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The Power of Birthdays, Stars & NumbersRandom House Publishing Group 2009; US$ 26.95
The most complete, comprehensive birthday forecast available--synthesizing the secrets of astrology, numerology, and fixed stars! In this delightfully addictive, wholly accessible book, two skilled astrologers guide you toward greater psychological insight, self-awareness, and a keen understanding of your unique position in the universe. Packed with... more...
No More Secrets, No More LiesNorth Atlantic Books 2010; US$ 16.95
Building on the historical perspective that characterized the previous book in the trilogy, Atlantis Rising, this final volume asks readers to remember that when they decided ?to come to this earth adventure... blowing down the Establishment Walls would be a Herculean task.? But, she adds, ?Fall they would indeed.? Hastening this necessary next step... more...
The Starseed DialoguesNorth Atlantic Books 2010; US$ 16.95
"Patricia Cori has channeled the absolute truth of creation: who we are, where we came from, and what our mission is." ?Richard Fuller, Metarev.com " The Starseed Dialogues is the result of questions that readers of the Sirian Revelations have asked that Patricia then turned over to the Sirian High Council for answers...This book is definitely... more...
The Order of DaysPotter/TenSpeed/Harmony 2011; US$ 15.00
The world's foremost expert on Maya culture looks at 2012 hysteria and explains the truth about what the Maya meant and what we want to believe. Apocalypse 2012: An Investigation into Civilizations End. The World Cataclysm in 2012. 2012: The return of Quetzalcoatl. According to many of these alarmingly titled books, the ancient Maya not only... more...
The Prophecies of NostradamusMobileReference.com 2010; US$ 3.99
In The Prophecies he compiled his collection of major, long-term predictions. The first installment was published in 1555. The second, with 289 further prophetic verses, was printed in 1557. The third edition, with three hundred new quatrains, was reportedly printed in 1558, but now only survives as part of the omnibus edition that was published after... more...
African Oracles in 10 MiHarperCollins 2010; US$ 8.99
For more than 1000 years, the Yoruba of Nigeria have planned their lives, found true love, and learned their destiny through a vibrant and poetic fortune-telling system. African Oracles in 10 Minutes puts the power of these ancient methods in your hands. Sensing the strong link between sexual and spiritual energy, the Yoruba have traditionally... more...
2012 AwakeningUlysses Press 2009; US$ 14.95
HUMANITY STANDS AT THE BRINK OF A CROSSROADS. WHICH PATH WILL YOU CHOOSE? AWAKE FROM YOUR DREAM TO TAKE CHARGE OF YOUR DESTINY! Ancient Mayan predictions foretell that the world will end on December 21, 2012. Yet, as this date approaches most of us do not know where we are headed or why we are here. In 2012: Awakening , Wisdom Teacher Sri Ram... more...
I Ching in Ten MinutesHarperCollins 2010; US$ 9.99
Using the unique methods revealed in this book, readers can cast and interpret the I Ching instantly, without countless hours of study and practice. This book deciphers the meanings of I Ching's trigams and hexagrams in easy-to-understand language, offering explanations that are relevant to contemporary society. more...
Tell Your Own FutureAndrews UK 2010; US$ 2.99
Knowing the future is the dream of most people. Astrologers, horse tipsters and actuaries all try to assess what will happen tomorrow and the day after. This book sets out 100 questions on subjects as diverse as romance, business, money and jobs. You choose a question, select a letter, consult the location chart...and hey presto - there is the answer... more...
2013John Hunt Publishing 2011; US$ 11.99
This anthology offers wide-ranging views by various global experts about the end of the Mayan calendar in 2012, as well as related prophecies and associated physical changes of Earth's structure. The purpose of this collection is to broaden your perspective about such issues and concerns, so you can discern for yourself what your commitment to planetary... more...


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JazTy Classic Kids Teak Coffee Table
JazTy Classic Kids Teak Coffee Table
Weights & Dimensions
|Table Top Finish: Natural
|Table Base Material: Wood
|Theme: Solid
|Table Design: Writing Table; Coffee Table
|Table Shape: Rectangular
|Wheels Included: No
|Seating Included: No
|Storage Features: No
|Umbrella Included: No
|Outdoor Use: Yes
|Eco-Friendly: Yes
|Country of Manufacture: Indonesia
About the ManufacturerThe premise of JazTy is to search the world for unique high quality furniture categories and provide extremely high quality furniture at moderate pricing.They feel there is a gap that is not being provided for in the children's furniture market between very high end, high quality exclusive products found in designer stores, and lower end mass produced items found in hundreds of online stores, and mass merchandisers. Their goal is to provide high quality old world, solid wood, hand constructed furniture at moderate pricing. Their goal is not just to provide your children with furniture they will cherish and love, but to provide furniture that their future children will cherish and love knowing that their own parents used it.
JazTy Classic Kids Teak Coffee Table
Still have questions about this product? We're here to help
Customer Reviews
Tell Us What You Think!
Tell us what you think about this product. It will help us provide you with better products in the future and help your fellow shoppers make better purchases.Write the first review
OUR SKU # WGJ1005Classic Kids Teak Coffee Table is also sometimes listed under the following manufacturer numbers: JT-T-1005

subset: commoncrawl


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Registry Favorites
- Williams-Sonoma Open Kitchen Dinnerware Collection $12 – $24
- Pillivuyt Basketweave Dinnerware Place Settings Sugg. Price: $115.95 – $463.80 Our Price: $115.95 – $417.95
- Pillivuyt Queen Anne Porcelain Dinnerware Place Settings Sugg. Price: $111.95 – $447.80 Our Price: $111.95 – $403.95
- Pillivuyt Coupe Porcelain Dinnerware Collection Sugg. Price: $59.95 – $447.80 Our Price: $59.95 – $403.95
Glassware & Bar
- Williams-Sonoma Open Kitchen Tumblers, Set of 6 $24 – $30
- Williams-Sonoma Open Kitchen White Wine Glasses, Set of 4 $24
Serveware & Entertaining Accessories
- Pillivuyt Queen Anne Platter $149.95
- Pillivuyt Rectangular Porcelain Serving Platter $119.95
- Jars Cantine Oval Platter $79.95
- Pillivuyt Shallow Coupe Porcelain Serving Bowl $109.95
- Pillivuyt Queen Anne Serving Bowl $139.95
- Westbury Flatware Place Settings $39.95 – $159.80
- Flute Flatware Place Setting, Satin Finish $39.95 – $159.80
We received these as a wedding gift 14 years ago. It is our "everyday" dinnerware and has endured three kids, four moves and countless uses. We have had just one plate break despite many being dropped. I highly recommend ...
An all over coating of glossy white enamel gives our serving set a fresh, summery look that's just right for casual dining, from relaxed meals in the kitchen to outdoor barbecues and picnics. These versatile stainless steel utensils partner ...
