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Children - Page 15
Revolutionary Self-Balancing Bicycle Makes Learning to Ride a Bike a Breeze
Jilted Cubs Fan Loses Ball, Gets It Back, Gives It to Young Boy
Bulletproof Blankets May Be the Next Innovation in Fighting School Disasters [VIDEO]
Survey Reveals Stay-at-Home Dads Are the New Wave of Parenting
7-Year-Old Girl Shows She's the Real Karate Kid
Heroic Man Catches Baby Falling Out of Second Story Window
Pixar's 'Inside Out' Gets a Synopsis and 'Cars' Debuts a New Short
For the first year since 2005 we won't be getting a new full-length Pixar film, and while that's kind of a bummer to think about, we do have some wonderful Pixar news to share today. The studio has released an official synopsis for one of two (yes, two) new films aimed for released in 2015: Pete Docter's 'Inside Out.' And, as a bonus, the studio has debuted a new 'Cars' short on its Disney Movies Anywhere platform today, just in time for the holiday.


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January 16, 2015
Wore it in rainy weather and keep me dry inside the jacket.
excellent jacket.
November 24, 2014
Nice quality jacket
August 13, 2014
This jacket is very comfortable and light to wear
January 27, 2014
Haven't worn item yet. however good sizing generous fitting over fleeces
January 11, 2014
I need a waterproof when walking my dogs, and most jackets stop at a point where rain soaks my lower back and beyond! this is an ideal length falling mid-thigh, while still looking very stylish. lovely colour too.
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subset: commoncrawl


text:
Yellow Squash Casserole
31 Oct 2009
Yellow squash casserole is a spiced casserole recipe. Prepared along with onions, the yellow squash is spiced with nutmeg and seasoned to taste. Baked with eggs, it is a filling and delicious recipe.
|Yellow squash
|4 Medium, cut into 1 inch cubes
|Yellow onion
|1 Medium, chopped
|Unsalted margarine
|1 Tablespoon
|Egg white
|1 Large
|Cracker crumbs
|3⁄4 Cup (12 tbs)
|Black pepper
|1⁄8 Teaspoon
|1⁄8 Teaspoon
|Non-stick cooking spray
Preheat the oven to 350°F.
In a large heavy saucepan, bring the squash to a boil in an inch of water; add the onion and cook, covered, over moderately high heat for 10 minutes or until the squash is just tender.
Drain and coarsely mash the squash and onion.
Add 1/2 tablespoon of the margarine, the egg white, 1/2 cup of the cracker crumbs, and the nutmeg and pepper, and stir until blended.
Coat a shallow 8"x 8"x 2" baking pan with the cooking spray.
Spoon the squash mixture into the pan and smooth the top with a spatula.
In a 7 inch skillet, melt the remaining margarine over low heat; add the remaining cracker crumbs, mix and toss well, and sprinkle over the squash.
Bake, uncovered, for 30 minutes.
Recipe Summary
Difficulty Level:Easy
Course:Side Dish
Rate It
0 Comments
Yellow Squash Casserole Recipe


text:
A plurality of capaciflector proximity sensors, one or more of which may be overlaid on each other, and at least one shield are mounted on a device guided by a robot so as to "see" a designated surface, hole or raised portion of an object, for example, in three dimensions. Individual current-measuring voltage follower circuits interface the sensors and shield to a common AC signal source. As the device approaches the object, the sensors respond by a change in the currents therethrough. The currents are detected by the respective current-measuring voltage follower circuits with the outputs thereof being fed to a robot controller. The device is caused to move under robot control in a predetermined pattern over the object while directly referencing each other without any offsets, whereupon by a process of minimization of the sensed currents, the device is dithered or "wiggled" into position for a soft touchdown or contact without any prior contact with the object.
1. A system for guiding a piece of apparatus into relationship with another piece of apparatus, comprising:
robotic means for guiding a device into position relative to an object;
means for controlling said robotic means;
a device attached to said robotic means and including at least one capaciflector type proximity sensor affixed thereto for sensing an object coming into relatively close proximity therewith;
said capaciflector type proximity sensor including,
at least one outer electrical conductor on a surface of said device and forming one electrode of a sensor capacitor, the other electrode of said sensor capacitor comprising said object,
an intermediate electrical conductor located between said at least one outer conductor and said surface and being of a size larger than said at least one outer conductor to act as a shield for reducing the parasitic capacitance between said outer conductor and said surface,
said intermediate conductor and said outer conductor mutually overlaying each other,
said at least one outer conductor and said intermediate conductor further being located on said surface with no air gap therebetween and no air gap between said intermediate conductor and said surface, and wherein said surface acts as a surface of reference potential or a ground plane;
an AC voltage source; and
circuit means coupled between said AC voltage source and said at least one outer and intermediate conductors for coupling a same voltage from said voltage source to said outer electrical conductor and said intermediate electrical conductor, said circuit means being responsive to the change in capacitance of said sensor for generating an output signal, said output signal being coupled to said means for controlling said robotic means, and
wherein said means for controlling generates control signals for controlling said robotic means to move said device in an operational mode whereby said robotic means guides said device to a predetermined location on said object and moves said device in a predetermined scan pattern over said location, whereby since electrical charge slides along the surface of a conductor the charge thereat induces an equal but opposite charge on an opposing member these charges collect at the point nearest each other, thereby referencing each other without any offset, and by a process of signal minimization of said output signals which are generated in response to a capacitance verses distance characteristic of said sensor, said device is moved in ever decreasing translational increments by said robotic means into position for making contact with said object without any prior undesired contact or collision therewith.
2. A system according to claim 1 wherein said at least one outer conductor and said intermediate conductor are comprised of relatively thin strips of conductor material.
3. A system according to claim 1 wherein said at least one outer conductor comprises at least two overlaid and mutually insulated outer conductors of different sizes.
4. A system according to claim 3 wherein said at least two outer conductors and said intermediate conductors are comprised of relatively thin strips of conductive material.
5. A system according to claim 1 wherein said at least one outer conductor comprises a plurality of outer conductors, each being located on a mutually different surface of said device.
6. A system according to claim 5 wherein said plurality of outer conductors comprises at least two outer conductors respectively located on two separate mutually orthogonal surfaces of said device.
7. A system according to claim 5 wherein said plurality of outer conductors comprises at least three outer conductors respectively located on three mutually intersecting surfaces of said device.
8. A system according to claim 1 wherein said circuit means includes means for sensing a current in said at least one outer conductor.
9. A system according to claim 8 wherein said means for sensing current comprises a current-measuring voltage follower circuit means.
10. A system according to claim 9 wherein said current-measuring voltage follower circuit means includes a current sensing resistor and wherein the voltage across said resistor comprises said output voltage.
11. A system according to claim 1 wherein said circuit means comprises respective current sensing voltage follower circuit coupled between said AC voltage source and at least one outer conductor and said intermediate conductor.
12. A system according to claim 1 wherein said device comprises a gripper mechanism.
13. A system according to claim 12 wherein said gripper mechanism includes a pair of opposing gripper members having a plurality of capaciflector type proximity sensors mounted thereon for sensing said object in three dimensions for generating a 3-D image.
14. A system according to claim 1 wherein said device comprises a tool for engaging said object, said object comprising a piece of hardware.
15. A system according to claim 14 wherein said tool comprises a screw driving tool having a plurality of capaciflector type proximity sensors mounted thereon for sensing said piece of hardware and any surfaces and objects in relatively close proximity thereto.
16. A system according to claim 1 wherein said device comprises an alignment pin having at least one capaciflector type proximity sensor mounted thereon for sensing and mating with a hole in said object.
The invention described herein was made by an employee of the United States Government, and may be manufactured and used by or for the Government for governmental purposes without the payment of any royalties thereon or therefor.
This invention is related to an invention shown and described in:
(1) U.S. Ser. No. 08/008,426, entitled, "Double Driven Shield Capacitive Type Proximity Sensor", filed in the name of John M. Vranish, the present inventor, on Jan. 25, 1993, now U.S. Pat. No. 5,442,347, issuing on Aug. 15, 1995;
(2) U.S. Ser. No. 08/187,344 (attorney Docket No. GSC13,563-1), entitled, "Current-Measuring Op-Amp Devices", filed in the name of John M. Vranish, the present inventor, on Jan. 31, 1994 ; and
(3) U.S. Ser. No. 08/394,108 (attorney Docket No. GSC13,618-1), entitled, "Frequency Scanning Capaciflector", filed in the name of Charles E. Campbell, Jr. on Feb. 15, 1995.
The above-noted related applications are assigned to the assignee of the present invention. Moreover, the teachings of these related applications are herein meant to be incorporated by reference.
1. Field of the Invention
This invention relates to capacitive type proximity sensors, and more particularly to robotically positioned devices including capaciflector proximity sensors.
2. Description of the Prior Art
Capaciflector technology involves a capacitive proximity sensing element backed by a reflector driven at the same voltage as and in phase with the sensing element. The reflector is used to reflect electrical field lines from the sensor away from a ground plane and towards an object being sensed. Such a device is shown and described in detail in U.S. Pat. No. 5,166,679, entitled, "Driven Shielding Capacitive Proximity Sensor" granted to John M. Vranish et al on Nov. 24, 1992.
A phase discriminating capacitive type sensor array system which includes multiple capaciflector sensor elements which are maintained at a phase and amplitude based on a frequency reference provided by a single frequency stabilize oscillator is also known and is shown and described in U.S. Pat. No. 5,214,388, entitled, "Phase Discriminating Capacitive Array Sensor System", granted to John M. Vranish et al on May 25, 1993.
