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Wildfire danger continues
Cold front to bring wind, likely no rain
North Texas will be at high risk of wildfire danger through Friday as a cold front moves through the region, bringing strong winds. Most of North Texas has been placed in a Fire Weather Watch Friday afternoon. A fire at Kamay near the volunteer fire department building Thursday kept some area fire departments busy Thursday morning. The Wichita County Sheriff's Office assisted in controlling the scene.
A Wind Advisory was in effect Thursday as the forecast by the National Weather Service predicted north winds gusting to 40 mph. Adding to the fire danger were relatively low humidity readings.
The NWS warns conditions will be much the same on Friday, especially over portions of western North Texas.
"All outdoor burning and other fire-starting activities should be avoided," the NWS said on its website.
The front moving through is not expected to bring any rain to help Wichita Falls' drought-stricken lakes. In the fourth year of drought, primary lakes were edging toward being three-quarters empty, prompting Wichita Falls leaders to implement Stage 4 Drought Emergency water use restrictions.
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subset: commoncrawl


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Teens storm Georgia Wal-Mart in wild rampage of destruction
Investigators are using surveillance video to try identifying teens that were part of a group that ransacked a Georgia Wal-Mart.
Investigators are using surveillance video to try identifying teens that were part of a group that ransacked a Georgia Wal-Mart.
Police say the man who took a cab across Pennsylvania to surprise his fiancé has been jailed for not paying fare.
In response to the growing demand, Kansas State plans to add a major and two minors focused on the aircraft.
If your little one is a thumb-sucker, we've got some ways to kick the habit!
City issued only one ticket last year for illegal fireworks. KSN is asking why, when they got dozens of complaints.
Doctors say a German Shepard took the brunt of the bolt and likely saved the people around him.
Cada semana, el Departamento de policía de Wichita ofrece su información en español. Verlo aquí.
With an increase in the number of rabies cases in Kansas this year, officials warn not to approach wild or injured animals.
Obama administration is proposing making up to 5 million more people eligible for overtime.
Indianapolis church cites "threat of police action against our religion" as reason first service will not use cannabis.
The church, created by marijuana advocate Bill Levin, will host its first service at 12:01 p.m. on July 1.
A barking dog led to a firearm-related arrest Monday night in the 2400 block of North Hathway in northeast Wichita.
New Jersey Gov. Chris Christie opened his 2016 campaign for president Tuesday and, never one to aim small, declared he's "out to change the …
Spring-planted crops in are faring pretty well in the wake of all the rain that hit when many were emerging.
The Reno County Health Department says it has received reports of 49 cases of whooping cough in the county.


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Maison Close: Feerie Precieuse Collection - Maison Close takes a new look at the code of seduction with their wonderfully playful yet refined collections. The Feerie Precieuse Collection pairs luxuriously soft fabrication with elegant jewelry-like detailing for the ultimate in temptation. Maison Close is the perfect blend of lure and sophistication.
• Maison Close: Feerie Precieuse Thong • Alluring, lightly textured thong with dark gold metal detailing.• Features detachable bow and gem charm on keyhole back. • Detachable necklace from matching bra can be attached to hip.• 82% polyester, 18% elastane.
Nancy Meyer. Luxury Lingerie & Designer Swimwear Since 1978.
Nancy Meyer Fine Lingerie, Inc.
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My daughter made me a lovely mixed media piece as a personalized gift, using a lid from a shoe-box as a canvas. What a brilliant and frugal idea! And the art is super adorable and meaningful as well.
Making gifts is so much more personal than buying gifts any day, and as such, this one it super special to me. I feel honored receiving a gift , knowing that she spent time and thought into making something just for me. Homemade gifts save money, but they certainly do not save time.


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Acqua di Parma Colonia Essenza Christmas Gift Set (EDC, 100ml)
£84.00 Product Code 3497951
- Overview
The epitome of sophistication expressed with acute simplicity, this fragrance embodies all the traditional values of Colonia yet represents something new and unique. The beautiful gift set, packaged in a black box, contains a Colonia Essenza Eau de Cologne, a Face Emulsion and a Bath & Shower Gel.
- Details
- Set contains:
- Colonia Essenza Eau de Cologne, 100ml
- Face Emulsion, 50ml
- Bath & Shower Gel, 50ml
Regrettably, this product is non-returnable and non-exportable.
- Delivery & Returns
Delivery Option Duration Price Standard Delivery 3-5 working days, M-F only. £5.95 Next Day Delivery Next working day on all orders placed before 1pm, M-F only. £12 Saturday Delivery Saturday only on orders placed before Friday 1pm £15.95
If it's not right, return shipping is free. Find out more.


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Welcome to Your IT Department
Red Mosquito are IT support specialists and Managed Service Providers based at our Operations Centre in Glasgow and in Edinburgh. We're in the business of providing top quality IT services driven by our passion for technology. Our team of experienced engineers operates throughout Scotland doing the technical stuff so that our customers IT systems run efficiently and seamlessly, With our help you too can leverage information technology to maximise the profit potential in your industry.
We operate as a complete outsourced IT department and we have a support service to suit every size of company.
Browse our range of flexible support packages below.


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Search for any place in the USA:
Cost of Living,
Profile: Small-city complex/College town Location: Extreme northwest Arkansas in Ozark foothills Elevation: 1263 Time zone: Central Standard Time
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The so-called Northwest Arkansas region is one of the fastest growing in the country, and the three named cities, Rogers, Springdale, and Fayetteville, plus the elephant- in-the-room Bentonville represent an interesting mix of small cities that all work together and all offer something. The three names cities are located in a north-south line roughly 10 miles apart, while Bentonville lies five miles west of Rogers.