Our Victorian inspired porcelain dinnerware embodies both sophistication and whimsy with its fanciful edgework enrobed in tonal shades of gray. Pillivuyt of France designed the Eclectique collection so every piecefrom soup bowl to dinner platehas a unique rim design ...
Crafted in Sheffield, England, our heirloom quality silver plated bridal set will be treasured and enjoyed for a lifetime. Inspired by an antique cannon handle, the fiddle design lends a contemporary touch to this classic bridal keepsake. The knifes ...


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Lake Balboa real estate listings include condos, townhomes, and single family homes for sale.
Commercial properties are also available.
If you see a property you're interested in, contact a Lake Balboa real estate agent to arrange a tour today!
Learn more about Lake Balboa Real Estate.
BIG HUGE REDUCTION OF $ 160.000 From the original listing price.Gorgeous custom built in 2004 Mediterranean home situated on a 19.000 sqft lot,featuring 5 Bdrms,4 1/2 Baths with 4185 sqft of beauty.2 Master bdrms,each with their own bath.the bigger master has a walk in closet and a fireplace.Two other fireplaces located in living and family rooms.Two other bdrms good size share a one bath.The fifth bdrm has its own bath also for privacy.There is also an office room.Formal dining room adjacent to the the huge kitchen with 460 sqft,granite counter tops,bay window,plenty of expensive cabinets.All flooring in the house consists of marble,travertine and limestone.The entire house is monitored by 8 surveillance cameras and alarm system.The are two gates on the property with plenty room to park many cars.The back yard features a guest house, pool,spa that have been replastered 6 months ago,,fish pond,turtle pond,barbecue area.At night when the lights are on you will fell like being in a tropical island.Bring your buyers to see one of a kind home.
Immense 24,752 s.f. lot! This is a rare, very large, piece of property in the heart of Lake Balboa. Circular driveway with gated entry. 5 bedrooms, 4 bathrooms including 3 master bedrooms, 2,818 s.f. of living space. Formal entry. Remodeled Kitchen with custom cabinets, double oven, and walk in pantry, beautiful wood flooring in the living room and dining area. Two fireplaces. Laundry room with lots of cabinets. Enormous front and rear yards. Rear of property has tennis court but needs work. 2 car detached garage. Detached bonus room. This is a rare opportunity. Lot is 83 feet wide by 300 feet deep per assessor.
Back On Market.... Beautifully Updated Lake Balboa Pool Home! Spacious 3 bedrooms and 3 bathrooms home offers inviting granite fireplace in the living room, hardwood floors, recessed lighting, new paint. Updated kitchen with granite counter tops, stainless steel appliances and breakfast nook. Private master suite upstairs that is approx. 400 sqft and private balcony, his and her closets, huge walk-in closet, new master bathroom with double vanities. A fantastic home for entertaining! Off of the living room area is the covered patio overlooking the saltwater pool and custom built BBQ area with full outdoor kitchen amenities. An amazing curb appeal, 2 car attached garage with direct access. A must see!
Georgeous Property Ready to move in completed remodeled good for big family.
Charming remodeled traditional in Lake Balboa.New custom center island kitchen w/custom made cabinets, soft close drawers/doors, New Granite counters/back splash, New stainless steel Jenn Air down draft oven, New stainless steel dishwasher, New recessed lighting, Newly remodeled master bath w/ New custom tiled walk-in shower, New custom glass enclosure, New custom made vanity w/New Quartz top, New Solar tube sky lights, Newly remodeled hall bath w/ New white subway tiled tub/shower area, New custom made cabinet with Quartz counter, 4 ample sized bedrooms 3 bathrooms (one bedroom/bathroom has an outside entrance) ideal for teenager or in-law, Light & bright open floor plan, Family room with Cathedral ceilings, Master suite has a large sliding door that opens to great deck in the tranquil rear yard, the 8000+ sqft lot has lots of privacy, Newly refinished dark hardwood floors throughout, New interior/exterior paint, smooth ceilings throughout, New ceiling fans throughout, updated windows, copper plumbing, central air conditioning & heat, 2 car detached garage w/ auto opener & washer/dryer hook-ups, cement driveway, Walk to three schools, close to public transportation, dining, 101 & 405 frwys, Orange line, off leash dog park & Lake Balboa.
Just in time for Summer! Charming pool home on a quiet cul de sac in Lake Balboa. This 4 bedroom 1 3/4 bath home boasts an updated kitchen with granite counter tops and recessed lighting. The spacious living room has a wood burning fireplace and sliding doors to an entertainers back yard with a pool and built in BBQ. Laminate wood floors in the living room and a formal dining room. The master bedroom has a private 3/4 bath and there are 3 more spacious bedrooms. A two car direct access garage with washer/dryer hook up. The home is energy efficient with a solar panel lease program that the new owner can continue or cancel.
Welcome to an open floor plan, custom built home brand spanking new. Three bedrooms, two bathrooms plus a bonus room/office! Recessed lighting with all new high grade electrical wiring thru out. Triple pane windows. New outdoor covered patio w/plumbing ready for an outdoor kitchen, fully permitted and engineered. Copper plumbing, completely brand new roof. Modern kitchen with a quartz island. Master bedroom w/master bathroom/jacuzzi/ shower has 3 water spouts/master closet. Cable ready thru out, No expense spared, have pictures of all phases of construction. Bring your pickiest buyers here.
HGTV House! Come enjoy this gorgeous, fully renovated home, that is priced to Sell!! This home is 1766 square feet and has 4 large bedrooms, 3 bathrooms, 2 of which are En-Suite. This home is in a prime Lake Balboa location, just minutes away from restaurants, shopping and in a fantastic school district! The spacious open floor plan is light and bright and features a dream kitchen that opens to the Living Room and Dining Room area. The Kitchen boasts all white Quartz counters with a large peninsula that seats three, new stainless steel appliances and brushed nickel hardware. The bathrooms have been designed with quality Calcutta Porcelain tiles in the showers and floors, along with new vanities and quartz counter tops. The Master bedroom is huge with a walk-in closet and an "en suite" bathroom. As a bonus, there is a full renovated structure off the patio that is perfect for a home office or for your own unique needs. This home is Turnkey and ready to be enjoyed!
This is one single family divided in 2 houses. main house is 3 bed 1 bath back house was add it in 2004 2 bed 2 bath area for electric kitchen no gas at the back of the house. good for 2 families. 2620 sqf home.. submit all kind of offers.the kitchen is remodeled some of the ceiling is been done. garage door will be put new
Real Living Pacific Realty
27281 Las Ramblas
Mission Viejo, CA 92691
Email Us | Visit our Real Estate Website


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If selected for publication, it will appear as soon as possible on Haaretz.com.
IDF court: Palestinian minors have right to see social worker before remand
In ruling against army, military appeals court head says alleged stone-throwers should be screened before army decides whether to jail them until end of proceedings.
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The president of the military appellate court, Col. Netanel Beniso, has ruled against the army, stating that Palestinian minors under arrest have the right to be screened before the army decides whether to remand them until the end of the trial procedure.