In U.S. Pat. No. 5,373,245 granted to John M. Vranish on Dec. 13, 1994, entitled, "Capaciflector Camera", there is disclosed a sensor system wherein a capaciflector array consisting of multiple rows and columns of capaciflector sensor elements enables a device to generate close-in images of the object being sensed as it is approached, for example, in a berthing or docking maneuver as well as providing an invaluable aid in obstacle avoidance in navigation.
An electronic circuit which has been found to be particularly useful in capaciflector apparatus, is a circuit element known as a current-measuring voltage follower circuit. This circuit enables current changes in the sensor and shielding elements of the capaciflector to be accurately sensed without cross talk between neighboring elements and/or their electrical leads. Such circuitry is further shown and described in detail in above referenced related application Ser. No. 08/187,344, entitled "Current-Measuring Op-Amp Devices".
Heretofore robotic berthing and docking operations in free space lacked any substantial precision. This has led to unexpected and imprecisely predicted minor collisions during the berthing/docking procedures which are not helpful to the precision scientific instruments on board. Safety has also been compromised. The most dangerous aspect of conventional systems is that with the extensive use of passive compliances and relatively large mechanical error corrections made by alignment cones, mechanical energy is stored and as a consequence the system can easily jam or lurch upon removal. With this undesirable possibility comes damage and mission failure. Passive compliances also lead to spongy, imprecise handling characteristics when the payload is being transported from one position to another in space.
Also this approach has classically been based on camera views backed up by a computer world model. With such techniques, there are always those safety issues caused by limitations of the camera view and discrepancies between the world model and hardware. Additionally, sensory field-of-view obstructions and lighting distortions and limitations can seriously handicap robotic operations. For example, present state-of-the-art apparatus cannot see very near the point of contact. Thus, if a cone is not exactly in the correct place or if a fastening hook is ajar, it would not be possible to detect this. All that would be known is that the operation has not been successful. In the subject invention, however, the apparatus in effect "views" a berthing hole, for example, from the viewpoint of the pin being inserted and as a result there are no obstructions.
With the large sizes of alignment cones and tool pins and passive compliance required, the number of applications are necessarily limited. For example, at present an entire end effector must be exchanged if the end-point of the robot tool is changed. With the subject invention, only the tool bits need be changed.
Accordingly, it is an object of the present invention to provide an improved capacitance type proximity sensing system whereby a piece of apparatus can be guided to a final destination with great precision.
It is another object of the invention to provide an improvement in capaciflector type proximity sensors whereby a robot can guide one piece of apparatus into contact with another without misalignments and undesired collisions.
It is yet another object of the invention to provide a robotically controlled capaciflector type sensing system for achieving precision pre-contact final alignment and soft touchdown on or in an opposing surface.
It is a further object of the invention to provide a capaciflector sensor system which can provide close-in 3-D imaging of approaching contact areas up to the moment of contact.
It is still a further object of the invention to provide an improved robotics system including a three dimensional capaciflector array for safely positioning devices in a zero gravity as well as in a one "g" environment.
Briefly, the foregoing and other objects are achieved by a plurality of capaciflector proximity sensors, one or more of which may be overlaid on each other, and at least one shield mounted on a device guided by a robot so as to "see" a designated surface, hole or a raised portion of an object. Individual current-measuring voltage follower circuits interface the sensors and shield to a common AC signal source. As the device approaches the object, the sensors respond by a change in the currents therethrough. The currents are detected by the respective current-measuring voltage follower circuits with the outputs thereof being fed to a robot controller where the contact between mating members of the device and object will occur somewhere on the sensing surfaces. Because electrical charge slides along the surface of a conductor with ease and because it induces an equal but opposite charge on the other mating member these charges will collect at the point which are nearest each other and therefore the output of the sensors will indicate a minimum separation distance between the device and object. The result is that the robot will not only be warned of impending contact with the object but also will have a measure of how immediate contact will be. The device is caused to move back and forth under robot control in a predetermined pattern over the object while directly referencing each other without any offsets whereupon by a process of minimization of the sensed currents, the device is dithered or "wiggled" into position for a soft touchdown or contact without any prior contact with the object.
The following detailed description of the invention will be more readily understood when considered together with the accompanying drawings wherein:
FIG. 1A is a diagram illustrative of the principle of operation of a known prior art capaciflector type proximity sensing device;
FIG. 1B is a schematic diagram of a current-sensing voltage follower circuit typically used in connection with a capaciflector sensor such as shown in FIG. 1A;
FIG. 2 is a set of curves illustrative of the performance characteristics of a capaciflector such as shown in FIG. 1;
FIG. 3 is a partial planar view of an overlaid capaciflector sensor configuration which can be used by the subject invention;
FIG. 4 is a cross-sectional view of the capaciflector configuration shown in FIG. 3 taken along the lines 4--4 thereof;
FIG. 5 is a cross-sectional view of the capaciflector configuration shown in FIG. 3 taken along the lines 5--5 thereof;
FIG. 6 is an electrical circuit diagram illustrative of the preferred embodiment of the invention;
FIG. 7 is a perspective view of a pair of gripper members used for grasping an object and including a three-dimensional array of capaciflector sensors mounted on the outer surface thereof;
FIG. 8 is a cross-sectional view of one of the bifurcated fingers as shown in FIG. 7 and taken along the lines 8--8 thereof;
FIG. 9 is a partial rear planar view of the bifurcated finger member shown in FIG. 7;
FIGS. 10A and 10B are diagrams illustrative of the operation of the gripper embodiment as shown in FIG. 7 as it positions itself over an object in the process of making contact therewith;
FIG. 11 is a perspective view partially cut away of a socket head for turning a hex head screw and including a capaciflector sensor array mounted thereon;
FIG. 12 is a transverse cross-sectional view of the socket head shown in FIG. 11 taken along the lines 12--12 thereof;
FIG. 13 is a central longitudinal cross-sectional view of the socket head shown in FIG. 11;
FIGS. 14A and 14B are illustrative of a socket head first approaching a hex head screw and then in position over the screw prior to engagement therewith;
FIGS. 15A and 15B are illustrative of a guided pin including a set of capaciflectors, first being aligned with a destination hole and then being inserted therein;
FIGS. 16A and 16B are diagrams illustrative of a variable capacitance imaging technique;
FIGS. 17A and 17B are diagrams illustrative of a constant capacitance imaging technique;
FIG. 18 is a diagram illustrative of capaciflector electric field transference from a gripper to a device being inserted into a hole of an object or fixture; and
FIG. 19 is a diagram illustrative of capaciflector electric field transference from a tool driver to a socket head for a hex head screw.
Before considering the structural details of the present invention, it should be noted that this invention is directed primarily but not limited to robotics used for assembly in zero "g" environments. In zero "g" or outer space, parts used in construction of space stations and the like are free to float away so robotic assembly involves either berthing or docking. Berthing is the term commonly used when a robot or machine is anchored to a common fixture in a closed kinematic chain with the payload that it is trying to remove from or attach to. Docking, on the other hand, is the term used when the robot or machine is trying to remove or attach a pay load to a fixture which is free floating with respect to the robot in an open kinematic change. Though the two situations use essentially the same technology, the focus of this invention is primarily directed to berthing.
Traditionally, berthing has been accomplished using a combination of passive and/or active compliance, large mechanical alignment pins and cones, cameras, force/torque sensors and computer/teleoperator shared control. Experience has shown that the procedures used for correcting alignment errors in zero "g" environments after contact by a combination of mechanical guides and passive compliance, has serious consequences which include parts jamming, undesired impact forces, excess size and mass, marginal safety and sophisticated computer requirements.
The technique which will now be described involves the use of devices which are positioned by a robot and which include capaciflector proximity sensors mounted thereon. Capaciflector sensors are shown and described in their simplest form in the above-referenced U.S. Pat. No. 5,166,679, entitled, "Driven Shielding Capacitive Proximity Sensor".
Considering now the details of the invention and referring to the drawings wherein like reference numerals refer to like parts throughout, a proximity sensor such as taught in U.S. Pat. No. 5,166,679 is shown diagrammatically in FIG. 1A where reference numeral 10 denotes a sensor element which is located between a ground plane 12 and an object 14 to be sensed. The sensor element 10 normally comprises a thin sheet of conducting material driven by an electronic circuit such as shown in FIG. 1B and forms one electrode of a capacitor, the second electrode being the object 14 being sensed and other nearby objects. Another thin sheet of conducting material considerably larger in size than the sheet forming the sensor element 10 comprises a reflective shield member 16 which is inserted between the sensor element 10 and the ground plane 12, thus shielding the sensor element 10 from the ground plane 12 such that the capacitance between it and the ground is substantially reduced, thus reducing background noise and improving signal to noise ratio. Both the sensor element 10 and the shield 16 are driven through a respective voltage follower circuit 18 (FIG. 1B) coupled to an oscillator circuit 20. The output signal V0 at circuit node 30 (FIG. 1B) increases in direct proportion to the increase in capacitance and the inverse of the range between the sensor element 10 and the object 14. Such apparatus provides a substantial improvement in range and sensitivity.