Each of these towns brings something different to the area, and the mix works well. Fayetteville is home to the University of Arkansas and has an attractive campus, historic buildings, a progressive feel and the usual college-town amenities. Springfield is more "old South" as a center of light manufacturing, trucking and agricultural processing, anchored by the headquarters and major operations of poultry processor Tyson. Rogers was once a sleepy non-descript Southern town but has boomed as a hot family-oriented residential area, One of the reasons why is Bentonville, and for those whom the name isn't familiar, it is the headquarters for retail giant Wal-Mart.
Wal-Mart earns superlatives all over the country, but no single employer wields the economic influence that Wal-Mart has in Bentonville and the surrounding area. The headquarters employs some 13,000, and that is not the whole story, as scores of other companies supplying everything from product to marketing to legal services make the area their home. And there's a steady stream of business travelers calling on the nation's #1 retailer as well.
All of this leads to a booming economy and plenty of air service. The founding Walton family and the Jones family of trucking industry lineage have left a strong cultural imprint on the area as well. The Walton family has endowed a large performing arts center and a $50-million Walton family-supported art museum is scheduled to open in 2009. The Jones family has endowed the Jones Center for Families among other assets.
There are plenty of water and outdoor recreation opportunities in nearby lakes and mountain areas, but some might feel a bit isolated from other "city" activities (the closest big city is Kansas City 175 miles north). Living costs are low and substantial employment and income growth bring strong buying power. Crime rates are notably low for the region.
The area contains a mix of farmland, nearby lakes, and rolling, wooded hills. Climate is continental and typical of the region, with a strong Gulf influence particularly in summer. However, the elevation and nearby mountains keep temperatures a few degrees cooler than many other parts of the state. Winters are generally mild, with occasional cold spells.
As of 2014, Fayetteville-Springdale-Rogers Metro Area's population is 464,729 people. Since 2000, it has had a population growth of 34.25 percent.
The median home cost in Fayetteville-Springdale-Rogers Metro Area is $136,900. Home appreciation the last year has been 4.40 percent.
Compared to the rest of the country, Fayetteville-Springdale-Rogers Metro Area's cost of living is 13.80% Lower than the U.S. average.
Fayetteville-Springdale-Rogers Metro Area public schools spend $10,606 per student. The average school expenditure in the U.S. is $12,435. There are about 13.7 students per teacher in Fayetteville-Springdale-Rogers Metro Area.
The unemployment rate in Fayetteville-Springdale-Rogers Metro Area is 4.50 percent(U.S. avg. is 6.30%). Recent job growth is Positive. Fayetteville-Springdale-Rogers Metro Area jobs have Increased by 0.09 percent.
Ranked #19 America's Best and Worst Cities for Crime (Mid-Size Metro Areas)Ranked #19 Most Secure Places to Live in the U.S. (Mid-Size Metro Areas)Ranked #27 2005 Best Places to LiveRanked #78 Best Green CitiesRanked #80 Most Popular Cities for the HolidaysSee More Rankings Click Here
Average Commute time is 21 minutes. The National Average is 25 minutes.
Fayetteville-Springdale-Rogers Metro Area's Real Estate Market (click to see properties) • Newly Listed Homes • Most Expensive Listing • Million Dollar Houses • Homes from $750,001 to $1,000,000 • Homes from $500,001 to $750,000 • Homes from $250,000 to $500,000 • Homes under $250,000 • Median Priced Homes
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FAQ Is our money safe?
As Bradford & Bingley's troubled rights issue lurches into another crisis, should savers take their cash out?
Banks pledge £220m to Bradford & Bingley
Shares tumble as credit rating downgraded to one of lowest of any major bank following TPG walk out
Financial p38
Retail sales: John Lewis summer clearance fails to lift high street gloom as sales fall 8.3%
Trade 'challenging' at John Lewis as opening day of summer sale attracts less interest than a year ago
From dog food to dentures: M&S lets in other brands to save its bottom line
Change of strategy sees consumer favourites take their place on the shelves
Financial p39
European banks told they need to raise £70bn
Goldman Sachs say fresh capital needs to be raised if banks are to withstand further economic turmoil
Credit crunch: UBS piles $7.5bn on to its write-down bill
Bank says market deterioration led to write-downs and losses on previously disclosed investment bank positions
TV: Sky stake has predators circling ITV
Nick Fletcher: Traders await verdict on whether BSkyB must sell 17.9% stake in the broadcaster
Financial p40
Phones: Mobile networks raise minimum charge on pay-as-you-go tariffs
Millions of pay-as-you-go mobile phone customers hit with a sharp rise in the minimum price for making a call
Ill wind? Buffett insures Florida
$224m insurance bet with Berkshire Hathaway that the US state will not be hit by a hurricane this season
Sorrell ponders making hostile bid for TNS
Sir Martin Sorrell is this weekend considering making a hostile bid for TNS and derailing the market research firm's nil-premium merger with GfK. By Richard Wray
Corporation tax foreign subsidiaries: Vodafone wins overseas tax battle after high court ruling
Mobile phone company set aside £2.2bn in event of losing six-year battle with HM Revenue & Customs


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Any way you want to label them, bus "convex" and "real view" mirror discussions generate as much passion as who was the better centerfielder in New York: Mantle, Mays or DiMaggio. Let's put a few misconceptions about these mirrors to rest and get the best use out of them.
