with powerful external amps will require speakers whose power-handling is close to the output of the amps. And remember, the key spec in power-handling is the maximum RMS power-handling, not the peak power handling. RMS ratings realistically measure how much power the speaker can handle on a continuous basis, not just for a short period of time.
What type of speakers do you need?
Aftermarket car speakers can be divided into two main categories: full-range speakers, and component speaker systems. Let's explain each and look at their advantages and disadvantages.
Full-range speakers
Full-range speakers contain all the speaker elements in one basket. In their simplest form they consist of a woofer for the lows, and a tweeter mounted onto the woofer to produce the highs. Some models will have additional drivers, like midrange or supertweeter. You should choose full-range speakers if you're looking to replace factory speakers with a minimum of muss and fuss. They come in a variety of sizes that mount easily into factory speaker locations. In most cases, you simply remove the old speaker, connect the new speaker with a free Crutchfield wiring harness, and mount it. You'll find full-range speakers at nearly every price point and power range.
Component speakers
Component systems use a superior speaker design to give you the best possible sound. A typical component system includes separate woofers, tweeters, and external crossovers — all of which come designed to work in concert with one other.
Kicker's 40CSS654 component system includes separate woofers, tweeters, and external crossovers.
In a component system, the tweeter comes separate from the woofer, and you can mount it in a location that provides the best imaging. Your music will sound more realistic, more "live," and have greater depth. The crossover network in a component system comes external to the woofer and tweeter, so higher quality internal components can be used to ensure a sharp delineation between the frequencies sent to the different drivers — that means more realistic sound for the listener. Component systems are generally made of better materials than their full-range counterparts, so they're capable of delivering exceptional dynamics and detailed sound.
Speaker materials
A speaker's material design will determine its durability and sound quality.
Woofer materials
To effectively produce the low notes in your music, the woofer of a full-range or component speaker should be made of material that is stiff, yet lightweight. Manufacturers make most car speaker woofer cones out of synthetic films like polypropylene, which serve well. Polypropylene mixed with other materials, like mica, is often stiffer, yielding more accurate bass response. Woven fabrics, or synthetics coated with metals like aluminum or titanium, are also lightweight, strong, and provide excellent response. All of these materials stand up well to heat, cold, and moisture.
Tweeter materials
A tweeter's material has a big effect on the type of sound it produces. Generally, tweeters made of soft materials, like poly, textile blends, or silk will give you sound that's refined and somewhat mellow. If you like the highs bright and snappy, go with hard materials, like metal, ceramics, or graphite.
Surround materials
The surround on a woofer performs a vital role — it allows the woofer cone to move freely and emit bolder bass. It must be durable to stand up to temperature and humidity extremes. Surrounds made of rubber will provide the best overall performance and longevity. Foam and cloth surrounds cost less, yet still perform well.
Other features
Several other common features in car speakers may be important for your system's needs.
Pivoting or swiveling tweeters
If you're replacing speakers low in your door, full-range speakers with pivoting tweeters can have a big effect on your sound. Tweeters produce very directional high-frequencies, so pivoting tweeters can be "aimed" towards the listener for a higher soundstage. Your music will sound more realistic with a greater sense of depth.
Infinity's UniPivot tweeter design in their Reference X Series lets you aim the high frequencies at your ears.
External crossovers
Some higher-priced, full-range speakers employ external crossovers to achieve clean separation between the frequencies sent to the woofer and tweeter. The woofer and tweeter don't waste energy by trying to reproduce frequencies they're not intended to reproduce. You'll enjoy cleaner, more efficient sound reproduction.
Detachable tweeters
Speakers with detachable tweeters can be used as either full-range speakers or component systems — a nice feature if you want to reuse the speakers in a different vehicle.
Get everything you need
Foam baffles protect your speakers from dust and moisture.
Bass blockers improve smaller speakers' efficiency by removing low frequencies they weren't designed to handle.
The right tools make taking a door panel off or removing a window crank a lot easier.