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All Firearms
Gun Parts
|Seller's Description
You are bidding on a French Mle M16 rifle. Caliber is 8mm lebel. 32" barrel. Front sight is present. Bore is dark with stong rifling. Bayonet lug is present. Blue is 80% plus. Rear sight is present and graduatated up to 800 meters. Barrel shank is marked MA S 1917/ST c in a circle with a sn that does not match stock or bolt. Middle barrel band/sling swivel is present. Triggerguard also is a mismatch. Rear sling swivel is present as is the metal buttplate. Top handgurard is present showing some dings and scrachtes no cracks. Also appear to have an old coat of lacquer applied. Buttstock also has a old coat of lacquer applied and appears to have been sanded. SN has been sanded off. No cracks that I can see. Has dings and dents. Nice rifle. FFL or C&R required. Shipping in the first 48 states is $25.00. Other places higher. Winning bidder has a 3 day inspection. If unhappy return as sent for a refund minus shipping. Combine with our other auctions to save on postage. Thank you.
|Payment and Shipping Instructions:
Ships Using:


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Originally written on Waiting For Next Year | Last updated 4/23/13
The Cleveland Cavaliers are reportedly set to announce the hiring of Mike Brown as the team's head coach. Jason Lloyd of the Akron Beacon-Journal reports that the addition of Brown will take place Wednesday, ensuring that the decision to re-hire him encompassed fewer days than the decision to fire him three seasons ago. Mike Brown has emerged as the leading candidate to replace Byron Scott as #Cavs coach. Deal expected to be announced tomorrow — Jason Lloyd (@JasonLloydABJ) April 23, 2013 #Cavs and Mike Brown have reached handshake agreement on deal, league source tells Akron Beacon Journal. Official announcement expected tmrw — Jason Lloyd (@JasonLloydABJ) April 23, 2013 When addressing what the team's next coach would bring to Cleveland, Cavaliers general manager Chris Grant cited a defensive focus coupled with the ability to develop young talent. "We're looking for someone with proven success, looking for someone who has a strong defensive system, someone who is a teacher, grinder and a worker," he stated. Brown, who had decided to move back to Cleveland prior to the Cavaliers' coaching vacancy, recently met with the team's majority owner Dan Gilbert over dinner—the sit-down reportedly went very well. Though the team had reached out to Phil Jackson, but the long-time Laker coach reportedly did not have interest in the Cavaliers' situation. Brown was fired by owner Dan Gilbert after back-to-back 60-win seasons following the 2009-10 season. Despite the ousting, sources recently told ESPN.com's Brian Windhorst that there were no grudges held by either side that would prevent a dialogue about a fresh start. Brown was highly coveted by other teams in the league, forcing the Cavaliers to move quickly in their decision. [Related: Mike Brown Take Two? In The Right Situation, Yes]
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A virtual sensor mast for a ground vehicle and a method for operating a ground vehicle using a virtual sensor mast are disclosed. The virtual sensor mast includes an unmanned airborne vehicle capable of lifting itself from the ground vehicle upon deployment therefrom; a sensor suite mounted to the unmanned airborne vehicle; and a tether between the unmanned airborne vehicle and the ground vehicle over which the sensor suite is capable of communicating sensed data upon deployment. The method includes elevating a tethered unmanned airborne vehicle from the ground vehicle to a predetermined height; sensing environmental conditions surrounding the ground vehicle; and terminating the deployment.
1. A virtual sensor mast for a ground vehicle, comprising:
an unmanned airborne vehicle capable of lifting itself from the ground vehicle upon deployment therefrom;
a sensor suite mounted to the unmanned airborne vehicle; and
a tether between the unmanned airborne vehicle and the ground vehicle over which the sensor suite is capable of communicating sensed data upon deployment.
2. The virtual sensor mast of
3. The virtual sensor mast of
4. The virtual sensor mast of
5. The virtual sensor mast of
an inflatable balloon; and
a sensor platform affixed to the inflatable balloon and to which the sensor suite is mounted and the tether is affixed.
6. The virtual sensor mast of
an acoustic sensor;
an optical sensor;
a television camera;
a nuclear, biological and chemical detector;
an infrared sensor; and
a Global Positioning System sensor.
7. The virtual sensor mast of
8. The virtual sensor mast of
an optical fiber:
a power lead;
a twisted wire pair; and
a coaxial cable.
9. The virtual sensor mast of
10. The virtual sensor mast of
11. A ground vehicle, comprising:
a chassis;
a virtual sensor mast, including:
an unmanned airborne vehicle capable of lifting itself from the chassis upon deployment therefrom;
a sensor suite mounted to the unmanned airborne vehicle;
a tether between the unmanned airborne vehicle and the chassis over which the sensor suite is capable of communicating sensed data upon deployment
a processing system for controlling the operation of the ground vehicle, including the virtual sensor mast.
12. The virtual sensor mast of
13. The virtual sensor mast of
14. The virtual sensor mast of
15. The virtual sensor mast of
an inflatable balloon; and
a sensor platform affixed to the inflatable balloon and to which the sensor suite is mounted and the tether is affixed.
16. The virtual sensor mast of
an acoustic sensor;
an optical sensor;
a television camera;
a nuclear, biological and chemical detector;
an infrared sensor; and
a Global Positioning System sensor.
17. The virtual sensor mast of
18. The virtual sensor mast of
an optical fiber;
a power lead;
a twisted wire pair; and
a coaxial cable.
19. The virtual sensor mast of
20. The virtual sensor mast of
21. The ground vehicle of
22. The ground vehicle of
23. The ground vehicle of
24. The ground vehicle of
25. The ground vehicle of
26. The ground vehicle of
27. The ground vehicle of
28. The ground vehicle of
29. A vehicle, comprising:
a chassis;
a receiver mounted on the chassis; and
an unmanned airborne vehicle tethered to the chassis, the unmanned airborne vehicle housing at least one sensor and capable of transmitting sensed data to the receiver.
30. The virtual sensor mast of
31. The virtual sensor mast of
32. The virtual sensor mast of
33. The virtual sensor mast of
an inflatable balloon; and
a sensor platform affixed to the inflatable balloon and to which the sensor suite is mounted and the tether is affixed.
34. The virtual sensor mast of
an acoustic sensor;
an optical sensor;
a television camera;
a nuclear, biological and chemical detector;
an infrared sensor; and
a Global Positioning System sensor.
35. The virtual sensor mast of
36. The virtual sensor mast of
an optical fiber;
a power lead;
a twisted wire pair; and
a coaxial cable.
37. The virtual sensor mast of
38. The virtual sensor mast of
39. A method far use in operating a ground vehicle, comprising:
elevating a tethered unmanned airborne vehicle from the ground vehicle to a predetermined height;
sensing environmental conditions surrounding the ground vehicle from the unmanned airborne vehicle;
transmitting the sensed data from the unmanned airborne vehicle to the around vehicle; and
terminating the deployment.