Some operators claim they can't drive a bus unless they are equipped with convex mirrors. I have also heard from those who hate them. Any tool that can "help" — and that's the key word — "help" the operator is something useful.
Consider this:
1) The convex mirror cannot accurately display the true distance that an object is away from the bus/rear tires.
2) The convex mirror should cry out to the operator that "there is something here that may not yet have appeared in your real view mirror yet, so you better transfer to your real view mirror to get the accurate distance from the object." Hear this every time you go to your "convex" mirror.
Relying on the convex mirror to check your pivot point when turning — with the exception of the split real view on top and convex on the bottom found on the articulated bus — will not give the operator the true distance the object is away from the bus. You should never guess how close the pedestrian/object is to the rear tires when turning by using the "convex mirror." If you are not using the "real view" mirror when checking your pivot point on turns, than it's just a matter of time before you get involved in a not so pleasant situation.
The exception again is the articulated bus. The articulated buses that I instructed on, if the mirrors are set properly, the only mirror that will display the rear tires when turning is the "convex."
"Convex" says - There's something close to the bus.
"Real View" says - How close?
Know the differences.
If you're not careful, the "convex" mirror can make you lazy. Teach the benefits of all mirrors to your students and that proper mirror set up and utilization are keys to safe operations. When I was a new bus driver, some buses were equipped with neither a real view nor a convex mirror on the right side. All we had was the reflection coming from the right rear interior ceiling and my tilted center interior mirror to manage the right side of the bus. Manhattan driving with no right side mirrors was a great experience! Talk about "covering your right?" That's another story.
Spend a little more time on mirror introduction when beginning a new class.
A situation where the "convex" mirror outweighs the "real" view is just before closing the front doors when preparing to leave a bus stop:
RIGHT SIDE CONVEX MIRROR reveals the child alongside mid-bus, behind the right front tires and forward of the rear doors. A child is sometimes sent by a parent "go tell the operator to wait." The child is not tall enough to appear in the center mirror or through the windows and will only appear in the right side convex mirror. The area below the window where the child usually is as you begin to close the doors becomes visible in the "convex" mirror.
CENTER MIRROR (tilted down to the right of course) reveals who may be running for the bus coming from the right side that may not yet have appeared in the real view.
We've come a long way.
In most organizations, 80% to 95% of all bus operators are found to be safe, reliable and courteous, but often, they don't know it because nobody tells them. If safe bus operation represents a core value for your property, what are you leaders doing to encourage and reinforce the desired behaviors among your bus operators?
Those of you who take a few minutes each month to follow my blogs, or have attended one of my past presentations at transit events, first let me thank you. These blogs and presentations, in combination, have been promoting surface transit standards in a form of a standardized curriculum for over 10 years now. I ask you, are we not long overdue in getting transit specific standards a done deal? By the time of this posting, I would have again stood before a group of transit professionals at a recently attended transit function in Orlando, Fla., speaking on this exact topic.
A final day should mean exactly that, the end — no more — learning opportunities that had been available no longer exist. The clock has run out. Hopefully, there is a final day designated for trainees at your agency, a time where you draw the line and make a decision, because, as we all know, not everyone can operate a bus. For the trainee, the final day is the most pressure-packed day they will spend on the training bus. Any student entering their final day should be well-prepared and fully aware of what they are faced with, as all of the requirements should have been clearly covered as part of their first day orientation. Remember, no surprises!
Physical security surveillance is one of the most vital facets of a transit system's security plan. In the past, recording was primarily done by analog video cameras, but those systems are now updated with IP cameras that have features like greater data storage and ultra HD imaging. Moreover, today's surveillance has moved beyond video to audio monitoring. By integrating audio and video, security directors have access to more evidence for reported incidents and accident investigations. Audio also provides accountability for employees, capturing if a train engineer was talking on his cell phone on duty or if a train ticket examiner was providing poor customer service.
I recently had the opportunity to view a video that captured what could have been a fatal pedestrian knockdown if contact had occurred. A bus overtaking another bus positioned in the bus stop zone occurs routinely and usually without incident, but if not performed correctly, this type of situation can end with catastrophic results.
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J&T Blacksmiths Ltd and William Crawford & Sons, based in adjacent factories, depots and offices in Hillington, near Glasgow, called in administrators after running up debts of about £3 million, much of which is thought to be owed to HMRC.
Administrators Paul Dounis and Ken Pattullo of Begbies Traynor have made 46 staff redundant at the group, owned by the Curran family, which has combined turnover of £5.2m, to allow it to continue trading while a buyer is sought.
Mr Dounis said the group's problems were down to its failure to "react quickly to the lack of contracts available on the marketplace".
He said: "They kept an overhead base that was simply unsustainable.
"If your turnover is falling you need to adjust your overhead base and they simply weren't doing that quickly enough. The parts of the group that were profitable were carrying the parts that weren't."
The administrators, which took control of the business on February 19, are hoping for a quick sale to protect the remaining 42 jobs, and to help the group secure new contracts.
He said "serious interest" had been shown by prospective buyers and confirmed that competitors were keen to take on some of J&T Blacksmiths' key contracts, including a supply deal with ScottishPower.
Blacksmiths, established in 1979, provides steel works including fencing and fabricated staircases to contractors and utility companies. It is understood to have been performing less well than its subsidiary.
William Crawford & Sons works alongside Blacksmiths to allow the group to offer an integrated construction, repair and maintenance service.