Dynamat lowers noise levels inside your vehicle, giving you improved clarity, volume, and bass response from your speakers.


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Coming soon!
From the movie -Voyage to the Bottom of the Sea
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Quantities may be limited – place a provisional order now to reserve your Seaview.
Contact Mike Caswell mike (at) caswellplating.com


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Metal Fabricators in Kaukauna |
Below is a list of businesses listed within our directory. If you do not see your business within the list below, you can submit it for addition to this list. Adding your business will feature your listing above Standard listings.
Accurate Mechanical Contractors - Kaukauna, WI - Phone: (920) 766-3768
Northside Welding - Kaukauna, WI - Phone: (920) 766-9731
Treml's Advanced Welding LLC - Kaukauna, WI - Phone: (920) 687-1704
Helpful Definition for: Metal Fabricators
Metal fabrication, in Kaukauna, is defined as the process of assembling, cutting and bending of metals. The process of cutting metal includes chiseling, sawing, etc, and this work is either executed manually, or mechanically with the help of electrical power. The process of assembling and bending involves welding and hammering, respectively. Fabrication of metals requires both human labor and mechanical support. Fabrication is performed in shops that are popularly known as 'fab shops'. The tools or machines involved in metal fabrication are usually boilermakers, ironworkers and millwrights. Apart from this, trucks and trains are also used for moving metals form one place to another. Welding is essential for fabrication of steel to prevent rusting. Metal fabrication, in Kaukauna, is comparatively cheap. Metal fabrication needs to be done by skilled labors and they should undergo proper training in it. One should be aware of the advantages and disadvantages of a metal before fabricating it.


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Bark Stop Professional
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Stop annoying barking from your dog - or your neighbor's dog - with Bark Stop Professional, a humane and effective bark deterrent that quiets noisy dogs. This revolutionary system automatically detects dog barking up to 35 feet and responds by emitting a high-pitched tone that humans can't hear. Although the tone does not cause pain to animals, most dogs don't like it and will stop needless barking. Bark Stop Professional uses an old age principle of "Negative Reinforcement" using sound to help train dogs to stop annoying barking. Works with any size or breed of dog. Use it to cure a dog's behavioral problems or to train puppies not to bark. Ideal for multiple-dog homes. Simply install the system using the included mounting bracket and point it directly at the barking dog's yard. Bark Stop Professional will automatically turn on when barking occurs. It also offers two tone settings, ultrasonic (only dogs can hear it) or audible (humans can hear it too) and audible test button. Waterproof. Great for indoor or outdoor use. Includes:


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Perfect your pout with gorgeous, anti-aging lipstick colour in a delicious array of intoxicating mineral shades! Pur's Chateau de Vine lipsticks glide on effortlessly for a full range of flawless looks—from bold, full lips to a barely there stain. Using exclusive Farm to Jar ingredients — including age-defying Resveratrox and Vitisin, freshly harvested from Bordeaux's finest wine-producing grapes—this one-of-a-kind formula reverses visible signs of early aging, like lip lines and wrinkles, so you can toast to younger-looking lips with every kiss. Paraben-free. Gluten-free.
Pur Minerals does NOT test its products on animals.
Apply Chateau de Vine Lipstick to lips with a Lip Brush or directly from the tube. For extra shine, top with a coat of Chateau Kisses Lip Gloss. For added definition, line lips first with a complementary Mineral Lip Pencil.