The current-measuring voltage follower as shown by reference numeral 18 in FIG. 1B is set forth in the above cross referenced application U.S. Ser. No. 08/187,344 and includes an operational amplifier (Op-Amp) 22. The Op-Amp 22 is, in effect, a microminiature precision high gain servo system where the voltage of the oscillator 20 applied to the + terminal of Op-Amp 24 is servoed back to its - terminal via a feedback connection 24 from circuit node 26 back to the -terminal. Although both the + and - input terminals of the Op-Amp 22 are of high impedance, it is also a current source with a low impedance output. Thus the current flowing through the sensing element 10 can be sensed by means of the voltage V0 generated across resistor 28 and appearing at circuit node 30.
A sensor configuration including the elements of FIGS. 1A and 1B provides a monotonically increasing capacitance value as range decreases and accordingly an increasing current signal Vo is generated across resistor 28 as the capaciflector approaches the object 14. This capacitance (current) variation is further shown in FIG. 2 where the curve 32, for example, is illustrative of the response curve for a relatively large sized sensor element 10, while the curve 34 is illustrative of the characteristic of a relatively small sized sensor element 10.
Such a sensor system provides a simple, rugged, flexible configuration that can be affixed to an outside surface of any device which, for example, is driven by a robot and has the ability to virtually "see" any object it encounters as long as it either is a conductor or has dielectric properties.
The apparatus to be described with respect to this invention depends on information from one or more capaciflector type proximity sensors 10 co-located at selected points, including contact or fastening points between a robotically controlled device and a target object. In this regard, multiple sensors are mounted in close proximity to and even overlaid on each other on a non-interference basis.
While the capaciflector devices shown in U.S. Pat. No. 5,166,679 and No. 5,373,245, respectively, disclose a basic type capaciflector sensor and a rectilinear array of sensors defining a camera type structure, in FIG. 3 there is shown an overlaid type capaciflector sensor structure wherein a relatively smaller sized fine sensor element 10' overlays a relatively larger sized coarse sensor element 10", with both sensor elements being centrally aligned over a still larger shield member 16. Further as shown in FIG. 3, the fine sensor element 10', the coarse sensor element 10" and the shield member 16 are affixed to a grounded element 12, which constitutes a ground plane and which may be, for example, a portion of or outside surface of a device 36 (FIG. 6) which is positioned under robotic control.
The coarse sensor 10" having a capacitive characteristic as shown by curve 32 in FIG. 2, can be utilized, for example, for large collision avoidance and alignment purposes, whereas the fine sensor element 10', having a characteristic curve as shown in FIG. 2 by reference numeral 34, can be utilized, for example, at the tip of a pin or screw tip for mating with a designated hole or other small aperture.
As shown in FIGS. 4 and 5, the sensors 10' and 10", the shield 16 and the ground member 12 are mutually insulated from one another by layers of insulation 30. As further shown in FIG. 5, the two sensors 10' and 10" include flat metallic lead segments 11' and 11" which extend upwardly from the structure as shown in FIG. 3, while being insulated from one another by the layer of insulation 30, while being surrounded by a shield 17 which forms a portion of the shield 16. It should be noted that the number of sensors is not limited to two, but can be as many as desired depending upon the particular application and the sensitivity desired.
This now leads to a consideration of FIG. 6, which discloses an electrical schematic whereby a device 36 including a three dimensional (3-D) arrangement of capaciflector sensors is guided by a robot 38 under the control of digital type controller 40. The robot 38 is coupled to the device 36 by a mechanical connection 42, which may be, for example, a robotic arm or some such structure which will provide a three-dimensional movement or translation/rotational movement of the device which is attached thereto.
Referring now to FIG. 6, reference numeral 12' denotes at least one support surface for orthogonal X, Y and Z axis capaciflector sensors 10x, 10y and 10z which are positioned over a common shield member 16. The X and Y axis sensors are comprised of overlaid fine and coarse sensor elements 10' and 10" as shown in FIG. 3, while the Z axis sensor comprises a single element 10 such as shown in FIG. 1A.
The shield member 16 and the X, Y and Z axis sensors 10x, 10y and 10z are commonly coupled to an AC signal source 20, e.g. an oscillator, through six current-measuring voltage follower circuits 181, 182 . . . 186 of the type shown in FIG. 1B. Six respective output voltages V01, V02 . . . V06 generated across the current-measuring sensor resistors 281, 282 . . . 286 and appearing at the output of the Op-Amps 221, 222 . . . 226 are all fed to a multiplexer (MUX) circuit 44 which is controlled by the robot controller 40 via a connection 46 therebetween.
The multiplexed outputs of the current-measuring voltage follower circuits 181, 182 . . . 186 are fed from the multiplexer 44 to an AC to DC converter 48 by way of a circuit lead 50. The output of the converter 48 is fed to an analog to digital converter 52, the output of which comprises a digital signal coupled to the robot controller 40. The robot controller 40 is programmed to drive the robot 38 such that the device 36 is moved to the location where the destination object is located, but then stops, for example, approximately 1.0 ft. away from the object. At this point, the robot controller 40 implements an algorithm whereby the device is moved in a predetermined pattern, e.g. a rectangular scan pattern, and measures the response of the sensors on all sides of the target. The robot controller 40 "looks" for a relative minimum between the sensor outputs, each time coming closer and closer to the final destination. The rate of change or derivative of the sensor performance curve is detected so that "virtual forces" are in effect generated which produces a close in alignment followed by a final alignment and soft touch down without any prior contact with the destination object.
A first example of this type of operation is shown in FIG. 7 where a gripper assembly comprised of a bifurcated two digit member 54 and an opposing single digit member 56 include respective right angled finger members 58, 60 and 62. The two fingers 58 and 60 each include three sensors 10x, 10y and 10z on inner side, front, and bottom faces respectively, for sensing side or X axis movement, leveling or Y axis movement, and forward or Z axis movement while the finger 62 of the single digit member 56 only includes a Z axis (forward) and Y axis (leveling) sensor 10z and 10y on its respective front and bottom faces. The robot 38 operates to move the two members 54 and 56 mutually forward and backward, side to side, and up and down to effect a pincer type movement when grasping an object, not shown.
In FIG. 8, there is shown a partial cross section of the gripper finger 58 of member 54 and is intended to show the relative positions of alternating layers of shield 16 and sensor metallizations 10z and 10y and insulation 30. Each sensor 10z and 10y and front and rear shield members 16f and 16r attach to respective output metallization layers 63, 64, 65 and 68, 70 . . . 74 which connect to respective current measuring voltage follower circuits, not shown, but which may be, for example, as shown in FIG. 6.
In FIG. 7 it can be seen that the two z axis sensors 10z include metallization comprising output leads 64 and 66, while the sensors 10x and 10y of finger 58 terminate in leads 68 and 70 formed on the rear surface thereof, while the other finger 60 includes 10x and 10y output metallization leads 72 and 74. For purposes of illustration, three shield leads 63, 65 and 71 are also shown. This arrangement is further shown in FIG. 9. The single digit finger member 62, on the other hand, is shown in FIG. 7 including an output lead metallization 74 on the front face thereof for the sensor 10z, while the y axis sensor 10y includes a metallization lead 76 running up the rear surface thereof. A single shield member, not shown, underlying the sensors 10z and 10y terminates in an output lead shown by reference numeral 75.
Accordingly, the configuration shown in FIG. 7 provides a structure wherein each gripper finger 58, 60 and 62 can be a composite structure including a robotic element and a sensor element and where the contact between the mating members will occur somewhere on the sensing surfaces. Also because electrical charge slides along the surface of a conductor with ease and because it induces an equal but opposite charge on the other mating member these charges will collect at the points which are nearest each other and therefore the output of the sensors will indicate a minimum separation distance between the sensing element and the object. The result is that the robot 38 will not only be warned of impending contact with an object but also will have a measure of how immediate contact will be.
As shown in FIGS. 10A and 10B, the opposing members 54 and 56 are first brought into substantial alignment with an object 57 while directly referencing each other with no offsets and then lowered while being "wiggled" into a precision fit prior to contact. While single element sensors 10z and 10y are shown, overlaid sensor arrangements as shown in FIG. 3 can be utilized as needed.
This technique is analogous to end-point force/torque sensing except that the forces are virtual and the coefficient of friction is zero. It should be noted that it is not necessary to precisely calibrate and characterize the sensors 10x, 10y and 10z because they are self-calibrating.
Accordingly, such a configuration provides a means whereby the heretofore utilized large passive compliance system can be eliminated. A robot control system can now easily perform the role of passive compliance with no external assistance. Secondly, the residual forces that normally would be stored in the passive compliance system have been relieved. Thirdly, the bouncing and scraping of the mechanical guidance portion of the assembly using passive compliances has been replaced with a much smoother, non-contact technique of "virtual force".
Referring now to FIGS. 11-13 and 14A, 14B, a second example is intended to illustrate a capaciflector guided socket head 80 (FIG. 11) being robotically driven so as to engage a hex head screw 81 (FIG. 14A). This embodiment, as further shown in FIG. 11, includes a pair of relatively large, i.e. long, sensor elements 10"' having a coarse sensor capacitance characteristic such as shown by reference numeral 32 in FIG. 2 affixed to the outside surface 78 of the socket head 80. The shaft 82 of the socket head 80 is connected to and driven by the robot 38 (FIG. 6). The interior of the socket head 80 includes hexagonal screw contact surfaces 84 on which are mounted respective capaciflector sensor elements 10' behind which is located a common capaciflector shield member 16. Both elements are mutually separated by intervening layers of insulation 30. The thin metallic layers constituting the sensor elements 10' and the shield 16 also include mutually insulated lead members 86 and 88 as best shown in the cross-sectional view of FIG. 13.