Mr Dounis said the administrators had no plans to set a deadline for offers.
Before calling in the administrators, Crawford had employed 21 of the group's staff, 10 of whom have been made redundant. The rest of the staff moved over to Blacksmiths.
Mr Dounis said the group had employed 200 staff in its asbestos removal and surveying arm, which was sold prior to his appointment. He was confident its "solid customer relationships would make the businesses attractive to an acquisitive construction or manufacturing group".


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Originally written on NESN.com | Last updated 2/1/13
NEW ORLEANS — NFL commissioner Roger Goodell says he believes there will be an agreement soon with the players' union for testing for human growth hormone. At his annual state of the NFL news conference Friday, Goodell said he expects an agreement for the tests to be reached in time for the start of the 2013 season. Goodell noted that the league and union agreed to the testing two years ago in the collective bargaining agreement. He said it is important to have testing to retain the integrity and the brand of the league. Goodell also said he is not going to give up his authority to discipline players for various offenses, something he said has served the league well over the years.
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Subtropical Depression Seven Forms in the Atlantic
Updated: 10/10/2014 - Meteorologists are now monitoring Subtropical Depression Seven after forming in the Atlantic Ocean Friday morning.
Updated: 10/10/2014 - Meteorologists are now monitoring Subtropical Depression Seven after forming in the Atlantic Ocean Friday morning.
Posted: 10/09/2014 - Big question marks surround our weekend front as a cold front enters the picture. Biggest of those questions -- will it slide through the area or stall on top of us?
Posted: 10/09/2014 - Taos Ski Valley plans to open its season on Thanksgiving Day, Nov. 27.
Posted: 10/09/2014 - Officials say a wildfire burning along a Northern California interstate has destroyed five homes.
Posted: 10/09/2014 - If you've been driving in rural areas, you've probably seen cotton being harvested. You may have also seen some round bales that at first glance, look like hay round bales.
Posted: 10/08/2014 - This year's Atlantic hurricane season has had fewer storms to this point of the year than any since 1983, with only five named storms.
Posted: 10/08/2014 - After a few days removed, it may be hard to think back to those cooler, fall temperatures we had on hand over the weekend. With moisture increasing across the Brazos Valley these past few days, temperatures have warmed back to late Summertime standards. A cold front is set to try and change that, but it will have a hard time settling into the Brazos Valley through the weekend.
Posted: 10/08/2014 - A Department of Defense rocket is scheduled to be launched this weekend from NASA's Wallops Island facility in Virginia.
Posted: 10/10/2014 - The National Weather Service will be in Bryan to hold a SKYWARN training Friday, October 10, 2014.
Posted: 10/07/2014 - The U.S. Geological Survey has recorded a 4.3 magnitude earthquake near Cushing on north-central Oklahoma.
Posted: 10/07/2014 - A super typhoon that currently has winds of more than 150 mph could make landfall in Japan this weekend, making it the second storm to head for the country in recent days.
Updated: 10/07/2014 - If you missed April's total eclipse of the moon, now's your chance. But you'll need to get up early.
Posted: 10/07/2014 - Two astronauts are taking a spacewalk 260 miles up. They're performing NASA's first routine maintenance outside the International Space Station in more than a year.
Posted: 10/06/2014 - One person was killed and thousands were left without power as another round of thunderstorms raged across parts of Texas, triggered flash-flood warnings and dumped hail on some parts of the region.
Posted: 10/07/2014 - October 5 through 11 is National Fire Prevention Week. Monday on First News at Four we were joined by Smokey Bear and Luke Kanclerz with the Texas A&M Forest Service about the continued efforts.
Posted: 10/05/2014 - The U.S. Geological Survey says a small earthquake shook southwest Nevada, about 15 miles from Las Vegas. There were no immediate reports of damage or injuries.
Posted: 10/05/2014 - The drought in California has made waves in the state's swimming pool industry.
Updated: 10/05/2014 - After a phenomenal weekend of Fall weather across the Brazos Valley, changes are quickly spinning the forecast around. Scattered clouds worked into the Brazos Valley sky late Sunday, signaling that change ahead.
Posted: 10/04/2014 - California is in the grip of a heat wave.
Updated: 10/04/2014 - Simon has strengthened into a major hurricane in the Pacific, but still poses no direct threat to land.
Posted: 10/03/2014 - The National Weather Service says a tornado briefly touched down and caused some damage near Chama in a sparsely populated mountainous area of northern New Mexico earlier this week.
Posted: 10/03/2014 - Members of New Mexico's congressional delegation are asking President Barack Obama to take action on the state's request for a major disaster declaration due to summer flooding.
Posted: 10/03/2014 - It's October and it's roasting in some parts of California.
Updated: 10/04/2014 - Until Oct. 14, the Texas A&M University Memorial Student Center is hosting an 'OmniGlobe,' a high-tech globe that displays the planet's environmental and geopolitical trends, among other images and animations.
Posted: 10/02/2014 - Severe thunderstorms packing winds of up to 90 mph tore through the Dallas-Fort Worth area, causing widespread damage and leaving up to 125,000 electric utility customers in the dark.


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The Hay Barn (HAYB01)
from £52 /night help Price for guests, Nights approx:
from £52 /night help Price for guests, Nights approx:
Estimated nightly price based on a weekly stay. Contact the advertiser to confirm the total cost.