Pentaerythrityl Tetraisostearate, Octyldodecyl Neopentanoate, Octyldodecanol, Polyethylene, Stearyl Dimethicone, C10-30 Cholesterol/Lanosterol Esters, Diisostearyl Malate, Tridecyl Trimellitate, Cetearyl Nonanoate, Hydrogenated Polyisobutene, Synthetic Wax, Euphorbia Cerifera (Candelilla) Wax/Candelilla Cera, Wine Extract, Vitis Vinifera (Grape) Vine Extract, Vitis Vinifera (Grape) Root Extract, Beeswax/Cera Alba, VP/Hexadecene Copolymer, Copernicia Cerifera (Carnauba) Wax/Copernicia Cerifera Cera, Butylene Glycol, Butyrospermum Parkii (Shea) Butter, Flavor (Aroma), Lauroyl Lysine, Mangifera Indica (Mango) Seed Butter, Tocopheryl Acetate, Aqua, Ascorbyl Palmitate, Retinyl Palmitate. May Contain: Mica, Titanium Dioxide (CI 77891), Iron Oxides (CI 77491, CI 77499), Blue 1 Lake (CI 42090), Red 6 (CI 15850), Red 7 Lake (CI 15850), Red 30 Lake (CI 73360), Yellow 5 Lake (CI 19140)
Posted by Jodi on 31st Dec 2014
I love this red lipstick! Great color!
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beautiful color..love this item (showoff)
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Pleased with the product


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I have just heard back from SilverStone that the Sugo SG02 has been delayed. The reason for this delay is SilverStone manufacturing facilities now finishing the production of some other products. No revised tentative ship date for the SG02, but hopefully it will be by late October.
For those that haven't seen the case yet, below is a diagram provided by SilverStone for the Sugo SG02.


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Our local friends at Furry Friends, Inc. provide a high quality food and have set up an account for NMDR to provide our food at a discount, but also have our food delivered when we need it without maintaining a huge inventory at our facility."
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Difference between revisions of "Haptic controller"
(→Getting started) |
(→Getting started) |
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=== Source checkouts === | === Source checkouts === | ||
NB: The required source checkouts can be installed using the rosinstall file in the haptic mpc directory. See 'hrl_haptic_mpc.rosinstall' for details of the git repositories. | NB: The required source checkouts can be installed using the rosinstall file in the haptic mpc directory. See 'hrl_haptic_mpc.rosinstall' for details of the git repositories. | ||
− | |||
=== Testing your controller works === | === Testing your controller works === |
Revision as of 18:28, 18 March 2013
This page describes the revised haptic MPC control system architecture, what each module does and where the associate parameters reside, and how to run the system.
Getting started
To run the haptic MPC you need the following:
Debian packages
- Python (2.7)
- OpenOpt python package:
- python-openopt
- ROS Fuerte. Should also work fine on Electric (has been tested intermittently, but not extensively regression tested).
- ROS PR2 desktop package
- ros-fuerte-pr2-desktop
- ROS PR2 simulation package (for testing everything before you try the robot):
- ros-fuerte-pr2-simulator
Source checkouts
NB: The required source checkouts can be installed using the rosinstall file in the haptic mpc directory. See 'hrl_haptic_mpc.rosinstall' for details of the git repositories.
Testing your controller works
With all the above dependencies checked out/installed, do the following to ensure everything works.
- Build the MPC and dependencies. It's mostly python but may not have the messages built:
- rosmake hrl_haptic_mpc
- Run the PR2 simulator
- roslaunch pr2_gazebo pr2_empty_world.launch
- Run a script to change the PID gains on the PR2 arm joint controllers. The standard ones are stiffer than ideal for the MPC.
- roscd hrl_haptic_mpc
- ./change_gains_pr2.sh
- Run the controller, specifying which arm you want to use.
- roslaunch hrl_haptic_mpc start_pr2_mpc.launch arm:=<l,r>
- Run Rviz
- rosrun rviz rviz
- In Rviz, add an interactive marker and point it at the mpc teleop topic.
- Move the marker around to some meaningful point in space.
- Right click the marker, click "Go". The controller should move the end effector to the specified position
- Right click the marker again, click "Orient". The controller should orient the gripper to match the marker.
If these steps worked - the controller is set up correctly.
Running the MPC
Using a launch file
The simplest way to run the controller is to roslaunch of the specified launch files. These launch files will handle most of the parameter initialisation and simplify things.