This tool embodiment is intended to illustrate the fact that the outer sensor elements 10"' are used to prevent undesired premature collisions of the socket head 80 with the hex head screw and/or ground plane 21. Once brought into position as shown in FIG. 14A, the inner fine sensor electrode elements 10' are utilized to provide a final alignment and contact with the hex head screw 82 as shown in FIG. 14B.
A third example illustrating the subject inventive concept is shown in FIGS. 15A and 15B where an alignment pin, for example as shown by reference numeral 90 under robotic control is positioned over and inserted in a recess or hole 92 including an inside wall surface 94. The alignment pin 90 as depicted is comprised of, for example, a grounded body member 96 with a shield layer 16 formed over its outer end with a first sensor element 10' located on the tip portion of the pin 90 and a second sensor 10' located just behind the sensor on the tip. As shown in FIG. 15A, when the pin 90 is brought into a vertical position, both sensors are used for positioning and alignment. In FIG. 15B, both sensors 10' operate to center the pin 90 over the hole 92 and precisely center the pin as it is moved downwardly into the hole.
Thus using capaciflector guided mechanisms as shown above, an electric field having a 1 ft. range can provide advance warning to the robot 38 whereupon it can completely eliminate the possibility of undesired collisions with objects or personnel so that a device can be moved to a close-in alignment with an object of, for example, 2 in. �0.25 in., with a transverse error of less than 0.004 in. and an angular error of less than 1� and then execute a soft contact therewith. Furthermore, the robot 38 (FIG. 6) can move the sensor mounted device around the object and generate a 3-D model of the mating areas, e.g. the pins and their mating holes as the case may be.
FIGS. 16A, 16B and 17A, 17B, moreover, depict two separate scanning methods whereby a scanning probe such as shown by reference numeral 92 can be used to generate a topographical map of an object's surface. The probe 92 is shown including a sensor 10' on the tip, a shield 16 thereunder which extends out from and along the body 94. FIGS. 16A and 16B disclose a variable capacitance imaging technique where the probe 92 is positioned at a constant height over the surface 95 of an object 96 and is moved rectilinearly over the top of the object first in one direction and then the other while incrementally advancing by discrete steps at the end of each scan line as shown by the scan line pattern 98.
In FIGS. 17A and 17B, there is a variation of such a rectilinear scan where a constant capacitance imaging technique is effected and where the probe 92 moves up, down and over the side and top surfaces 93 and 95 of the object 96 while maintaining a constant separation therefrom as represented by the scan line pattern 99 shown in FIG. 17B. When desirable, a combination of the two methods can be employed.
An operator can thus clearly see mating members coming together in a 3-D graphical format when desired, complete with range and location information and with the entire operation being accomplished in complete safety without the potential for unwanted misalignments and collisions while at the same time providing a subsequent final alignment and soft touchdown. Also, one can do periodic calibrations to upgrade the fidelity of the image.
One additional feature of this invention comprises the concept of capaciflector transference of electrical flux from one component to another. In FIG. 18, for example, shown thereat is a gripper mechanism including a pair of opposing gripper arms 100 and 102 and having respective capaciflector sensor assemblies 10z mounted on opposing side surfaces thereof which has gripped an object 90, e.g. an alignment pin having a metal tip 91. As illustrated, the top 91 is aligned with a hole 104 in a fixture 106. It can be seen that in the process of berthing the pin 91 into the hole 104, electrical flux lines as shown by reference numeral 106 travel from the gripper arms 100 and 102 through the body of the alignment pin 90' to the tip 91 where they enter the fixture 106 and the exit from the fixture 106 to the ground plane 21.
A second example of flux transference is shown in FIG. 19 where, for example, a hex driver element 108 including a detent 109 is attached to a robot, not shown. The driver element 108 is adapted to be coupled to a tool bit interface 110 and includes a hex cavity 112 for receiving the driver 108 so that the detent 109 engages a ball detent 113. The tool bit interface 110 additionally includes a hex head socket 116 at the opposite end which is adapted to engage a hex head screw 114. It can be seen that electrical flux lines 106 will pass from the driver element 108 through the tool bit interface 110 to the hex head screw 114 as shown in FIG. 19.
Accordingly, the hardware necessary for implementing capaciflector-guided mechanisms and devices is relatively simple. The capaciflector sensing surfaces, moreover, can assume any size and shape desired, from a large area very thin, flexible and conformal film covered with paint and mounted on a robot arm or the bottom of an orbit or replacement unit to a solid structural and load-bearing part of a screw.
The capaciflector sensors are also very compatible with space as well as an earth orbit environment. The sensors, moreover, are virtually indestructible in low earth environment. Oxygen ions cannot destroy them and micrometerorite and space debris collisions cannot affect these devices. Also, gamma rays do not affect either plates or shields. The electronic circuitry is straightforward and can easily be shielded in the space and low earth orbit environment. Ions and electrons may charge bias the capacitive electrode (sensors and shield, even ground); however, the system is an AC system and these, essentially DC charges, can be treated as a simple voltage offset.
While the embodiments disclosed herein make reference to robotically delivered devices including sensory apparatus, it should be noted that, when desirable, the holes of receptacles themselves may comprise sensory active destination points. Thus elements of holes and receptacles can act as capaciflector guided mechanisms as well as the screws and fasteners therefor.
The subject invention provides several advantages over the known prior art, one of which is an improvement in the order of magnitude in the precision with which docking and berthing can be carried out. Also, the ability to perform vectored "virtual force" precontact operations permits one to perform maintenance and assembly without disturbing delicate scientific instruments. Furthermore, significant improvements in operational flexibility and versatility are provided, since many tasks and procedures will now become routine which heretofore have been impossible. For example, a robot with a capaciflector-guided end effector will be able to scan and search a region and image and identify the tool and its proper grasping points prior to grasping it. Moreover, this can be achieved without any lighting difficulties or obstructions of view.
Exceptional simplicity and robustness in the system is also achieved by this invention. This is not only in terms of its physical robustness and simplicity of its hardware, but also in its electronics software and computer requirements. Furthermore, the system is self calibrating against the conditions against which it operates at any given instance. Offsets between sensor mechanism contact points are eliminated by making them one and the same. The system simply is adapted to operate very close to contact, a region in which it is very accurate and sensitive and calculates relative signal nulls and maximums, thus providing guidance with great precision using very little apriori knowledge and computer power.
Still further, the present invention's ability to energize the object it is grasping so that this too becomes a capaciflector guided mechanism is also of great value. This capability is required when assembling one object to another using a robotic gripper or fastener. The gripper or fastener itself becomes a capaciflector-guided mechanism and so it can grasp an object with great precision and efficiency so that the sensor is merely extended from the gripper or fastener through the object.
Having thus shown and described what is at present considered to be the preferred embodiments of the invention, it should be noted that the same has been made by way of illustration and not limitation. Accordingly, all modifications, alterations and changes coming within the spirit and scope of the invention as set forth in the appended claims are herein meant to be included.
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Food Allergy Videos
Suzanne Somers Still Sizzles
Suzanne Somers steps back into the spotlight with new moves, a new book and a new show.
Coconut: How Healthy Is the Superfood?
calories and 4.5 grams of saturated fat. Coconut milk is great if you're vegan. Easy to digest, great if you have a milk allergy or lactose intolerant. That being said coconut milk packs calories. Reporter: The place I always see it when it comes
Peanut Study Shows Allergy Risk Could Be Reduced for Newborns
We've been saying to parents that the best way to prevent peanut allergy in your children is hold off on peanuts for the first three ..... parents do with this new information? If your child has food allergies or at high risk they need to be skin tested before you do
New Research Being Labeled a 'Breakthrough' on Peanut Allergies
a game-changer. What do you Petell patients snont. Reporter: This is a dramatic change. If your child already has food allergies , they need to get skin tested before you introduce peanuts. But for every other child, you want to make sure when you
Cupcake Crackdown Threatened in Schools
linked him to do this was because of our increase in severe food allergies in particular and that's. Teresa holy can parents is want ..... right away. One of my daughters has her best friend has a food allergy and not allergy. And she understood that she wanted to make
Health Warning: Millions May Be Misusing Asthma Inhalers
What's the proper way to use the epipen and the most common errors? This is for people who have life-threatening food allergies , bee stings. Grip it in your palm, and swing it down into your thigh. You'll hear the click. But you have to leave
Woman Says She Was Denied Job Due to Peanut Allergy
definition of disabilities. To protect those with any condition that substantially impairs a major life activity. And peanut allergy would likely be included and they didn't want me dating have to to begin with and I can step in my job.