40. The method of
41. The method of
42. The method of
an acoustic sensor;
an optical sensor;
a television camera
a nuclear, biological and chemical detector;
an infrared sensor, and
a Global Positioning System sensor.
43. The method of
44. The method of
45. The method of
46. The method of
47. The method of
48. The method of
We claim the earlier effective filing date of co-pending U.S. Provisional Application Ser. No. 60/449,271, entitled "Unmanned Ground Vehicle," filed Feb. 21, 2003, in the name of Michael S. Beck, et al., for all common subject matter.
1. Field of the Invention
This invention pertains to remote sensing for ground vehicles and, more particularly, to a technique for achieving a higher vantage point from which the sensing occurs.
2. Description of the Related Art
One significant challenge presented by unmanned, robotic vehicles is situational awareness. Situational awareness includes detection and identification of conditions in the surrounding environment. Robotic vehicles typically carry a variety of instruments to remotely sense the surrounding environment. Commonly used instruments include technologies such as:
A common limitation for any of these technologies is the vantage point of the instrument. For instance, the height of the vantage point inherently limits the field of view for any sensor, which is particularly problematical for long-range sensors. The height of the vantage point also affects the perspective of the data collected. For instance, the perspective afforded by a higher vantage point facilitates identifying negative obstacles (e.g., ditches) and cul-de-sacs.
One approach to this problem is to mount at least some of the sensors relatively high on the body of the vehicle. Sensors for which this limitation is particularly problematical are sometimes mounted to a mast extending upwardly from the vehicle. However, simply positioning the sensors high on the vehicle's body or on a sensor mast may offer only marginal improvement. Mounting sensors atop a mast may complicate maneuverability for the vehicle and or have other adverse consequences, such as increasing the vehicle's profile.
Another approach places the sensors on an airborne vehicle that communicates wirelessly with the ground vehicle. The airborne vehicle may be, for instance, a tele-operated or robotic helicopter that senses the environment and wirelessly transfers the data to the ground vehicle. This approach can greatly enlarge the field of view, since the altitude of the airborne vehicle is independent of the ground vehicle. However, this approach also manifests several drawbacks. For instance, because the airborne vehicle is independent of the ground vehicle, it must provide its own power, which adds size, weight, and complexity to the airborne vehicle. Also, since the airborne vehicle communicates wirelessly, precautions must be taken when several are used contemporaneously in the same general area. The independence of the airborne and ground vehicles also introduces uncertainties in the data caused by uncertainties in the relative positions of the vehicles.
The present invention is directed to resolving, or at least reducing, one or all of the problems mentioned above.
The invention includes a virtual sensor mast for a ground vehicle and a method for operating a ground vehicle using a virtual sensor mast. The virtual sensor mast comprises an unmanned airborne vehicle capable of lifting itself from the ground vehicle upon deployment therefrom; a sensor suite mounted to the unmanned airborne vehicle; and a tether between the unmanned airborne vehicle and the ground vehicle over which the sensor suite is capable of communicating sensed data upon deployment. The method comprises elevating a tethered unmanned airborne vehicle from the ground vehicle to a predetermined height; sensing environmental conditions surrounding the ground vehicle; and terminating the deployment.
The invention may be understood by reference to the following description taken in conjunction with the accompanying drawings, in which like reference numerals identify like elements, and in which:
While the invention is susceptible to various modifications and alternative forms, the drawings illustrate specific embodiments herein described in detail by way of example. It should be understood, however, that the description herein of specific embodiments is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Illustrative embodiments of the invention are described below. In the interest of clarity, not all features of an actual implementation are described in this specification. It will of course be appreciated that in the development of any such actual embodiment, numerous implementation-specific decisions must be made to achieve the developers'specific goals, such as compliance with system-related and business-related constraints, which will vary from one implementation to another. Moreover, it will be appreciated that such a development effort, even if complex and time-consuming, would be a routine undertaking for those of ordinary skill in the art having the benefit of this disclosure.
Referring again to FIG. 1,the UGV 100, in the illustrated embodiment, is a six-wheeled vehicle including six wheel assemblies 150 (only one indicated) that comprise a suspension system for the UGV 100. Each wheel assembly 150 includes an airless wheel 152 fabricated from a composite material and mounted to an independently articulated suspension arm 154. Note that alternative embodiments may employ a commercial-off-the-shelf ("COTS"), all terrain vehicle ("ATV") tire, e.g., the Dunlop KT401C. The articulated suspension arms 154 are capable of rotation facilitating extreme mobility and obstacle negotiation as well as inverted operability. A rotary magnetorheological ("MR") damper 156, facilitated by substantially real time damping control, is mounted coaxially with the arm pivot 158. Each suspension arm 154 has a compliant rotary suspension with controllable damper 156 to absorb impacts and provide for sensor stability. Air springs (not shown) and double wishbone suspension (also not shown) at each wheel 152 provide a lightweight, robust and fail-soft suspension.
Each suspension arm 154 has a high torque rotation actuator (not shown) that enables the UGV 100 to perform maneuvers not ordinarily possible in manned vehicles. The wheel assemblies 150 enable the UGV 100 to:
"walk" over large obstacles;
vary height/ground clearance;
adapt steering and suspension dynamics on the fly; and
safely accommodate high impact velocities.
Individual articulation of the wheel assemblies 150 further enhances skid steering through footprint variation. Survivability and stability are enhanced by squatting the UGV 100 to reduce presented area and lower center of gravity ("CG"), enhance mobility in soft terrain and improve sensor visibility via front elevation.
Each wheel 152 includes a two-speed transmission (not shown) embedded in the hub to allow for high and low speed operation with hub drive motors (not shown). Each suspension arm 154 is driven by an independent, dedicated drive. The assembly of wheel, drive motor, switching hub, etc., eliminates (or at least reduces) the need for mechanical brakes. Each wheel 120 contains a hub drive motor (not shown) and integrated gear set (not shown) that allow wheel-to-wheel speed variations and enhanced skid steering. Each articulated suspension arm 125 houses a hub motor controller (not shown). This improves reliability through the reduction of slip rings (not shown) required in the shoulder joint, or arm pivot, 158 between the suspension arm 154 and the chassis 140 and provides redundancy. Each suspension arm 152 becomes an independent power system providing tractive effort from a common electrical, direct current ("DC")-link. A failure in a motor controller or motor therefore may not disable the UGV 100.
The chassis 140 provides the structure for vehicle integration with desirable stiffness, payload protection and thermal management. Important design considerations include: structural strength; stiffness; survivability; weight; stiffness-to-weight ratio; damage tolerance; reparability; corrosion resistance; modularity; and optimized component packaging and integration. In the illustrated embodiment, the chassis 140 comprises a shell (not indicated), or frame, with integral bulkheads (not shown) covered by a plurality of panels (also not indicated). The shell of the chassis 140 is comprised of graphite/epoxy sheets (not shown) sandwiching an aluminum honeycombed core (not shown). The panels are reinforced by KEVLAR™ to improve puncture and abrasion resistance. All points of attachment where significant loads are transferred are reinforced with glass fiber/epoxy inserts (not shown) and high-density foam (not shown).