- Start the skin:
- roslaunch hrl_fabric_based_tactile_sensor pr2_tactile_sleeve_combined arm_to_use:=<l or r>
- Start the controller for the PR2:
- roslaunch hrl_haptic_mpc start_pr2_mpc.launch arm:=<l or r>
- Start the skin and robot.
- Meka: roslaunch cody cody.launch use_forearm_skin_sensor:=1 use_netft:=1 arm_to_use:=[r or b]
- Fabric: roslaunch hrl_fabric_based_tactile_sensor cody_tactile_sleeve.launch
- Start the controller for Cody. NB: There are two launch files depending on sensor - the Meka skin is ONLY on the right arm so this is enforced by the launch file.
- roslaunch hrl_haptic_mpc start_cody_mpc_meka.launch
- roslaunch hrl_haptic_mpc start_cody_mpc_fabric.launch
ODE Simulation:
- Start the simulation (includes skin simulation:
- roslaunch hrl_software_simulation_darpa_m3 gen_simulator random:=1
- Start the controller for the sim:
- roslaunch hrl_haptic_mpc start_sim_mpc.launch
Running scripts directly
Sometimes it may be preferable to run the controller scripts directly. Running the launch files will mean that much of the debug output is swallowed (only WARN level or above will print by default). Each of the controller nodes must be started manually. The controller will not act until it receives valid messages, hence the order is not critical.
- ROBOT: Which robot parameters to use. Options: pr2, cody, sim3
- ARM: Which arm to use on the multi-armed robots (pr2, cody). Options: l, r
- SENSOR: Which sensor type to listen to. Options: fabric, hil
Sequence to execute:
- roscd hrl_haptic_mpc/src/hrl_haptic_mpc
- ./robot_haptic_state_node.py -r <ROBOT> -s <SENSOR> -a <ARM>
- ./mpc_teleop_server.py -r <ROBOT>
- ./arm_trajectory_generator.py -r <ROBOT> -a <ARM>
- ./haptic_mpc.py -r <ROBOTNAME> -a <ARM>
Parameter files
The controller requires two parameter files to be loaded onto the ROS parameter server - one for the robot specific interfaces (eg, what skin topics to listen to and joint limits), and a second for controller parameters (weights associated with position/orientation, etc). For different robots you may want to copy one of the base ones and modify these to tune the controller's performance.
- pr2_config_params.yaml - robot parameters
- mpc_params_pr2.yaml - controller parameters
- cody_config_params.yaml
- mpc_params_cody.yaml
ODE Sim:
- sim3_config_params.yaml
- mpc_params_sim.yaml
To load these onto the parameter server, do the following. Make sure your ROS master is set correctly!
- rosparam load <filename>
Control System Architecture
Tactile Skin Client
- Filename: skin_client.py, plus robot specific versions (pr2_skin_client, sim_skin_client)
- Arguments: None (don't run this directly - it's instantiated by the haptic state node).
The skin client class monitors a specified list of topics for TaxelArray messages. The "TaxelArray" message is a message containing lists of arbitrary length of taxel data: taxel centre (x,y,z), the force vector (x,y,z) and the force magnitude (x,y,z).
The skin client subscribes to all provided taxel array topics and buffers the data. It also provides an interface to add or remove subscriptions to taxel array topics on the fly. This allows the skin client to selectively ignore data based on some external variable. For example, if a joint is in a configuration which will fire a taxel due to skin bunching, it would be sensible to ignore this taxel data. This configuration dependent taxel logic will (soon) be added by Survy.
The functionality in skin_client.py is agnostic of the robot it is running on, however, due to the constraints of the original controller there is one function call which needs to know about robot specific joints. Currently this is implemented as a class which inherits from skin_client.py and overloads the function (which is defined in skin_client.py but throws an exception if not overloaded). This functionality will eventually be moved into robot_haptic_state to separate skin_client more cleanly.