Large stylish kitchen with dining area at the Hay Barn, near Grewelthorpe, Masham
Cottage / 2 bedrooms / sleeps 4
Availability Your dates are available
Cottage / 2 bedrooms / sleeps 4
|Key Info
Many small streams and becks, with their sources on the low flanks of the Pennines eventually converge to form the River Laver. Here sits Grewelthorpe, a pretty village with a central green, pond and pub. Just outside the village in elevated verdant countryside between the high western hills and the Vale of York is Thorpe House and its associated barns and farm buildings. The Hay Barn is a recent and innovative barn conversion adjacent to the main house with its own walled garden.
Entry from the garden is to a stunning, spacious and very well equipped fitted kitchen and dining area with stone flagged floor, beamed ceiling and log burning stove on a raised hearth backed by a Victorian fireplace. Off the kitchen is a large, comfortable lounge with beamed ceiling and polished wood floor. Through the lounge is a bedroom with twin beds which views out over surrounding fields towards Kirkby Malzeard.
An open pine stairway rises from the kitchen to a small landing serving an interesting double bedroom with a skylight, to watch the night stars, as well as windows to take in the views and a beautiful shower room with large shower and sprinkler, washbasin and toilet.
The Hay Barn has been meticulously and lovingly converted with attention to detail and a desire to uphold tradition yet provide modern comfort. The exposure of original features such as stained beams, exposed stonework and natural woodwork embellish the rich character of this unusual home. The cottage stands amid tranquil rolling countryside in the Nidderdale Area of Outstanding Natural Beauty on a working farm with easy access, even on foot, to local villages and their facilities. It is within a short drive to Masham, Ripon, Bedale, Harrogate and of course the Yorkshire Dales National Park plus a multitude of other renowned holiday attractions.
|Sleeps up to 4, 2 bedrooms
|Will consider
|Corporate bookings, Long term lets (over 1 month)
|Car advised
|Nearest Amenities
|2 km
|Family friendly
|Great for children of all ages
|Pets welcome, No smoking at this property
Features and Facilities
|Internet access, DVD player
|Central heating, TV, CD player, Wi-Fi available
|Kettle, Toaster, Iron, Hair dryer
|Dishwasher, Cooker, Microwave, Fridge, Freezer, Washing machine
|2 bedrooms, 1 bathrooms of which 1 Shower rooms
|Double beds (1), Single beds (2), Cots (1), Dining seats for 6, Lounge seats for 6
|Linen provided, Towels provided, High chair
|Private garden
|Parking, Not suitable for wheelchair users
The Yorkshire region
Nidderdale AONB
The concept of Areas of Outstanding Natural Beauty was first considered in the late 1940's along with the formation of the National Parks. Unfortunately it took until 1994 before the Nidderdale area was given its rightful designation but the landscape is still as majestic now as it was then. The designation is only given to 'precious landscapes with distinctive character and natural beauty' which need to be protected and sustained for future generations.
The Nidderdale AONB is one of only 35 in England and covers an area of 233 square miles in North Yorkshire. To the north and west it bounds the Yorkshire Dales National Park in the high Pennine fells and to the south it follows the River Wharfe to pass north of Ilkley and Otley. To the east it skirts the townships of Masham and Ripon but includes the World Heritage Sites of Studley Royal and Fountains Abbey.
It is a varied landscape centred on Nidderdale which runs from the remote moorland of Great Whernside in the Pennines to the rich pastoral land on the edge of the Vale of York.
Wonder at the natural rock features as diverse as the cave formations at Stump Cross Caverns, the fantastic shapes of Brimham Rocks and deep narrows of How Stean Gorge as well as the many crags and rocky escarpments. Enjoy the eleven reservoirs which form large artificial lakes that support tumults of water fowl and other wild life as well as providing leisure through fishing and water-sports. Idle by upland streams and clear waterfalls. Follow some of the extensive footpaths which lead through dale and vale linking secluded villages, continue through broadleaf woodland or traverse the wild moors bringing the landscape and its nature closer with every step. In the evenings enjoy the good food, good ale and general banter in a local pub or enjoy one of the many superb restaurants to be found close at hand.
Near Grewelthorpe
On the western edge of the Vale of York downstream from the 'Gateway' town of Masham the river Ure turns southeast gently slipping away from the fading Pennine hills. Minor tributaries with their becks and gills still cut deep into the distant heights and merge into greater flows to part the sloping Pennine flanks and form an area of lesser rolling valleys which was designated an Area of Outstanding Natural Beauty in 1994. The River Laver is one such tributary flowing on its sinuous path over 10 miles to join the River Skell on the outskirts of the small historic city of Ripon. From the high pastures on the nearby Pennines the Laver flows through undulating meadows, occasional cornfields, woodland, isolated farms and small villages linked by winding lanes.
Kirkby Malzeard is the principal village of the area with its own pubs, shops and a garage but there are many other attractive villages to explore such as Grewelthorpe, Grantley, Winksley and Galphay.
The Pennine beauty of Nidderdale, the country Mansion of Grantley Hall, and the woodlands of Hackfall are on the doorstep. The National Trust World Heritage Site of Fountains Abbey and the associated Studley Royal and Studley Park are only a few miles away as are the fantastic and often grotesque shapes of Brimham Rocks, a natural geological formation which covers over 50 acres of heather moorland. Ripon, Harrogate and York are all within easy driving distance as are the western dales of the Yorkshire Dales National Park.
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Nadine Bell (Property Manager Country Hideaways)
- 3 Years listed
Calendar last updated:30 Jun 2015
Based in United Kingdom
- English
- Landline
- +44 (0) 1969 663559


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Grand Theft Auto: San Andreas jacked...