The chassis 140 also houses charge-coupled device ("CCD") and acoustic sensors (not shown) located around the periphery of the chassis 105 for situational awareness. The illustrated embodiment employs four Emkay WP-3502 acoustic sensors, four Nevada Systems NSI-5000c CCD cameras, eight near field MASSA M-5000/220 ultrasonic sensors, and eight far field MASSA E-220B/26 ultrasonic sensors. Data generated from these sensors may be used to augment or may be used in conjunction with data generated from sensors aboard the virtual sensor mast 110. However, this is not necessary to the practice of the invention and these sensors may be omitted in some alternative embodiments.
The chassis 140 houses a power plant (not shown) that provides power and charges batteries (also not shown) used in powering various drives and other electrically powered components, including powering and/or recharging the UAV 120. More particularly, the illustrated embodiment employs a series hybrid power plant comprising a commercial, off-the-shelf-based single cylinder air-cooled Direct Injection ("DI") diesel engine (not shown) and a Variable Reluctance Motor ("VRM") used in conjunction with two parallel strings of lithium-ion batteries (not shown). More particularly, this power plant consists of a four-stroke, direct injection compression ignition (diesel) engine power plant, a motor/generator, a power distribution management system, an energy storage system, and in-hub variable reluctance motors. The VRM is efficient at high torques and low speeds, the exact operating envelope of the UGV 100 during silent motion.
A power management system (not shown) enhances battery life by efficiently managing the energy distribution throughout the vehicle. The energy from the batteries is converted to the appropriate DC level using bi-directional converters. The DC-link supports system efficiency by level-ranging from module voltage to 400 VDC depending on the speed of the vehicle. During engine start, the bi-directional inverter (generator controller) provides energy to start the diesel engine. Thereafter, the diesel engine is used to support the system and drive loads. The bi-directional converters reverse the energy flow from the DC-link to the battery packs and system loads. If the demand for the loads exceeds the engine generator capability, the bi-directional inverters provide the additional energy required from the batteries. Another function of the bi-directional inverter is to convert land power (i.e., 115, 208, and 240 VAC) to charge the batteries between missions or power the system for training, and maintenance.
Some embodiments include a mast base enclosure (not shown) housing a majority of the payload (also not shown) and centered in the front of the UGV 100. The mast base is pivoted in the center of the UGV 100 and has a total rotational travel of 180 degrees to allow it to be deployed vertically from the top or bottom of the UGV 100. In these embodiments, the portion of the chassis 140 on either side of the mast base enclosure is referred to as the "sponson." Much of the volume of each sponson is available for payload. There are three areas in the chassis 140 allocated for fuel and battery storage. One area is in the center of the UGV 100 and the other two are in the sponsons. The majority of the vehicle control and power electronics are located above the center fuel tank or in the areas on either side of the mast pivot in these embodiments.
Note that the UGV 100 of the illustrated embodiment is but one particular implementation. The present invention may be employed in virtually any suitably modified and/or equipped ground vehicle, whether manned or unmanned and regardless of whether it is robotic. For instance, the invention may be employed with wheeled vehicles whose suspension is not independently articulable, e.g., the HUMVEE. The invention may be employed on tracked vehicles, e.g., the Bradley fighting vehicle. The invention may also be employed on vehicles that are both wheeled and tracked, e.g., the now retired M-16 and M-3 half-tracks of World War II vintage. Furthermore, the invention is not limited to deployment on military vehicles, and may find applicability in civilian contexts.
The UAV 120 of the illustrated embodiment is a VTOL aircraft including one or more ducted fans. The particular embodiment of
The UAV 120 elevates to some desired altitude to remotely sense the environment in which the UGV 100 is situated. Typically, the UGV 100 will not be moving during the deployment, or will move only very little. Also, the deployment will typically be of relatively short duration. Once the remote sensing is completed, the UAV 120 is retracted back into the recess 300, as indicated by the arrow 322. Note that the recess 300 may be oversized, as shown, and that the positions of the clamps 315 may be so dimensioned as to facilitate the retraction. To terminate the deployment, the electric motor and winch 205 can spool the drum 210 with force sufficient to overcome the lift exerted by the ducted fans 162 a–162 d. The ducted fans 162 a–162 d may be powered down some to facilitate retraction. The tether 130 is attached to the UAV 120 in a position selected, in part, to facilitate the retraction, as well. As the UAV 120 retracts into the recess 300, the clamps 310 engage the UAV 120 to secure it in the recess 300 until the next deployment. Note that the clamps 310 may be omitted in some embodiments where the recess 300 is deep enough.
The UAV 120 may be stowed and deployed from the UGV 100 in any number of ways, some of which will depend on the implementation of the UAV 120. FIG. 4A–
More particularly, FIG. 5A–
Mounted on the exterior face of the duct 512 is a series of control devices and other instrumentation, each a type of electronic device, including a detector and receiver 526, and various programmed control initiators 527, which control the engine or motor 514 and the various lever systems described below. In the illustrated embodiment, the motor 514 is an electrical motor powered by the UGV 100 over the tether 130 in a manner described more fully below.
In the duct 512 are twelve fixed vanes 531, 532, 533, 534, 535, 536, 537, 538, 541, 542, 543, and 544. The eight identical vanes 531, 532, 533, 534, 535, 536, 537, and 538 are disposed along two mutually perpendicular axes. That is, there are four vanes 531, 532, 533, 534 arranged as two diametrically opposite pairs 531, 532 and 533, 534 parallel to one diametral line 539, shown in
For yaw control, or control about the vertical axis, the flaps 545 and 546 of all eight of these vanes 531 through 538 move together in the same rotational direction, resulting in torque about the vertical axis. For translational control, the flaps 545 and 546 of two diametral pairs move together, shown in
Preferably, each camber flap 545–546 is equal in area to its respective vane 531–538. As a result the center of pressure of the vane-flap combination occurs at the three-quarter chord position C back from the leading edge L, i.e., near the center of the camber flap 545 or 546, and this is where the center of pressure of the vanes occurs. This center of pressure is kept as close as possible to the position along the vertical-axis occupied by the center of gravity of the vehicle 500 and is preferably within the limits of the vertical extremities of the flaps 545–546.