Haptic State Publisher
- Filename: robot_haptic_state_node.py
- Arguments: -r <robot eg pr2, sim3, cody> -a <arm eg l, r> -s <sensor eg fabric, meka>
The haptic state publisher exists to centralise all the relevant haptic state data used by the controller, and publish it in one single message which the controller can use. This abstracts the robot specific parameters from the controller, simplifying changing robots, sensors, etc.
The robot haptic state parameter reads the current arm state and current skin state, then performs a number of calculations to derive the various Jacobian matrices. These are packaged in a simple haptic state message which is then published.
- Robot specific. Accessed through the robot client class and the skin client class.
- Haptic state: /haptic_mpc/robot_state
Waypoint Generator
- Filename: waypoint_generator.py
- Arguments: -r <robot eg pr2, sim3, cody> -a <arm eg l, r>
The waypoint generator exists as an interface between the teleoperation/motion planning modules and the controller. As inputs, it listens to both end goal poses and trajectories. If the provided trajectory is in joint space, the node will perform forward kinematics on the trajectory to convert it to cartesian space. The waypoint generator will attempt to interpolate any given goal and provide the controller with a local goal 50mm from the current end effector pose. These parameters are configurable, and the waypoint generator can be bypassed altogether if required (the controller will internally interpolate single goals). On hearing an updated goal of any sort, the internal buffers are flushed and the latest goal is used.
- Single goal location: /haptic_mpc/goal_pose
- Cartesian trajectory:
- Joint trajectory:
- Controller waypoint: /haptic_mpc/traj_pose
Haptic MPC
- Filename: haptic_mpc.py
- Arguments: -r <robot eg pr2, sim3> -a <arm eg l,r> [NB: Soon to be deprecated - the robot parameter was only required to get joint limits from a kinematics class]
The core haptic MPC node. This takes the packaged robot haptic state data and computes deltas for the desired joint angles. These are then sent back to the robot haptic state node to be sent to the robot as appropriate. The python class mostly listens for messages, unpacks the data and forms it appropriately for the maths functions found in epc_skin_math.py. This script formulates the problem for the QP solver.
- Waypoint pose: /haptic_mpc/traj_pose
- Robot haptic state: /haptic_mpc/robot_state
- Delta Q_des: /haptic_mpc/delta_q_des
- Q_des: /haptic_mpc/q_des (used only to reset the equilibrium angles when the controller starts up)
Teleop interface
- Filename: mpc_teleop_rviz.py
- Arguments: -r <robot eg pr2, sim3> -a <arm eg l,r>
The RViz teleop interface uses interactive markers to make it easy to send goals to the controller. It will display an appropriate marker for the gripper based on the robot input argument, allowing the user to drag the marker in space to the desired goal. To send the goal to the controller, right click the marker and select either "Go" or "Orient". "Go" will send the goal pose to the controller and enable it in position-only mode. Using "Orient" will do much the same, but will make the controller try to achieve the specified orientation as well as position.
The teleop interface menu also allows the gripper to be opened/closed and the skin re-zeroed.
- N/A (some interactive markers but not important to the user).
- Goal pose: /haptic_mpc/goal_pose
Adding a new robot to the controller
Adding a new robot type to the controller is simple. Most of the changes need to be made to the robot_haptic_state_node module.
- Create a robot client class. This class must provide basic kinematics/jacobian functions and also provide handlers to interface with the joint controllers on the arm. See pr2_arm_darpa_m3.py as an example.
- Create a skin client class which inherits from skin_client. See pr2_skin_client.py as an example.
- Modify the option parsing script in haptic_mpc_util.py to add your new robot type as a valid input argument. If necessary, add constraints to enforce certain sensor types or a left/right arm.
- Modify robot_haptic_state_node.py.
- Add an initialisation routine for your robot. This should set up all relevant parameters for your robot and instantiate the robot and skin clients classes.