View Single Post
Join Date: Jan 2003
Location: xxxxxxxx
Posts: 2,113
Re: Grand Theft Auto: San Andreas jacked...
Originally Posted by
why do u keep saying sony? they didnt make the game.. its only on their consoles.. Rockstar makes GTA games..
Anyways, I think popular game sites should not be making this kind of news so public (its on gamespot's front page). It makes more people aware and possibly interested about illegal topics. I believe this because there are always people on forums asking about where to get warez this or that who have had no previous knowledge of such things.
I say Sony relative to there system. For now San Andreas is exclusive to Sony, just like Halo2 to MS and just like HL2 to the PC. San Andreas is expected to be the biggest selling game on the Sony PS2 this year as does Halo 2 is expect to be the biggest selling game on the MS XBox this year. Both gamees are made by there respected devs one of which I note but what I was pointing out is that the game expected to sell the most for both Sony's console and MS console have been leaked nothing more, I am not implying or saying they were made by Sony or MS. You really found that so hard to understand? I guess others will to so here is a warning with even bold red letters for an emergency.
It seems some are getting confused so let me clarify. Rockstar developed Grand Theft Auto: San Andreas and not Sony. Bungie devloped Halo 2 and not Microsoft. Finally Valve devolped Half Life 2 and not...the PC.
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text:
A system for adapting existing conventional screw machines to be capable of computer numerical control operation. The system incorporates the use of a VersaCam device which replaces the turret cam of a single spindle screw machine. The VersaCam system monitors the motion of the screw machine camshaft and actuates the turret slide in synchronization with the camshaft. The VersaCam system also provides a means of specifying the desired turret slide trajectory for any given job.
1. A cam simulator subsystem for a system that adapts a conventional, non-computer-numeric-controlled machine having a camshaft and a tool slide to accept computer numeric control, said cam simulator subsystem adapted to substantially synchronize said tool slide with a camshaft-driven mechanism of said machine, said cam simulator subsystem comprising:
a time-base to cycle-base conversion subsystem adapted to convert time-based tool slide trajectory parameters to parameters relative to a machine cycle;
a cycle-base to time-base conversion subsystem adapted to convert an actual camshaft state together with a desired cycle-based tool slide state to a desired time-based tool slide state.
2. A machine tool apparatus comprising:
an operator interface adapted to allow an operator to specify parameters for a feed-in operation, a dwell operation, a feed-out operation, a turn-around operation, and a position operation, said feed-in operation for a cutting operation in which a turret tooling is advanced into a feedstock, said dwell operation for causing a tool slide to remain in a predetermined position for a specific number of spindle revolutions, said feed-out operation for a cutting operation in which said turret tooling is retracted out of said feedstock, said turn-around operation for computing a trajectory which connects adjacent operations, and said position operation for positioning said tool slide in a location for a specified duration;
said tool slide adapted to move in said trajectory, said trajectory being made up of said feed-in operation, said dwell operation, said feed-out operation, said turn-around operation, and said position operation.
3. The machine tool apparatus of claim 2 wherein said feed-in operation uses initial position, feed-in rate, and final position as parameters.
4. The machine tool apparatus of claim 2 wherein said dwell operation uses duration as a parameter.
5. The machine tool apparatus of claim 2 wherein said feed-out operation uses feed-out rate and final position as parameters.
6. The machine tool apparatus of claim 2 wherein said turn-around operation uses minimum clear position and minimum clear period as parameters.
7. The machine tool apparatus of claim 2 wherein said position operation uses final position and duration as parameters.
8. The machine tool apparatus of claim 2 wherein said operator interface is adapted to enable an operator to program said apparatus by a keyboard at said apparatus.
9. The machine tool apparatus of claim 2 wherein said operator interface is adapted to enable an operator to program said apparatus by a touchscreen at said apparatus.
10. The machine tool apparatus of claim 2 wherein said operator interface includes an output display.
11. The machine tool apparatus of claim 2 wherein said feed-in operation, said dwell operation, said feed-out operation, said turn-around operation, and said position operation span a machine cycle.
This a continuation of U.S. patent application Ser. No. 08/494,154, filed Jun. 23, 1995 now U.S. Pat. No. 5,808,893. U.S. patent application Ser. No. 08/494,154 is a continuation of U.S. patent application Ser. No. 08/098,959, filed Jul. 28, 1993, now abandoned.
The present invention relates generally to automatic screw machines, and more particularly, to a system for adapting screw machines into computer numeric control ("CNC") operated machines by incorporating a unique VersaCam device in place of a conventional hard cam.
Conventional automatic screw machines have been known for some time. These machines have a high capability for producing a large number of identical parts. When small quantities are required, however, the time and expense to produce the special control cams necessary for operation of the machine, makes the use of a conventional automatic screw machine less desirable.
One of the operational functions of the screw machine is the movement of the machine tool relative to the work piece, which is generally accomplished by longitudinal movement of a tool turret and lateral movement of two or more cross slides. At least two cross slides are usually provided on a conventional screw machine. The cross slides typically move lateral to the spindle of the machine. Other cross slides may be positioned at specified angles relative to the basic cross slides.
Other functions important to the machine include the indexing of the toot turret, the feedout of the stock, and the control of the spindle speeds. In conventional, single-spindle automatic screw machines, the timed sequence of the above functions is controlled mechanically through cams, trip dogs, trip levers and cam followers, which result in the engagement of the conventional machine mechanisms through clutches, gears, and similar devices at the proper time. Such an arrangement of mechanical devices is found in any conventional automatic screw machine.