Insomniac Kitchen: Rice Krispies Treats Grow Up
No like. So awesome I'll say they're still good and they let me show is in with gluten free cereal for people have a gluten allergy and a ship. All over the country actually sent some to my cousin because they were so good and she loves these crispy registries
How Scrub Daddy's Sponge Sales Skyrocketed, and 8 Secrets of Pixar's Success
of our product line now we had the original diagnosis the orange one. And so many people that's us now for colors for food allergies for it to in the kitchen and to keep you know once funds separate and different the house because you can use the bathroom
Sponge Soaks Up 'Shark Tank' Success
the breath of our product line now we had the original diagnosis the orange one. And so many people us now for colors for food allergies for it to in the kitchen and to keep you know once funds separate and different the house you can use the bathroom you know
Chris Johnson had to have been Wednesday. The press not need to be that change I think Chris not. For the audience of food allergies and any of gift bag All gotten on what what those are beautiful now the game is to last. In anti gang let mess that's
Should Pregnant Women Eat Peanuts?
had a significantly less chance of their child having a food allergy , than pregnant women who ate them just once a month. This ..... Get your child tested. If they are diagnosed with a real food allergy , make sure to have multiple epi pens all around. And talk
FDA Says 23andme Must Stop Selling At-Home DNA Tests
down with anne. And she told me the at-home test would prove for as many as 250 different conditions. From lactose intolerance , to parkinson's. A spokesperson tells abc, our relationship with the fda is extremely important to us. And
'Modern Family' Actress Julie Bowen Raises Awareness On Anaphylaxis
involved with this campaign. Because food allergies are incredibly right now. Lots of people have food allergies but what a lot of people don't seem to understands that severe acne. some food allergies can happen that you could have and a
'Modern Family' Star Julie Bowen Offers a Sneak Peek at the Fifth Season
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Suzanne Somers' Age-Defying Secrets
brought yummy food today. Why is this and why? They asked me what I do eat for breakfast. I'm allergic to eggs. A lot of food allergies . Gluten intolerance. I have to avoid negs the morning. My husband can't have gluten. This is gruten-free flat bread
New Ways to Defeat Fall Flu Earlier Than Ever
There's no reason this year to say I won't get a shot. It's not just doctor's offices. I got mine at a pharmacy. And egg allergy sufferers. There's a new vaccine that's not grown in eggs. And for the elderly, there's a high-dose vaccine. In
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on a camping trip are launching a foundation. Promoting food allergy awareness. Georgie was on a family trip in June when she ..... aren't stopping to think about can never took that child's food allergy seriously. She'd she'd like that and we. Hope that
Girl Dies From Peanut Allergy at Summer Camp
Quote while our hearts are breaking over this tragic loss of our beautiful daughter Natalie it is our hope that others can learn from this. In that food allergies are less threatening. care for those afflicted should always be supported.
Teen Dies From Cookie With Peanut Oil
Cameron Fitzpatrick's peanut allergy proved fatal after accepting a cookie from his friend.
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is the only thing they have found he the digest. Tastes jennifer and tom gonzalez says michael was diagnosed with a re food allergy . Imagine the worst case of flu you ever had. Violent multiply that by ten. He knows that eating tastes good.Rted b and
Boy, 3, With Severe Food Allergies Can't Eat
Michael Gonzalez drinks 20 to 30 bottles of prescription-only formula daily.
Fiscal Cliff Negotiations: Could Economy Slip Back into Recession?
least a temporary farm bill to prevent those milk prices from going up. D.C. Forcing tax increases and lactose intolerance on america this morning. Jon by the way has a big show. Senators chuck schumer and jon kyl on "this
Guest 'GMA' Host Julie Bowen on 'DWTS,' 'Modern Family' Season 4
sharing a personal experience with food allergies . I have three sons. There they are ..... discovered my oldest son has a terrible food allergy to nuts and to bee stings, which is ..... of the many, many people who have a food allergy or your child does, you can go say
Roundtable I: This Week in Politics
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Combating Dry Skin
about a third of kids there's to food allergy . gallon a jump on all. Kids and I tonight and for food allergies in you Lake constant chronic xmas ..... you want to think about testing for food allergies . Otherwise he would probably makes
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tragic death of a seven year old girl from a peanut allergy . Has called into question the school's responsibility ..... Incredibly sad but this little girl. Has known food allergies severe food allergies . She was at school another child gave her
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everything from parents notifying the school of a child with food allergies to what teachers administrators and school nurses need to ..... A 150 to 200 people die each year here in the US from food allergies it's the throat closes often and severe wheezing. That's
7 Winter Superfoods
against the absolutely and parents lovely winter are high in vitamin C and fiber. They are very Allard gen so anyone who has food allergies kids food sensitivities even adults they're greats include a new diet. Also if you slice you can put them on a and they
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intestinal the tissue of intestines. To attack itself when gluten is comes in contact. There's also something called gluten allergy or intolerance which kind of and upset tummy and so those people should avoid because they feel. you don't went up about
Medical Moments: Scratch Test
call food challenges they'll take these small portions of suspect foods in letter try them in a medical setting. To see if she actually has a physical reaction. To learn more about food allergies explore abcnews.com. Slash health.
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text:
calibration systems Equipment in Congo, Democratic Republic of the
Category: Air & Climate ×
Subcategory: Air Monitoring ×
Keyword: ×
Location: Africa ×
Location: Congo, Democratic Republic of the ×
DustMate - Hand-Held Direct Reading Fume and Dust Detectorby Turnkey Instruments Ltd based in Northwich, UNITED KINGDOM
DustMate is a hand-held instrument with a very fast response which has been designed to locate sources of workplace airborne dust and fumes even at very low concentrations. Highly effective for checking air quality within buildings. Its one second time resolution also allows it to be used as a road-side indicator to identify high pollution ...
Air check Ex - Combustible Gas Monitorby PureAire Monitoring Systems, Inc based in Lake Zurich, ILLINOIS (USA)
The Air check Ex Combustible Gas Monitor is a compact gas monitoring system that's ideal for continuously monitoring toxic and corrosive gases in hazardous areas. The Air check Ex non-intrusive calibration allows sensor calibration in hazardous areas without area declassification. The only tool required is a small magnetic wand, designed to ...
ALTAIR - Model 2X - Gas Detectorby MSA AUER GmbH based in Berlin, GERMANY
The FIRST portable Gas Detector with innovative XCell Pulse Technology. With XCell Pulse Technology, a daily bump test can be performed without the need for calibration accessories or bottled calibration gas. In 2010, MSA launched the new MSA XCell Sensor Technology, first used in the ALTAIR 4X Gas Detector, and later in the ALTAIR 5X Gas ...
E-Instruments - Model AQ Expert - Portable Indoor Air Quality Monitorby E Instruments International, LLC based in Langhorne, PENNSYLVANIA (USA)
An indoor air quality monitor will help you perform the most accurate IAQ parameter testing. If there is any detection of mold or other air-borne bacteria formed from outside pollutants, you will be able to detect it right away before it becomes a serious health and safety concern.
Felix - Rain Gauge Test Equipmentby Felix Technology Inc. based in Concord, ONTARIO (CANADA)
The new mobile Rain Gauge Test Equipment is able to simulate rain in various intensities. The second generation of the Rain Gauge Test Equipment has a new and improved special pump inside. With almost no noise rain gauges can be tested easily in the field or in the lab.
Felix - Research and Laboratory Equipmentby Felix Technology Inc. based in Concord, ONTARIO (CANADA)
Felix Technology Inc. presents research and laboratory equipment in various fields including Electrical Engineering equipment, Computing equipment, Field equipment, Micro/Nano Fabrication Laboratory equipment. The set of instruments presented below will be particularly suited to universities and research institutes.
Model MIR-9000 - Continuous Emissions Monitoring Systemsby a1-cbiss based in Birkenhead, UNITED KINGDOM
Measurement Technique: Utilising Infra-Red Gas Filter Correlation allows the MIR-9000 to offer up to ten gas measurements simultaneously, including Nitric Oxide (NO), Nitrogen Dioxide (NO2), Sulphur Dioxide (SO2), Carbon Monoxide (CO), even Hydrogen Chloride (HCl) and Hydrogen Fluoride (HF).
Signal - Model StreetNOx - Reference Method System for Measuring NOxby Signal Group Ltd based in Camberley, UNITED KINGDOM
With the footprint of a telephone exchange cabinet the StreetNOx is a reference method system for measuring NOx by the roadside. It is available for measuring other gases such as SOx and can also be configured with a particulate monitor in addition to the NOx detector. Roadside ambient air quality monitoring system for NOx or any single gas ...
Ecotech - Model Serinus 50 - Sulfur Dioxide (SO2) Analyserby Ecotech Pty Ltd based in Knoxfield, AUSTRALIA
The Serinus 50 Sulfur Dioxide (SO2) analyser delivers precise and reliable performance at excellent value. It uses proven pulsed UV fluorescent radiation technology to measure SO2 in ambient air (LDL
HORIBA - Total System Integration / Multiple Pollutants Monitoringby HORIBA Europe GmbH based in Leichlingen, GERMANY
HORIBA designs, assembles, calibrates and tests complete integrated systems for simultaneously measuring multiple pollutants. A system for monitoring five pollutants can typically fit into one 19-inch rack. Rack-mounted systems can be installed in equipment rooms, stand-alone shelters, trailers, vans, large trucks, or aboard vessels. HORIBA can ...