Each pair of flaps 545 and 546 is joined together by a tie rod 547 having a clevis clip 548 at each end pivoted to it by a pin 549, controlled, as shown in
The other four vanes 541, 542, 543, and 544, shown in
Between the vanes 531 and 532 is a generally rectangular duct segment or passage 561; between the vanes 533 and 534 is a diametrically opposite rectangular passage 563. At right angles to these openings are a rectangular passage 564 between the vanes 535 and 536 and a rectangular passage 562 between the vanes 537 and 538. Thus, between the vanes 532 and 537 is a quadrant divided into two equal passages 565 and 566 by the vane 541; between the vanes 538 and 534 is a quadrant shaped duct segment divided into two equal passages 567 and 568 by the vane 542; between the vanes 533 and 536 is a quadrant shaped segment bisected into two passages 569 and 570 by the vane 543; and between the vanes 535 and 531 is a quadrant shaped segment bisected into two passages 571 and 572 by the vane 544.
Each vane 541, 542, 543, and 544 preferably supports a pair of spoilers 575, 576 or 577, 578 or 579, 580 or 581, 582, one for each passage 565, 566, 567, 568, 569, 570, 571 and 572. The spoilers 575–582 each have a circular-arc outer rim 583 concentric with the duct 512 and are otherwise generally trapezoidal in shape to fill most of the outer portion of their respective passages 565–572 when in the fully closed or horizontal position, as depicted in FIG. 5B–
The spoilers 575–582 are each supported by their associated vanes 541–544 through a tension bracket 584 and are operated, as shown in
In each quadrant, a single servomotor 586 operates the pair of spoilers 575, 576, etc.; so that in each quadrant the spoilers are paired. Moreover, the pivot axis of each spoiler lies along and coincides with the position where the torque on its spoilers is minimized as a function of its angular position; thereby the torque required to deploy that pair of spoilers is reduced, and the size of the servomotors 586 is kept small. Since each spoiler 575–582 has its surface concentrated near the duct wall, the resulting control moment is maximized. Each spoiler may be made from lightweight wood, to minimize its inertia and provide rapid response to its servomotor 586.
The functional mixing of yaw and translation forces is preferably done electronically by the control circuits 527, with the vehicle 500 employing eight separate servomotors 550 and 586 for control. Thus, there are four servomotors 550 for yaw or translational controls and four servomotors 586 for pitch-and-roll controls. One servomotor controls one parallel set of yaw vanes or one pair of spoilers.
This system for controlling the flight of the vehicle 500 has the additional capability of being able to trim the vehicle 500 into a non-vertical position and holding that position through the use of translational control power. This may be desirable when a rigidly attached TV camera is used and is directed in the plane of vision by, for instance, gimballing the vehicle rather than gimballing the camera.
The principles of the UAV 500 can be extrapolated, as shown in
The illustrated UAV, whether utilizing a single-engine ducted fan (e.g., FIG. 5A–
The spoilers 575–576, 577–578, 579–580, 581–582 are paired in each quadrant. This ensures that little or no torque or force is generated which might rotate the vehicle 500 about the vertical or yaw axis when the spoilers 575–576, 577–578, 579–580, 581–582 are employed. The pivot axis of each spoiler vane coincides with the position where the torque on the spoiler is minimized as a function of its angular position. This positioning reduces the amount of torque required to deploy the pair of spoilers and hence reduces the size of the servomotors required. Most of the spoiler surface is concentrated near the maximum duct diameter, in order to maximize the resulting control moment. Preferably, the spoilers 575–576, 577–578, 579–580, 581–582 are made of extremely light material in order to reduce their inertia and to obtain rapid spoiler response with reduced servomotor power.
Translational control is obtained by use of a flexible vane instead of a pivoted rigid vane. In a deflection vane system, it is desirable to recognize that a rigid vane generates two major problems when used to deflect a slip stream:
The UAV thus obtains translational control by redirecting the slip stream with vanes 575–576, 577–578, 579–580, 581–582 that are provided with flexible camber portions or flaps extending downwardly from an upper fixed rigid portion, and the vanes are mounted so that the center of lift or force providing the transverse force is at or as close as possible to the center of gravity of the vehicle. This mounting ensures that deflection of the variable-camber vane or flap does not generate significant moments about the center of gravity; such moments, if generated, would have to be overcome by the spoiler system. Small coupling moments are automatically dealt with by the spoiler system and result only from forces produced about the pitch-and-roll axis, due to translational control.
If the flexible portion of the vane is equal in size to the rigid upstream portion, then the transverse force (or center of pressure) of the rigid-flexible deflector vane occurs at approximately the three-quarter chord position back from the leading edge. Put another way, the center of pressure or lift appears to occur near the center of the flexible portion of the vane. In fact, this position is a function of the amount of vane deflection. For greater deflections this position is probably correct. For small deflections this center of pressure will be farther forward. Preferably, the center of left on the vane is at the center of gravity of the vehicle, on the vertical axis.
The variable-camber vanes act like a flap (or aileron) on a wing. Such a flap may involve comparatively small forces and be small in size relative to the forces it can generate. Thus, when a variable-camber vane system employs two or more vanes in parallel, a cascade vane effect is created. This cascade effect continues to deflect the slip stream up to 90�, if that should be necessary. However, it is unlikely that deflection greater than 30� will ever be required.
More succinctly summarized, there is least one ducted fan, comprising power means, a horizontally mounted fan connected to and driven by the power means for causing a vertically and downwardly directed airstream, and a cylindrical duct that extends around and beneath the fan, for confining the airstream. In the duct is a vane system comprising two mutually perpendicular pairs of diametrically opposite generally rectangularly shaped duct segments, each defined and bounded by a pair of generally vertical stationary walls extending across the duct parallel to a diametral line thereacross. Each pair of these walls also defines one boundary of a quadrant shaped duct segment located between adjacent wall pairs. Each duct segment forming a wall includes an upper, rigid portion having a variable-camber flap portion affixed to its lower extremity. A first set of remotely controlled servo motors is employed for varying the camber of each of the flaps. In each pair of variable vanes, the flap camber is at all times the same in amount and direction for both flaps.
The UAV disclosed in the '111 patent can be readily modified to accommodate and take advantage of the present invention. The UAV of the '111 patent includes an antenna for radio communication, which is unnecessary in the present invention. Thus, the antenna and the transmitter/receiver associated with radio communication are eliminated from the implementation of the UAV 120. A connection for the tether 130 will similarly need to be added. Furthermore, the UAV 120 will typically fly at lower altitudes than the UAV of the '111 patent, and can receive power from the UGV 100 over the tether 130. Thus, the internal combustion engine (and gas tank) for the UAV of the '111 patent are replaced by a lighter electric motor. The invention admits wide variation in the sensing capabilities that may be implemented on the UAV 120. Further modification may be desirable to accommodate different sensing capabilities, as will be discussed further below.
Note that, in the illustrated embodiment, the UAV 120 is intended to hover above the UGV 100 while the UGV 100 is stopped. The UAV 120 consequently need only provide vertical lift, and need not provide horizontal propulsion. Thus, the weight and complexity of the UAV 120 can be reduced relative to conventional UAVs. Note also that in the illustrated embodiment, power is provided to the propulsion systems and sensor packages aboard the UAV 120 over the tether 130 from the UGV 100. This results in further savings in weight and complexity since the UAV 120 need not provide its own power. The UAV 120 and/or its sensor suite can also be recharged from the UGV 100 over the tether 130 and/or recharged and/or refueled from the UGV 100 when not deployed.