- Ensure you are correctly setting up the joint limits used by the controller. These are stored on the parameter server at /haptic_mpc/joint_limits/[min, max]. The haptic state node should copy the appropriate joint limits to this location before the controller starts.
- Add a selective taxel handling routine for your robot. This functionality is not fully implemented yet for the PR2 (but is close). If taxels will always fire in certain configurations (eg, the wrist taxel on a PR2 when the wrist is bent), ignore it based on the joint positions.
- Create a YAML file with your robot configuration parameters (see pr2_params.yaml for an example).
- Create a YAML file with the appropriate controller parameters, if the standard ones don't suit (see mpc_params.yaml for an example).
- Test the controller. The nodes should be able to be started out of order, but it's a good idea to start the MPC last.
- If all goes well, create a launch file for your modified controller. See launch/start_pr2_mpc.launch for an example.
PR2 notes
NB: If the arm is running slowly on the PR2, it probably means you need to restart the arm controllers with lower gains. The arm should be relatively compliant if you push it away from its holding position.
To change these, perform the following steps:
- roscd hrl_pr2_gains
- ./change_gains_grasp.sh
The controllers will shut down (the arms will fall), and will restart when you press a key.


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Two-wheeled skateboard offers surfing on tarmac experience
January 1, 2006 The EssBoard is a skateboard with a twist – quite literally. Its two castor type wheels enable a motion that is very difficult to descibe, but enables the board to be propelled up-hill, and without needing to touch the ground, while at the same time enabling a motion that more closely captures the feel of surfing or snowboarding than any previous asphalt skateboard. Emanating from Korea, the EssBoard appears identical to "the Wave" board which comes from California, and the Exboard which comes from the UK, though we've been unable to ascertain which was the original or whether the designs originated independently. Putting originality aside, the Essboard (and presumably the Wave and exboard) offers some compelling functionality, as it works the torso and legs at the same time as offering captivating entertainment value. If you can't quite comprehend what the Essboard, Exboard or Wave board can do, or how they work, check these videos at the Streetsurfing site, or these vidz at the Exboard site, or these at the Essboard site for beginners and expert riders.
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She also has a book I can't wait to read!
She also has a book I can't wait to read!
Last edited by Johar; 06-20-2012 at 01:46 PM.
Yes, I've seen her on some TV segments. What a story! The most salient point I get out of it is how unutterably lucky her sister was to have been adopted by a loving family. Romania has had (I don't know about the present moment) one of the largest populations of unclaimed kids in orphanages, and even a healthy kid hasn't always had much chance of being adopted. Yet this family chose a little girl with quite a physical challenge and gave her the kind of life where she was able to overcome her disability in magnificent fashion. Good for Dominique for breaking out and starting a seemingly stable family of her own, but special praises to her sister's adoptive parents.
Yea, her sister was born without legs or only partial legs. I remember how beautiful she was as a child and she is just as beautiful now.
Dom found out she had a sister whom her parents gave away because she was born missing legs,
Now that I've read a little more, I'm not sure whether the sister was born in Romania or here. Either way, she was blessed to have a wonderful adoptive family. There's a video of the interview they did on I think the Today show, and all three girls have delightful personalities. Dominique is very articulate and sounds quite sensible and steady, which is great to hear considering her seemingly tumultuous upbringing and childhood.
Dominique can definitely write, assuming someone wasn't editing her work. I too am adopted and have my own bad experiences to talk about as they pertain to adoption, though I'm still appreciative for my parents adopting me in the first place. I'm sure that finding out that her sister was disabled helped to put her own issues in life into perspective.
Coach Bela Karolyi---He scares me!
To me he seems no better than a paid bully. There's something revolting about a big guy like that having the last word over every aspect of the lives of little girls--very little girls--who are literally risking their lives on his say-so. I was as excited as anyone else about the Romanian teams of 1976 and 1984, but when we started hearing what the cost was to the girls, I soured on that kind of gymnastics pretty quickly. One thing that revived my interest in gymnastics was Svetlana Khorkina, who lasted into adulthood as an elite gymnast, and who seemed able to hold her own with the coach.