text:
MasterCard Allows You To Approve Your Purchase With A Selfie
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NaturalMotion Unveils CSR2 For Android And iOS
Promises to deliver a solid drag-racing experience post soft launch.Sheldon Pinto, 03rd Jul 2015 MobilesGames
New Rumour Claims Android Powered BlackBerry Venice Slider Headed To AT&T
Another rumour teases a BlackBerry Passport with Android styled keyboard and on-screen navigation buttons.Phalgunn Maharishi, 03rd Jul 2015 Mobiles
Asus May Soon Unveil New Budget Smartphone Zenfone Go
To reduce the cost, the company seems to have used the MediaTek processor instead of the Intel Processor.Phalgunn Maharishi, 03rd Jul 2015 Mobiles
Snapchat Brings New Features With Its Latest Update To Android & iOS Devices
Most notably, the latest update replaces tap-and-hold with much easier tap-and-view feature.Phalgunn Maharishi, 03rd Jul 2015 Mobiles
Dots Receives A Massive Overhaul With Its Latest Update
Now allows for advanced customisations.Sheldon Pinto, 03rd Jul 2015 MobilesTabletsGames
Casio Becomes The Latest Entrant In An Overcrowded Smartwatch Market
Will unveil its version of the ideal smartwatch in 2016.Sheldon Pinto, 03rd Jul 2015 Wearables
Leaked OnePlus 2 Sketches Reveal A Precision Cut Steel Frame
Also revealed is the presence of a dual-lens camera set up.Sheldon Pinto, 03rd Jul 2015 Mobiles
HDFC Bank Unveils App For Apple Watch
The bank also has plans of expanding to Android wearables by this year.Phalgunn Maharishi, 03rd Jul 2015 Wearables
YouTube Videos On Your Android Wear Smartwatch? It's Possible!
If you thought that was unnecessary, it lets you 'cast' them as well.Sheldon Pinto, 03rd Jul 2015 WearablesMobilesSoftware
Xolo Announces Black Smartphone To Be Launched On July 10
The new smartphone comes with dual rear cameras quite similar to that of the Huawei Honor 6 Plus.Phalgunn Maharishi, 03rd Jul 2015 Mobiles
Google To Launch New Android One Smartphone By Lava
This time, both hardware and software are developed by Google and Lava together unlike the previous batch.Phalgunn Maharishi, 03rd Jul 2015 Mobiles
There's Nothing "Active" About Chevrolet's Active Phone Cooling
But it is a smart idea nonetheless.Sheldon Pinto, 03rd Jul 2015 Mobiles
2 Years Down, Microsoft May Announce The Lumia 1030 After All
May follow a launch similar to the Lumia Icon via Verizon.Sheldon Pinto, 02nd Jul 2015 Mobiles
Panasonic Launches P55 Novo At Rs 9,290
The smartphone comes with 13 MP camera and a triple LED flash in the rear for better quality.Phalgunn Maharishi, 02nd Jul 2015 Mobiles
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text:
Hazardous Waste Companies in Portugal
Category: Waste & Recycling ×
Subcategory: Hazardous Waste ×
Employees number: 11-100 ×
Industry: Plastics & Resins ×
Location: Europe ×
Location: Portugal ×
Logical Technology, Inc.
based in Peoria, ILLINOIS (USA)
LOGICAL provides MSDS and Environmental Management Software and Online Solutions featuring exceptional regulatory compliance resources for your employees. LOGICAL has customizable solutions for managing MSDS sheets, providing Right-to-Know MSDS access, tracking chemical inventory, insuring permit compliance, and generating environmental regulatory reports. In addition, ...
Granutech-Saturn Systems
based in Grand Prairie, TEXAS (USA)
Granutech Saturn Systems, offers a diversified line of recycling equipment systems that can be easily integrated into a single processing facility. From shredders to granulators to powederizers and refiner mills -- to auto crushers and balers/loggers, our engineers continuously develop products that meet the needs of your industry and application. But more importantly, ...
Chemisch Thermische Prozesstechnik GmbH / CTP Air Pollution Control
based in Graz, AUSTRIA
CTP (Chemisch Thermische Prozesstechnik GmbH) is one of the world`s leading companies in air pollution control for industrial applications. CTP was founded in 1985 and since then, its engineers, chemists and researchers have been developing individual technologies to serve customers worldwide, covering all industrial sectors. At CTP, we adhere to high quality standards ...
Progressive Technical Services Ltd
based in Cardiff, UNITED KINGDOM
Progressive Technical Services Ltd (PTS) provides efficient industrial cleaning, waste management, emergency spill response, decommissioning and decontamination works on petrochemical installations, bulk liquid storage, oil, food and chemical plants to the highest standards. The specialist environmental and industrial team based in Cardiff provide our services throughout ...
SatrindTech S.r.l.
based in Arluno, ITALY
Consolidated experience and leadership in engineering, manufacturing and installation of industrial shredders and complete shredding plants for waste reduction, reclaiming and disposal. Our solutions are designed for waste treatment with capacity and range specific for recycling and disposing requirements in different sectors.
Rota Mining Corporation Natural Zeolite Producer
based in Istanbul, TURKEY
Rota Mining is the worlds leading natural zeolite mineral producer. As a world leader in its field, Rota Mining is committed to setting the standards for the natural zeolite industry.Rota Mining owns high quality clinoptilolite reserves (min. 90% pure) in Manisa / Turkey and produces a wide range of natural zeolite products at the mining and processing plant here. With ...
The Compliance Center (ICC)
based in Niagara Falls, NEW YORK (USA)
Since its inception in 1987, ICC The Compliance Center has been training and providing products to comply with dangerous goods regulations to safely handle and transport dangerous goods by air, ground or sea. ICC The Compliance Center has been operating for over 20 years throughout Canada and the United States, and has developed products that have become the de facto ...


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Therapists in San Antonio, TX 78240
Alamo Farmsteads, Burning Tree, Country View, French Creek, Oak Bluff and Pheasant Creek
"I am a clinical psychologist, licensed in Texas and New York. I now offer couples therapy and individual therapy via video conferencing (HIPAA compliant) in Texas and New York. I have extensive training and experience working with couples and individuals. During over 25 years of practice, I've been privileged to help my clients feel better, think and communicate more clearly and positively, find solutions, achieve their goals, and understand themselves and others in ways that enable positive change. I offer expertise in the following areas: Strengthening & Healing Relationships; Depression; Anxiety; Trauma; Eating Disorders; Stress Management; Relaxation Training; Loss; Life Issues.
(914) 984-4633
Verified by Psychology Today
Cheryl Wright
Counselor, LPC, LCDC
"The decision to seek therapy is difficult and personal. Not knowing all the answers to your life questions is natural. Often, people choose therapy during times of stress, discomfort, chaos, and emotional pain. It may also be when you are ready for changes or growth to happen in your life. I believe that within every individual lies the ability to overcome, learn, and preserver through the concerns that brought them to therapy.
(210) 762-4741
Verified by Psychology Today
La Tara Carter
Counselor, MA, LPC, LLC
"Change is what human development is all about-enormous, fantastic change. The most influential approaches to psychotherapy is psychoanalyisis and Client-centered therapy. Where problems arise from unhealthy interactions with others and could be alleviated in private between therapist and client. Together we can increase your ability to think, feel and learn new coping skills.
(210) 429-8162
Verified by Psychology Today
Marsha Kay Stenger
Counselor, MEd, LPC
"During childhood we wring our hands over the passage of time being so slow. While our parents watch carefully for the starting of psychotic behavior, we trip through the days trying to fit into a niche that is prescribed by the place we live, the family structure we are born into, and the dwindling opportunities offered by overtaxed school systems. I wish to offer an island of hope to those whose life is filled with the great unknown. While trying their best to please and unsure why the efforts are fraught with not being good enough and causing more stress.
(210) 877-9046
Verified by Psychology Today
Scott Helm
Clinical Social Work/Therapist, LCSW
"I accept all patients over the age of 13. I am an LCSW located in the San Antonio, Texas area.
(915) 213-7142
Verified by Psychology Today
Virginia Celmer
Psychologist, PhD, LCDC, CSAT, CMAT, CGP
"Within each of us is an inclination, a yearning, a desire to be happy, whole, holy. This dynamism may be called by various names including "my best self," "an unconscious drive to health," or the "Holy Spirit." Whatever this movement is named, I believe it is active and real in each of us. How we choose to respond to it is the product of our free will and becomes our individual responsibility. If, within the limits of my professional expertise, I might be of assistance to you in actualizing this potential, I would be honored to do so.
(210) 526-0479
Verified by Psychology Today
Michael Thomas McCloskey
Counselor, MA, LPC
"J. R. R. Tolkien once wrote in a letter to a friend, "No man can estimate what is really happening at the present. All we do know, and that to a large extent by direct experience, is that evil labours with vast power and perpetual success - in vain: preparing always only the soil for unexpected good to sprout in." Most of us readily identify with the first part of that statement but may not be so sure about the second part. We hope for truth, beauty and goodness and because of that hope we suffer.
(210) 692-9992
Verified by Psychology Today
Flexible Counseling
Marriage & Family Therapist
"Counseling has the potential to be both frightening and exhilarating. Stating your dreams and working toward goals is a way to ensure that your personal growth is in the direction you hope for. I use visual aids and unique illustrations of topics discussed, so if you fear that you may have trouble talking at first, don't worry; it will be easier than you think!
(210) 767-2379
Verified by Psychology Today
Kim Dunlap
Counselor, MA, LPC
"You are not alone! When trying to cope with life's ups and downs it can be helpful to seek counsel from one who can remain objective. As a licensed professional counselor I facilitate: * parenting the special needs child * personal growth * life transitions * grief/loss *mental health * substance abuse recovery * older adult issues for the individual and families *couples. I use an individualized approach where we can work together in a nonjudgmental, safe & confidential environment. A variety of therapeutic modalities are used intertwined with spirituality and mindfulness; so together we can identify tools, goals and solutions to meet your needs.