A cam made for one job can often be used on other jobs, although any change in machine speed or feed rate in any part of the sequence will result in slowing down the entire job. The alternative is to make a complete new set of cams specifically designed for the new job. For these and other known reasons it is desirable that some or all of the operations of the automatic screw machine be controlled by a numeric control system. With a numerical control system, the machine functions can be controlled through electrical signals by a software program, and the requirements of each job can be programmed into the apparatus. There are newly made automatic screw machines which have this numerical control capability. However, there are a vast number of existing automatic screw machines of the conventional variety which do not have this capability. Therefore, a system for retrofitting these conventional machines is needed.
Accordingly, a system for retrofitting a conventional automatic screw machine to accept numerical control is provided by the present invention. The present invention may also be incorporated into newly manufactured screw machines that do not have CNC capability. A conventional automatic screw machine includes a plurality of mechanical timing means which operate through engaging means, such as clutches and gears, to connect a main driving means to various operating mechanisms of the machine. These mechanisms control the individual functions of the machine, for example, spindle speed, the indexing of the tool turret and the feeding of stock through the spindle. Also, the movement of the turret slide, towards and away from the work piece, and the movement of the cross slides are controlled through cam means usually including a cam and a camshaft, which are driven by drive shaft means which in turn is driven by the main driving means.
The VersaCam system of the present invention is a versatile replacement for the turret cam of a single-spindle screw machine. The VersaCam can drive the cam follower so as to mimic any possible cam profile. The VersaCam is a CNC machine with a mechanical output that displaces the cam follower of a cam-logic machine. It comprises a mechanism to drive a cam follower, an actuator to power this mechanism, a sensor to determine the position of the mechanism, a control system which causes the mechanism to follow a desired trajectory (as a function of cam drive shaft position), a means for specifying desired trajectory, and a sensor to determine the position of the cam drive shaft.
The VersaCam system of the present invention is not designed to replace the mechanical timing of conventional machines but rather will use and work with the mechanical timing found in conventional machines. Further, the VersaCam system does not require disconnecting the cross slides, but uses them as they are normally used in the operation of conventional machines. The VersaCam system depends on the position of the driving camshaft for its operation. The VersaCam system uses an electric drive and is designed to drive the turret without modification to the turret.
In another embodiment of the present invention the screw machine turret slide may be actuated directly, rather than through the cam follower. A linear actuator may be provided, in direct contact with the turret slide, which actuator may be hydraulic, ball-screw based, or of other common hardware.
In addition to the novel features and advantages mentioned above, other objects and advantages of the present invention will be readily apparent from the following descriptions of the drawings and preferred embodiments.
FIG. 1 is a perspective view of a conventional screw machine retrofitted with a preferred embodiment of the present invention;
FIG. 2 is a perspective view of a preferred embodiment of a VersaCam device of the present invention;
FIG. 3 is a cutaway view of a preferred embodiment of a VersaCam device of the present invention shown in connection with existing hardware of a conventional automatic screw machine; and
FIG. 4 is a diagram of a preferred embodiment of a software system which may be used in connection with a preferred embodiment of the present invention.
Referring now to the drawings, and particularly FIG. 1, there is shown generally at reference numeral 10 a single-spindle automatic screw machine. The machine 10 is shown in a retrofitted condition, by the present invention, to be operable as a computer numeric control machine. The present invention has been termed a VersaCam and is identified by reference numeral 12.
The VersaCam 12 is actually an electromechanical system with several functional subsystems as shown in FIG. 4. Also shown in FIG. 1, and described in greater detail hereinafter, is the operator interface unit 14 of the present invention.
Referring now to FIG. 2, an enlarged partial perspective view is shown of the VersaCam 12 in association with cam follower 16 of a machine 10.
The VersaCam system of the present invention may be packaged in a single housing 18, which mounts to the cam drive shaft (in place of the hard cam) via rotary bearings. An adjustable restraining link 20 may position the housing in the desired orientation. The sensor 22 which measures the cam drive shaft 24 position may be a rotary optical incremental encoder, mounted to the VersaCam housing, and gear driven from the cam drive shaft. The mechanism which drives the cam follower 16 may be a linear wedge 26 (the cam wedge) which is moved inward and outward by means of a ball-screw 28. The bottom of the cam wedge may ride on rollers. The actuator 30 may be a conventional DC electric servo-motor with a pulse-width-modulated servo-amplifier. The sensor 32 which determines the position of the mechanism may be a rotary optical incremental encoder which is mounted to the back side of the servo-motor. In addition there may be a mechanical limit switch which is tripped when the cam wedge is in a certain position. This switch may be used to determine the revolution number of the optical encoder. The control system may be implemented on a microcontroller, microprocessor, and/or digital signal processor chip, depending on computability speed requirements. The desired trajectory profile and other parameters may be stored in local memory. The controller may incorporate a small keypad and an alpha-numeric display.
Desired trajectories may be specified by means of a software package which preferably runs on personal computers. The operator may specify, in tabular format, the operations, positions, etc. for each tool in sequence. The software may then calculate the detailed trajectory necessary to implement the operations. The trajectory parameters may be downloaded into the VersaCam controller via a serial communications port.
FIG. 3 illustrates in greater detail the physical mechanism of the conventional machine 10 and the VersaCam 12. Components shown in FIG. 3 which are typically common to a conventional machine are a turret slide cushion 40, an adjusting screw 42 connected to the turret slide and a turret slide rack 44 which engages the teeth of the cam follower 16. A connecting rod 46, roll disk 48, and turret disk 50 are known to those of ordinary skill in the art.