My neice takes gymnastics and loves it, the idea terrifies me as she already has issues with how she feels people see her (my cousin is a worthless excuse of a dad IMO) and all we hear about are the horror stories...
I got the book, just started reading it. So far, a common opinion seems to be that there's a bit too much about the sister, not enough about the gymnastics.
Good to see someone as successful as Dominique speaking out though. When a less successful gymnast does it, it's usually dismissed as "sour grapes." Hopefully it'll be a bit harder to dismiss it when a member of the Olympic gold-medal winning team says something. Of course, I've read some comments that still dismiss this as "sour grapes" because Dominique didn't achieve as much individual international success as she'd expected, or because her 2006 comeback didn't work out. Who is entitled to say something, I wonder?
Anyone remember that fluff piece from the 1996 Olympics that called her life a "fairy tale" and painted her as a naive little girl who'd known nothing but success, love and excitement and who "thinks the world is made out of sugar and she's climbing the sugar mountain," in Karolyi's own words? I thought the way it infantilized her was ridiculous at the time, and that was before I even knew the true story.
I agree that it's unusual for a gymnastics star to come forward and give such an arduous account of the pitfalls of the sport. Moceanu's words would intensify any parent's (or aunt's!) worry about the risks of gymnastics, given the possibilities. I know from ballet people that you can find this sort of situation there, too, and of course figure skating also lends itself to similar abuse.
if I were a worried parent (or aunt!), my question would be, does every gymnast undergo this kind of treatment. I gather that Shannon Miller had a thoroughly satisfying gymnastics career, as did Shaun Johnson. Mary Lou Retton seems to have nothing but happy memories of her time in gymnastics, and she was actually a Karoly student, wasn't she. So what is it that makes possible something like Moceanu's agonizing career? I think the one obvious answer is the parents. Moceanu's father seems to have been the same kind of unpredictable martinet as Karolyi, and so Dominique had no advocate to put restraints on her training regimen. A good parent would have asked the coach to rein it in, or would have changed coaches. These guys played blind, deaf, and dumb.
For myself, I don't like the idea of gymnastics for a girl because it too easily feeds into the idea that a small, childish shape is the only shape to be. It can also be incredibly dangerous. (Full disclosure: I feel the same way about football in terms of the danger.) On the other hand, you get someone like Shaun Johnson, who did handstands on the furniture and walked tightrope on the neighbor's fence as soon as she could climb. Obviously born for the sport.
Being a parent is so complicated!
Last edited by Olympia; 06-23-2012 at 06:35 AM.
Just finished the book yesterday. I thought she came across as very fair and level-headed and had a lot of valid criticisms of the powers that be, and she also seems to be a genuinely sensitive and other-focused person. Those accusations that she's just bitter and trying to get attention really seem silly now. One part of her life she skipped over completely was her attempt to qualify for the 2000 Olympics. I remember that year she competed at nationals, didn't really have the difficulty in her routines to be a top contender, and couldn't compete at trials because of injury. That came the year after all the turmoil with her family and that coach they brought over from Romania. She didn't train much in the midst of all of that, and I guess she didn't have enough time to get ready.
When Domi first started speaking out about her experiences a few years ago, I remember she stressed that her criticisms were directed at elite gymnastics and the damaging behaviour of coaches, etc. there. She had nothing but praise for the sport itself, and in the book she talks about how she really loved the sport and gained a lot of confidence from it before she became involved with the Karolyis. At the end of her book, she mentions her daughter is getting into gymnastics, and says, "I love this sport with all my heart. It was never the sport that harmed me, it was the self-serving adults surrounding the sport at the elite level who harmed me." The attitude of the coaches and parents can certainly play a big influence. There are probably self-serving adults at the elite level of most high-profile sports, but the top athletes in women's gymnastics tend to be quite young, and that increases the potential for harm.