Returning to
Returning once again to
In the proposed embodiment of
The processor 725 controls the laser 710 over the bus system 725 and processes data collected by the detector subsystem 720 from an exemplary scene 750. The scene 750 includes trees 755 and 760, a military tank 765, a building 770, and a truck 775. The tree 755, tank 765, and building 770 are located at varying distances from the system 700. Note, however, that the scene 750 may have any composition. One application of the remote sensing system 700, as shown in
The operation of the LADAR system aboard the UAV 120 is conceptually illustrated in
The laser signal 715 is typically a pulsed signal and may be either a single beam or a split beam. Because of many inherent performance advantages, split beam laser signals are typically employed by most LADAR systems. A single beam may be split into several beamlets spaced apart from one another by an amount determined by the optics package (not shown) aboard the UAV 120 transmitting the laser signal 715. Each pulse of the single beam is split, and so the laser signal 715 transmitted during the elevational scan 850 in
While the LADAR system is operating, the detector subsystem 820 is also passively detecting infrared ("IR") radiation from the scene 850. The IR detection is "passive" because the detected radiation does not result from energy introduced to the scene 850 by the sensors. The IR detection comprises a passive IR imaging of the scene 750 by a portion of the detector subsystem 720. This produces a two-dimension passive image data set with each pixel (picture element) having passive intensity information corresponding to the magnitude of the passive IR energy collected for that pixel. In some embodiments, the same detector may be used for both the active LADAR and passive infrared detection, e.g., U.S. Pat. No. 6,323,941, entitled "Sensor Assembly for Imaging Passive Infrared and Active LADAR and Method for Same," issued Nov. 27, 2001, to Lockheed Martin Corp. as the assignee of the inventors Evans, et al.
Remote sensing techniques combining laser and infrared technologies are known to the art. See, e.g.:
Different embodiments may, however, employ different sensing capabilities depending on intended mission profiles. As those in the art having the benefit of this disclosure will appreciate, many engineering considerations go into the design of any given implementation. Weight and size of the sensors, for instance, should be considered in light of the lift capacity of the UAV 120. Common types of remote sensors include a day camera, a FLIR sensor, a laser rangefinder, and a Global Positioning System ("GPS") sensor. Table 1, below, lists several sensors that might be employed in various embodiments according to a purpose for which their data may be employed. Note, however, that other sensors, sensor suites, and assemblies may be employed in alternative embodiments. For instance, some embodiments may employ TV cameras (day or night, i.e., low light cameras) and nuclear, biological and chemical ("NBC") sensors.
The data generated by the sensors aboard the UAV 120 is then transmitted over the tether 130 and the bus system 740. The data is captured in the data storage 755 and processed by the processor 725 under the control of the application 750. The data may be processed in any suitable manner known to the art, depending on the nature of the data collected and the reason for which it is collected. For instance, the data may be processed to identify obstacles for navigating the scene 750. See, e.g.:
Macedo, et al., "Ladar-based Discrimination of Grass from Obstacles for Autonomous Navigation," ISER 2000 (2000); and
Matthies, et al., "Obstacle Detection for Unmanned Ground Vehicles: A Progress Report," Robotics Research: Proceedings for the 7th International Symposium (1996).
However, in some embodiments, the data may be processed for reasons other than navigation. For instance, in military environments, the data might be processed through an automatic target recognition ("ATR") system to determine whether some obstacle is a vehicle and, if so, whether a friend or a foe. See, e.g.:
The use of the tether 130 in the virtual sensor mast 110 imparts numerous advantages over conventional practice. The data may be more simply formatted since there is no danger of receipt by the wrong UGV 100. The data is generally more free of noise because it is not broadcast wirelessly and because fewer instruments (i.e., no transmitter, no receiver) are needed. Consequently, the data is generally easier to process relative to data collected by conventional, untethered UAVs. At the same time, the data can be acquired at an aspect angle greater that that available from mast mounted sensor packages. Thus, it is relatively easier to identify negative obstacles (e.g., ditches) and cul-de-sacs relative to mast-mounted sensors. Deployment of the UAV 120 also permits the UGV 100 to hide the chassis 105 while peering over defilade positions, buildings and water. The additional height afforded by deploying the UAV 120 with the tether 130 also reduces multi-path error, which improves data quality and eases data processing.
In the illustrated embodiment, the UGV 100 can be operated in several control modes including:
In the illustrated embodiment, tele-operation and tele-management are performed through an Operator Control Unit ("OCU", not shown). The OCU is an extremely lightweight, man portable, hand-held and wearable unit remote from the UGV 100 (and out of harm's way), connected via military RF command link. It includes tele-operational capability as well as data display, storage and dissemination. A secondary fiber optic link can be used when RF signals are undesirable. The general microprocessor-based system has easily expandable I/O capabilities and substantial memory/processing power, providing much more flexibility and extensibility in the design. Exemplary OCUs with which this aspect of the invention can be implemented include, but are not limited to, FBI-Bot, AST, RATLER, DIXIE, SARGE, and TMSS.
The OCU of the illustrated embodiment also encompasses standard interfaces for versatility and future expandability; conforms with military specifications regarding temperature, humidity, shock, and vibration; allows operator to independently tele-operate single or multiple UGVs; uses standard military symbology to display location, movement, and status of friendly, hostile, and unknown units; represents terrain maps and nuclear, biological and chemical ("NBC") assessments using military grid reference system; and can provide auditory feedback for system status or relaying information from acoustic sensors onboard. The OCU provides real-time vehicle control capabilities as well as situational awareness displays for the forward element. The display can be wrist-mounted, head-mounted, or integral to the computing unit.
More particularly, in the illustrated embodiment, a map display (not shown) is updated in real-time with data from one or more UGVs 100. Standard military symbology, such as is detailed in MIL-STD-2525B, displays the location, movement and status of friendly, hostile and unknown units. Vehicle status is displayed continually beside the unit icons and optionally with popup display of more detailed status information. Sensory data from the NBC detector and other sensory payloads are overlaid on the map display. Laser range finder and optical sensor gaze direction are represented on the display as a line radiating from the UGV icon. The terrain maps and NBC assessments are represented using the military grid reference system. Auditory feedback can be provided for system status or relaying information from acoustic sensors onboard the UGV.
Tele-operation of a single UGV 100 can be done with a first-person perspective view through use of real-time video and pointing device to control vehicle course and speed. Tele-management of single or multiple UGVs 100 can be accomplished via manipulating the corresponding UGV icons on the map to set destination objectives and paths. The real time video display can optionally be zoomed to fill the display with overlaid vehicle status appearing in a head-up display. The real-time video display also can be used during reconnaissance to show the live video view from the UGV 100 as if through binoculars. Multiple UGVs 100 can be controlled via mission orders issued by manipulating the UGV fleet icons on the map display or by issuing high-level commands, such as to surround a particular objective or to avoid a particular area while moving autonomously.