(210) 625-8261
Verified by Psychology Today
Mary T. Torres
Psychologist, PsyD
"I am here to help you with common concerns, such as depression, anxiety, work stress, relationship matters, and coping with grief or trauma. I can also serve as a sounding board if you are seeking new directions or sorting through spirituality issues. You may be someone who can benefit from counseling even in situations not covered by health insurance. You may simply need to take some time away from the rest of your busy life, with someone who is not directly involved, to sort through things, get a different perspective, obtain ideas, and receive support to work on changes.
(210) 764-6583
Verified by Psychology Today
Robert M Sorensen
Counselor, MA, LPC, NCC
"Because each individual is unique, the treatment plan is tailored to meet your specific needs. Therefore, at Trident Counseling the goal is to provide you with the problem-solving techniques and coping skills that will help you be more capable to overcome your issues. We provide a secure, caring and understanding atmosphere where you can work through your issues.
(210) 970-7061
Verified by Psychology Today
Becky Bean
Counselor, MA, LPC
"I have over 10 years of experience as a Licensed Professional Counselor. My therapy is interactive and non-judgmental. I accept clients from all faiths, genders, race, ethnicity, and sexual orientation. I provide individual counseling mostly to adults and adolescents. I also provide couple's counseling on a private pay basis only, but believe that both partners must be fully willing to participate in the counseling process. No matter how difficult your situation may be, we can work together to empower you to take more control of your life.
(210) 978-0725
Verified by Psychology Today
Victoria Jordan Spicer
Counselor, MA, LPC-S
"I believe that everyone is unique and should be treated as such. My goal is to help you obtain your goals. I have experience in working with Addiction, Depression, PTSD, Anxiety, and Mood Disorders. I work with children and adults in individual, group and family sessions.
(210) 714-1478
Verified by Psychology Today
Juanita (Janie) A Alvarez
Counselor, MA, LPC-S
"I work with a wide range of emotional and behavioral issues providing services that span from therapy for depression and grief counseling to parenting support, couples counseling and beyond. In a comfortable and supportive atmosphere, I offer a highly personalized approach tailored to each of my clients individual needs to help attain the personal growth they're striving for.
(210) 787-4864
Verified by Psychology Today
Mary A Dom
Counselor, MA, LPC-S
"Change can be difficult to deal with alone. Talking about your concerns can help clarify what you want and need in your life. Finding choices helps us to grow and change personally and emotionally. I am here to give you the knowledge, perspective and experience gained through working with people in therapy for over 20 years. As a licensed professional counselor with experience in providing child, family, couples, and individual counseling, let me offer you a warm and accepting environment where being non-judgmental is necessary to make you feel comfortable.
(210) 978-0987
Verified by Psychology Today
Yvette Ramirez
MS, LPC-Int, NCC
"I am a compassionate and empathetic counselor that has worked with both children and adults. I performed my graduate internship at the Battered Women's and Children's Shelter counseling both women, men, children, adolescents, and teens. I held group counseling sessions with children, adolescents, and teens utilizing art therapy and play therapy. I counseled women fleeing a domestic violent situation in self esteem, cycle of violence, safety planning, cognitive behavioral therapy, and solution focused therapy.
(210) 529-8841
Verified by Psychology Today
Adam A Sauceda
Counselor, MA, LPC, NCC
"Life's experiences can often create emotional turmoil that effects our thoughts, emotions, and behavior. Sometimes working through life's curve balls by yourself can be overwhelming. My goal is to help you achieve optimal mental health by creating a safe and comfortable environment for growth, empowerment, and healing.
(210) 693-0827
Verified by Psychology Today
Donna J Martin
Counselor, MS, LPC, CCH
"Have you considered talking with a counselor? Most of us seek counseling because we are trying to find external answers to our problems, but those answers often elude us. We may be seeking a more satisfying relationship, an end to our anxiety or anger, or just feel happy, like ourselves again. Perhaps your marriage or partner are not turning out to be what you expected. Whatever the issue, you must be given an opportunity to reduce your pain and increase your understanding and success in a non-judgemental setting. If you're having difficulty finding those answers call me.
(210) 618-0279
Julie L Wiernik
Psychologist, PsyD
"I specialize in helping athletes and performers of all ages and backgrounds perform to the best of their abilites utilizing various mental skills. As the athlete develops and hones his/her mechanical skills, psychological skills play an even more important role in maximizing performance. As an all-american student-athlete at the collegiate and post-collegiate level, I understand the complexities of what an athlete faces. My passion for psychology and athletics helps me understand, identify, and inspire athletes of all abilities including at the professional level. I help by offering tools to improve the TOTAL person both on and off the field.
(210) 418-2293
Verified by Psychology Today
Rhonda O'Cana
Counselor, MA, LPC-S
"Would you like to raise your HAPPINESS level and find natural ways to improve your physical and mental health? I am passionate about sharing proven techniques of Positive Psychology and Solution Focused Therapy to help others create the happy lives they imagine.
(210) 417-4813
Not enough Therapists in Bexar County, Texas (TX), 78240 to choose from?
Try expanding your search for Therapists in 78240 to a larger area (e.g. click the plus sign or 78240+ .)
How can I tell if a therapist is right for me?
Therapists in Alamo Farmsteads, Burning Tree, Country View, French Creek, Oak Bluff and Pheasant Creek - San Antonio have broad skills and are able to work with a wide range of issues.
For example, if you're seeking a marriage counselor in 78240 you'll find that most therapists are trained in marriage counseling or couples counseling in 78240 and couples therapy. And they welcome families for family counseling in 78240 or family therapy in Alamo Farmsteads, Burning Tree, Country View, French Creek, Oak Bluff and Pheasant Creek - San Antonio.
How to find a specialist?
If you're looking for specialist counseling in Bexar County, Texas 78240, such as a child psychologist or sex therapist, try to refine your search with our left nav bar.
What method of therapy is right for me?
When it comes to treatment methods, there's no "right way". A couples counselor or a family counselor may use different treatment methods depending on the one that works best for you.
How to use my insurance?
Many therapists accept health insurance. Check to see if your insurance is covered. Feel free to discuss this when you contact the therapist.


text:
SuperTuff II ss sidestand brackets for HP-2
View Single Post
woody's wheel works
Built to Last
Joined: Jun 2004
Location: 39*40'33.86N 104*59'54.69W
Oddometer: 3,466
FYI...disassembly/assembly procedure... and update
Originally Posted by
Still haven't got mine installed. I have been unable to get the bushing out but I like your idea of tapping it and putting a bolt in it for easier removal. Since I figured I was going to destroy the original bushing I went ahead and ordered a new one, I think it was like $12 or $18 dollars. I may give it another try this week.
hi guys,,,just sold the last of the last/3rd run...if you want any more ,,i'll need at least 15 confirmed orders and will make another run of 25,,,now we have 91 HP-2 riders out there that have have a Super-Tuff stainless steel sidestand. Thanks for hanging in there,,,
Next,,i'm doing a complete R&R from oem aluminum to SS SuperTuff III w 45degree grease fitting.. AND the adjustable side-stand mod with a 'big-foot'' tossed into the fray....here's the pics/tutorial.....
tools ya need:
regular medium blade screwdriver for removing /prying the spring off:
hammer for tapping out the bushing
6mm allen for tightening the spring holder bolt
T-50 torx bit for pivot bolt
#3 Phillips for installing return spring
small pin punch/drift for knocking out bushing
loctite blue for new 8x1.25 spring anchor bolt/sidestand -switch actuator [actually that's what i need
,,that bolt will be installed/should be ready to use]
12mm x1.25 or 1mm starter tap
torque wrench
grease gun
So here's the old complete oem HP-2 aluminum side-stand assy with all new parts for Super-Tuff III,,,adjustable side-stand components and big foot
1,, remove springs and note their position FYI,,i take a before pic for reference purposes or make a drawing
,,then remove the pivot bolt
2,, starting the tap into the old bushing,,,if the bushing starts to turn just put pressure on the side-stand and it'll keep bushing from spinning,,,you only need a few threads of purchase
2,,,taking drift and tapping the bushing out with hammer
3,,,here's the bushing and the little mushroomed ends and rust that cause all the removal problems.,,you need to dress them down so that the bushing slides freely through the Super-Tuff bracket.,,,or get a new one [ part # 46537684886 SPACER SLEEVE, INTERIOR....$10.24]
4,,,a drop of loctite blue on the 8mm bolt install and snug down till it bottoms out,,,6mm allen wrench is needed,,NOTE:we usually have all this done when we send it to you.
5,,,installing the 45 degree zerk fitting,,with 9mm wrench,,NOTE ,,position of zerk for proper clearance
6,,,the bits n pieces for the extension and larger foot,,main nut,special jam nut,,,notice the chunk removed,,we opted for a 2'' range 1'' plus minus for switching from 21-19-18-17'' wheel combos as well as light heavy loads.
7,,, the position where new big foot will be welded fro optimal clearance
8,,,fully compressed 14''
9,,,fully extended 16''
10,,,now pre-grease all the bushings pivot bolt and side-stand with any waterproof grease,,,,assemble by pushing the bushing through side-stand and into bracket,,,install pivot bolt and tighten to
30 ft/lbs or 41 Nm
while moving the side-stand to n fro,,after wards use grease gun and squeeze more grease in til it oozes out on both sides,,,i always keep moving the side-stand to n fro during this process,,,it should be real smooth and way snugger than what ya started with
11,,,here's my trick for quick spring installation,,i position the notch on #3 Phillips head like this,,push down on spring while prying the screwdriver up to the point the spring drops down in place ,,CAUTION!!!,,,i always wear a glove or hold the spring with a rag or vise-grip to keep the spring from flying away in case ya miss,,once mastered this lil trick is a keeper
If you have any questions
Post Em Here
..For more info check our website...