I've read some pretty unflattering things about Shannon Miller's coach as well. Her mom wrote a book (Shannon Miller: My Child, My Hero) in which she describes some pretty controlling and childish behaviour from him. Dominique's book mentioned that Shannon was often in tears during her workouts, although Dominique envied this in a way because the Karolyis hated any displays of emotion from their gymnasts and she quickly learned she had to keep her face blank no matter what she was feeling.
I thought it was interesting what Dominique said about Kerri Strug also (and it fits with what you said above, Olympia) - the Karolyis were noticeably less harsh on Strug because her father had told him that if they mistreated her, they would take her elsewhere. Kerri was already a top gymnast when they worked that out though, so in most cases with a less successful gymnast I imagine that wouldn't work. The coach would just say, "Fine. Take her elsewhere." And if the coach is well-known for producing successful elite gymnasts, the parents are often reluctant to do that.
I think it's also no surprise a lot of former gymnasts are reluctant to speak out against the Karolyis, because former gymnasts often end up involved in the sport in some way, and Martha Karolyi holds so much power in gymnastics in the US.
Shawn Johnson was an interesting case...I remember reading she put in quite a bit less training time than the typical elite gymnast and still achieved some great international success. According to Moceanu's book, Amy Chow also put in less training time than the other Magnificent 7 gymnasts, and she ended up making two Olympic teams and winning an individual silver on bars. This sort of thing is often explained away as people say things like, "Well, she was just exceptionally talented. Not all gymnasts can do that." Well, how do we know how often that can work if it's so rarely attempted? Maybe it's much more do-able than has been thought. Maybe there would be more talented athletes competing at the elite level and lasting longer there if they weren't always being told that you have to train 40+ hours a week and push through injury after injury. Maybe more isn't always better.
Thanks for the analysis. You're obviously a well-informed gymnastics fan. I'm just a casual viewer, so I appreciate the benefit of your insights. I'm surprised to hear about Shannon Miller. I don't know why I expected her to be treated differently, or at least have family backing her up as Kerri Strug seems to have. Part of it is that by the time of Atlanta, she had more than proved herself in Barcelona, and I hoped that would give her a cushion. I love that Amy Chow and Shaun Johnson seem to have escaped the worst of it. You might have a point there: that killing oneself in grinding practice might actually be counterproductive.
Thanks for pointing out the difference between gymnastics and elite gymnastics. That makes me feel a lot better about its being a sport for kids.
I wonder what the story is with Nastia Liukin. After all, her coach was actually her father, right?
It sounds an awful lot like Jenny Kirk's take on skating, doesn't it?
elite anything is dangerous without the buffers Kirk so wishes she had in her life... (which is why I worry about my neice, IF she were to achieve that - and that's her dream this week - her mom wouldn't be that buffer...)


text: I agree with you. I like Breen defending him, i see him as a very hardworker myself. He plays hard, I have less of a problem with him then Fields. But Douglas's defense is overrated, hes a streaky shooter thats turnover prone and a shooting guard whose trapped in a point guards body.


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The tournament was held at the Arizona Grand Resort on November 15. Once again the Arizona sunshine did not fail us and it was a beautiful day. After the tournament, we dined al fresco, handed out awards, and held a raffle and silent auction. The event helped raise awareness for pulmonary hypertension and the funds raised by the tournament will help the Pulmonary Hypertension Association fund research and patient services. We hope everyone who attended enjoyed themselves and had a fun day with family and friends. We want to thank the many people who participated, the sponsors, Deirdre Farrell and Debbie Castro at PHA, and the committee members and volunteers who helped make this tournament possible. We greatly appreciate the support of all who are committed to helping us each year in our efforts to raise awareness and search for a cure to pulmonary hypertension.
In 2009, we are going to change things up a little — we are going to hold a Casino Night November 7, 2009. We hope to see you all there! Please visit PHA's online calendar for more details.


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Hobbes and International Relations
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