Note, however, that tele-operation and tele-management of the invention is not so limited. Various alternatives for remote operation and management of the UGV 100 are illustrated in
The invention admits wide variation. Consider the embodiment of FIG. 10A–
Thus, the particular embodiments disclosed above are illustrative only, as the invention may be modified and practiced in different but equivalent manners apparent to those skilled in the art having the benefit of the teachings herein. Furthermore, no limitations are intended to the details of construction or design herein shown, other than as described in the claims below. It is therefore evident that the particular embodiments disclosed above may be altered or modified and all such variations are considered within the scope and spirit of the invention. Accordingly, the protection sought herein is as set forth in the claims below.
Patent Citations
Referenced by
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|By Kevin Benedict
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|October 31, 2012 07:00 AM EDT
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Founded in 1979, DSI is a global provider of Enterprise Mobility Solutions®, helping companies worldwide increase productivity and profitability regardless of data source, device type, operating system or network connectivity. DSI serves clients globally through its offices in Australia, Canada, China, France, Hong Kong, India, Japan, Singapore, the United Kingdom and the United States. This newsletter is sponsored in part by DSI.
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Nearly a third of vehicle shoppers who intend to buy or lease a new vehicle within the next two years visited mobile versions of automotive Web sites via smartphones to research a vehicle purchase, up from 24 percent last year and 17 percent in 2010. Read Original Content
CIO, CTO & Developer Resources
Twitter co-founder Jack Dorsey was in Vancouver Wednesday to mark the Canadian launch of his mobile payments service Square, a system that gives everyone from babysitters to baristas a simple and cheap way to accept credit cards. Read Original Content
The Internet browser company Opera released its latest State of Mobile Advertising report, which indicates that, despite the growth of Android and other platforms, iOS continues to dominate when it comes to monetizing mobile ads. Read Original Content
Canadian wireless telecom company and BlackBerry creator, Research In Motion, announced its intentions to manage credentials for wireless handsets in Canada for use in NFC mobile payments. Read Original Content
Purdue last weekend became one of just four schools in the nation to introduce StubHub's mobile ticketing technology at its game against Wisconsin at Ross-Ade Stadium. Read Original Content
Ticketscript sells more than 75 percent of all the Amsterdam Dance Event tickets. In 2012 ADE sales statistics through ticketscript have shown a sharp increase in the number of tickets purchased via a mobile phone compared to 2011. The ticket sales via smartphones have risen from 3 percent last year to 12 percent this year. Read Original Content
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text: National Anthem Adds Little to Sporting Events June 28, 2006 Commentator Frank Deford takes issue with the playing of the national anthem at U.S. sporting events. To his ears, the practice has become obligatory, even tired. Listen Loading… Playlist Download Embed Embed Close embed modal <iframe src="http://www.npr.org/player/embed/5517421/5517422" width="100%" height="290" frameborder="0" scrolling="no">


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I have one I really like. I never heard of sticky mirror but will gave to look it up now. I got lugs (and the camera) from KEH with no problem except for the $20 or so price tag.
I wish it had exposure memory lock but that's the only lack I see. Great camera.


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Gina Silvestro is constantly thinking outside of the standard nail "bubble" and strives to stay on the cusp of trends, while sharing and instilling innovative thinking and techniques with her peers. For this month's cover we asked her to create something fun and bubbly.
Gina Silvestro has been a frequent NAILS contributor for the last several years, but she's actually been a nail tech for more than 19 years. Starting off as a receptionist in a nail salon while she was still in high school, she had already decided that nails were her passion. Her artistic abilities were a natural fit with creating nail structure and nail art. She began honing her nail art skills through handpainting and airbrushing, but over the last five years, she's focused primarily on working with gels.
Gina, who moved her business into Michael K. Galvin & Gel Essentialz Salon in Cranston, R.I., is also an Akzentz Internationally Certified Educator (I.C.E.) and the east coast distributor for the gel line. She runs the nail department at the salon and operates her distribution business out of the lower level. She has traveled all over the world to learn and master 3-D acrylic and gel nails, as well as to teach and troubleshoot with other nail techs. Realizing how difficult it is for many nail professionals to find local classes, she is also involved in the grassroots education program The High Road to Education (HRTE), where techs get together to learn. She's also created a variety of short video tutorials, which are available on her website (www.gelessentialz.com).
She's constantly thinking outside of the standard nail "bubble" and strives to stay on the cusp of trends, while sharing and instilling innovative thinking and techniques with her peers. For this month's cover we asked her to create something fun and bubbly.
Here's how you can do these nails:
1. Prep the nail, shape distal edge, apply Affixit Protein based primer, and apply Akzentz Pro-tab forms. For stiletto-shaped nails pinch the tip of the form closed.
2. Apply a thin layer of bonding gel. Cure for two minutes. Apply Akzentz Natural Coverage Cool Pink to the nailbed, slightly extending the nail bed on the form. Cure for two minutes.
3. Apply a layer of Trilite gel on the tip to the desired length. Cure two minutes. You can also pinch the nail at this step. When you apply Trilite, cure for one minute then pinch the nail with a pinching tool, and continue curing for the remaining minute.
4. Apply another thin layer of Trilite gel. (Do not cure yet so the colors will blend better.) Stripe desired colored gels down the tip. The colors used for the cover (Akzentz Options Gel Art Blue, Purple, Yellow, Green, Sparkles Raspberry, and Hot Pink) were diluted with a 1-to-1 ratio of Trilite gel for a more transparent look. Work quickly to avoid running. Once all of the colors are applied, feather your brush through the colors to lightly blend/swirl the colors. Cure for two minutes.
5. Apply another thin layer of Trilite and place your choice of embedded objects where desired. For the cover, Gina found little epoxy dots in the scrapbooking section of a local craft store that were perfect for the bubble cover. She then added some clear glass beads for a "bubbly" look in the gel. Cure for two minutes.
6. Dab Options Aurora Blue Sparkles at the smile line. Cure for two minutes.
7. Cap the design with one to two layers of Modeling Gel followed by Trilite gel, curing for two minutes after each layer.
8. Remove dispersion layer with Gel Cleanser, carefully remove forms and file to shape. Remove any dust and contaminates and apply Top Gloss Clear Gel. Cure for two minutes. Remove dispersion layer and apply cuticle oil.
Cover tech Gina Silvestro prepared her many colored gel pots before applying the bubble-designed stiletto nails to our model Traycee King.
Gina bought these epoxy dots in the scrapbooking section of a craft store, but you could use pretty much anything you can find to encase in the gel.
To see a video of Gina recreating these nails, go to www.gelessentialz.com.
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A manicure in which the moon, or lunula, is painted a contrasting color to the rest of the nail or simply left bare.
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