....Wanna e-mail us...
......Wanna talk,,,call us
toll free... 1-866-936-0232
........If you're lost???... GPS = 39*40'33.86N x 104*59'54.69W
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Ck In2U 100 ml Men EDT
CKIN2U Men EDT is a novel collection from America's top fashion label Calvin Klein, set by the designer himself in Manhattan 50 years back. CKIN2U Men EDT has been formulated by the perfumers Bruno Jovanovic & Jean Marc Chillan, it has been designed especially for the youth of today and it personifies them in all aspects.
The opening scent compares the flirtatious impudent crisp persona to that of citrus lemony lime, tangelo and pomelo leaves that give effervescence and spread freshness all around. As the top notes fade away, it gives way to stronger aroma of Pimento and Shiso – a very green, fresh and energetic scent with a hint of cocoa.
The persistent odor from the base notes correspond to the calming fresh soothing and energetic Vetiver herb, that's blended away perfectly with cool musk and old favourite, and very popular - palisander.
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Colette Martin
Work in Progress
Work in Progress Contributors
About Me
Colette Martin is a cookbook author, food photographer, food allergy advocate and an expert on how to bake allergen-free. She is the author of the highly acclaimed Learning to Bake Allergen-Free: A Crash Course for Busy Parents on Baking without Wheat, Gluten, Dairy, Eggs, Soy or Nuts and The Allergy-Free Pantry: Make Your Own Staples, Snacks, and More without Wheat, Gluten, Dairy, Eggs, Soy or Nuts. When her son was diagnosed with allergies to wheat, milk, eggs, soy and peanuts in 2001, she had to reinvent how her family ate. Having first learned to bake in her grandmother's kitchen with wheat, butter, milk, and eggs, Colette understands first-hand what it means to transform her kitchen to accommodate multiple food allergies. Colette is a member of the Kids with Food Allergies advisory board.
I'm Known For...
Telling it like it is.
My Current Project
An allergen-free and gluten-free baking book.
Blocks I've Been Around
Thirty years in Corporate America.
Things That Really Happened
I was told that I wasn't selected for a management job in 1982 because the last manager they hired was a female.
Why Forbes
They've got their finger on the pulse of business.
My Other Website
What I'm Currently Addicted To...
Yoga, Homeland, iPhone, iPad and just about any gadget I can carry in my purse.
This Is Making Me Worry...
Women achieving financial equality in the workplace.
This Is Bringing Me Joy...
Learning to create something new every day.
This Is Making Me Think - Hard...
Food labeling laws
My Secret Ambition
To be interviewed by Terry Gross.


text:
Web browser UI for HD touchscreen application with custom keyboard that can be switched to access special characters or lowered to get larger viewing area. It is optimized for large HD touch displays, but it also needs to work on 19" touch displays.
Check out the attachment for real pixels.
Basic navigation UI here: http://dribbble.com/shots/874220-TNP-UI-Basic-navigation
More Jure Osolnik
keyboard shortcuts: ← previous shot → next shot L or F like Z toggle zoom


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Enlarge Cover
NYRB Classics | Oct 31, 2000
| 224 Pages
| 5 x 8
NYRB Classics
| Oct 31, 2000
| 224 Pages
| 5 x 8
Leonardo Sciascia was an outstanding and controversial presence in twentieth-century Italian literary and intellectual life. Writing about his native Sicily and its culture of secrecy and suspicion, Sciascia matched sympathy with skepticism, unflinching intelligence with a streetfighter's intransigent poise. Sciascia was particularly admired for his short stories, and The Wine-Dark Sea offers what he considered his best work in the genre: thirteen spare and trenchant miniatures that range in subject from village idiots to mafia dons, marital spats to American dreams. Here, in unforgettable form, Sciascia examines the contradictions—sometimes comic, sometimes deadly, and sometimes both—of Sicily's turbulent history and day-to-day life.
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iXsystems team members presented short talks at BayLISA meetup at LinkedIn. Joseph Atkinson started off with a breakdown of FreeNAS and its future plugins features.
iXsystems' TrueNAS Unified Storage Appliances will continue to leverage Fusion ioMemory technology for powerful, high-performance storage solutions.
From the press release: iXsystems Renews Collaboration Agreement with Fusion-io
HOWTO 1: FreeBSD ZFS Madness
Some time ago I found a good, reliable way of using and installing FreeBSD and described it in my Modern FreeBSD Install HOWTO. Now, more then a year later I come back with my experiences about that setup and a proposal of newer and probably better way of doing it: HOWTO: FreeBSD ZFS Madness.
HOWTO 2: FreeNAS 8.0.3-p1 RELEASE MultiMedia with Serviio 0.6.1 pre-installed
As promised here is a build of FreeNAS 8.0.3 Release-p1 with the latest release of Serviio 0.6.1 integrated. This means NO JAIL IS NEEDED. You will still need to configure some settings from the command line: FreeNAS 8.0.3-p1 RELEASE MultiMedia with Serviio 0.6.1 pre-installed.
Rhyous' howtos
Jared Barneck has recently added 3 very easy to follow, step-by-step tutorials:
The FreeNAS full release notes for 8.0.4-RELEASE-p2:
Changes since 8.0.4-RELEASE-p1:
OS/Third party
Samba has been upgraded to 3.6.5 to address CVE-2012-2011 which is a critical vulnerability. All FreeNAS users who are using CIFS are urged to upgrade.
All installation and upgrade images can be downloaded from here.
Josh Paetzel, who leads the FreeNAS team at iXsystems, announced that he's uploaded FreeNAS 8.2.0-BETA3.
If you download from BETA2 work there shouldn't be any problems, however, plugins that worked in BETA2 will stop working. You'll want to use the plugins in the BETA3 directory with this beta, don't mix and match.
Notable highlights in this beta release are:
FreeNAS 8.0.4-p1 released with fix for critical Samba bug. All CIFS users urged to download and update.
FreeNAS-8.0.4-RELEASE-p1 contains Samba 3.6.4, which addresses the
critical security flaw in CVE-2012-1182. A small handful of other fixes since 8.0.4-RELEASE have been included in this release as well.
FreeBSD events come and go month after month. Time for an update on some past and upcoming FreeBSD events.
FreeNAS and PC-BSD will be represented at Indiana LinuxFest on Saturday, April 14 in Indianapolis, Indiana. CDs and other swag will be handed out at the BSD booth in the expo area.
If you are interested in learning more about FreeBSD administration (the operating system FreeNAS and FreeBSD are based upon), there is an all day course on FreeBSD for Linux System Administrators on Friday, April 13. There is no cost to attend either the course or the conference. Pre-registration is encouraged so that you don't have to wait in line to register when you arrive.
BSDCan 2012 will be held in Ottawa, Canada from 9 – 13 May. The schedule has been updated with some interesting FreeBSD releated tutorials and presentations,
Hopefully all these representations will be video recorded and made available who cannot attend.
Michael Dexter will be giving a presentation entitled The FreeNAS Storage Platform: A minute to learn, a lifetime to master at NLUUG's Spring conference. This event will be held in Nieuwegein, the Netherlands on April 11th.
EuroBSDcon 2012 is the European technical conference for users and developers on BSD-based systems, and will be held from 18 – 21 October 2012 in Warsaw, Poland. There will be tutorials on Thursday and Friday and talks on Saturday and Sunday.
The EuroBSDcon conference organisers have put out a Call For Proposals and are inviting developers and users of BSD-based systems to submit innovative and original papers not submitted to other European conferences on BSD-related topics. Topics of interest to the conference include, but are not limited to applications, architecture, implementation, performance and security of BSD-based operating systems, as well as topics concerning the economic or organizational aspects of BSD use.
There are some pictures of the BSD booth at Open Source Days (Copenhagen, 10-11 March)
The FreeBSD Foundation was a Platinum Sponsor of AsiaBSDCon which was held in Tokyo, Japan from March 22-25. Hiroki Sato, the General Chair of the conference, provided the following status report.
There's an mp3 available of a recent presentations at NYCBUG BSD networking.
Upcoming Events
We all know that iXsystems does a great job promoting FreeBSD, building FreeBSD based products and supporting FreeBSD based projects (incl. PC-BSD, FreeNAS).
But, who are the developers that are part of this company? Who are the guys doing the coding and the programming?
The iXsystems blog has started a "Developers Corner" where you can find out more about iX developers:
It's been a long road, and it's not anywhere close to being done, but FreeNAS is a step closer to a release with (PBI) plugins and streaming multimedia support.
On behalf of the FreeNAS development team at iXsystems Josh Paetzel announced FreeNAS 8.2.0-BETA2.
To view the changes since BETA1, check the full release announcement.
The following video, created by the FreeNAS team, shows you how to configure FreeNAS for FTP.
FreeNAS 8.0.4-BETA2 is out for testing. Changes since 8.0.4-BETA1:


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Tips for Getting Out from Under, Underdog!
Tips for Getting Out from Under, Underdog!
You have dreams and goals that you would dearly like to achieve, but it seems as if you're never "enough." Never good enough, fast enough, smart enough, rich enough, healthy enough – while everyone else seems to be getting ahead, you're not. Worse, it seems as if no one, including you, believes in yourself. You're always the underdog, and that hurts. But you don't have to be this way forever. Here are some ideas to get out from under and get ahead:
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