In the boxed, dashed zone 52 of FIG. 3 another embodiment of the present invention is shown. The boxed zone depicts a direct linear drive unit 54 which may be used in place of the wedge drive unit 12. These two units 54, 12 would not be used together but as alternatives to each other. The linear actuator 54 could be hydraulic, ball-screw based, or other similar configuration.
The slider block, and the gear rack 44, to which the adjusting screw 42 is attached can slide with respect to the main turret slide 36. When used normally, the load path is as follows:
the cam applies force to the lead lever 16;
the lead lever 16 applies force to the turret slide (gear) rack 44;
the gear rack applies force to the adjusting screw 42;
the adjusting screw applies force to the slider block 45;
the slider block applies force to the connecting rod 46;
the connecting rod applies force to the turret change roll disk 48; and
the turret change roll disk applies force to the turret slide 36.
When the tool turret is indexed, the turret change roll disk rotates through one full revolution, and the connecting rod causes the relative position between the slider block and the turret slide to change. If the turret slide is fully retracted, this results in the cam follower lifting off of the cam. If the turret slide is not retracted, the cam follower will stay on the cam and the turret slide will retract.
There are two approaches to using direct linear actuation. In the first of these, the linear actuator may push, but not be attached to, the slider block (via the adjusting screw in the drawing). This permits the mechanical tool-change retract mechanism to be used normally. The linear actuator cannot be attached to the slider block because, when the turret slide is fully retracted, the retract mechanism would fight the linear actuator, trying to pull it. The disadvantage of this approach is that the linear actuator, if based on a ball-screw, would require its own linear guideway system to support the ball-screw.
The second approach is to disable the mechanical retract mechanism and to use the servomotor to retract the turret slide during tool changes. The linear actuator could then be attached directly to any point on the turret slide, and the turret slide guideway would also serve as the guideway for a ball-screw. This approach has two disadvantages. First, a reasonably-sized servomotor would be slower than the retract mechanism, therefore increasing part cycle times. (This apparently is a drawback of some retrofit systems currently on the market.) Second, the actual indexing of the tool turret would still be accomplished mechanically, and the relative timing between the mechanical (trip-dog) actuation and the software turret retractions would be critical.
In order to achieve the functionality of a turret cam, the VersaCam system must monitor the motion of the screw-machine camshaft 24, and it must actuate the turret slide 36 in precise synchronization with the camshaft. In addition, since it is intended to replace all turret cams, the VersaCam system must provide a means of specifying the desired turret slide trajectory for any given job.
The VersaCam system has many subsystems. In this document, a distinction is drawn between functional subsystems and physical subsystems. A functional subsystem is defined by its inputs, outputs, and the relationship between them. A physical subsystem is the particular hardware and software chosen to implement a functional subsystem(s). The functional subsystems and their interrelationships are of primary importance.
There are many possible variations of physical subsystems which could be employed to produce the functionality of the VersaCam system. Furthermore, the physical subsystems of the VersaCam system do not necessarily correspond directly to its functional subsystems. Functional subsystems may share physical subsystems. As an example of a shared physical subsystem, software components of all of the functional subsystems may execute on the same microprocessor within the VersaCam controller. A less-obvious example is the attachment of the VersaCam mechanism to the camshaft: it provides a load path for the mechanism of the Turret Slide Actuation Subsystem, and, it provides a drive means for the position sensor of the Camshaft Monitoring Subsystem.
As shown in FIG. 4, the VersaCam system may include the following five major functional subsystems:
Turret Slide Trajectory Design Subsystem 80;
Camshaft Monitoring Subsystem 82;
Cam Simulator Subsystem 84;
Turret Slide Actuation Subsystem 86; and
Operator Interface Subsystem 88.
The Turret Slide Trajectory Design Subsystem 80 generates a time-based turret slide trajectory on the basis of operator input 90.
The Camshaft Monitoring Subsystem 82 provides camshaft state 92 (position, velocity, and acceleration) to the Cam Simulator Subsystem.
The Cam Simulator Subsystem 84 generates commanded turret slide states 94 (position, velocity, and acceleration) in real time, based upon the nominal time-based trajectory and upon the actual camshaft state 92 (position, velocity, and acceleration). It causes the turret slide to maintain precise synchronization with the camshaft-driven mechanisms, regardless of perturbations in camshaft velocity.
The Turret Slide Actuation Subsystem 86 causes the turret slide to physically track its commanded state (position, velocity, and acceleration). The Operator Interface Subsystem 88 provides the operator with the appropriate control of, and feedback from, all subsystems of the VersaCam system. All of the above functional subsystems are described in detail hereinafter.
The Turret Slide Trajectory Design Subsystem 80 is a software system which inputs high-level, operator-specified parameters 90 and produces a complete set of detailed trajectory parameters which describe the desired motion of the screw machine turret slide as a function of time. All time parameters are relative to the start of a machine cycle 95, and assume a constant machine cycle time (which implies a constant camshaft rotational velocity).
The portion of the Turret Slide Trajectory Design Subsystem which permits the screw machine operator to make precise tool offset adjustments executes on the VersaCam controller. The remainder of Trajectory Design Subsystem may also execute on the VersaCam controller. Alternatively, or in addition, it may execute on a stand-alone computer such as an IBM PC. If the complete Trajectory Design Subsystem does not execute on the VersaCam controller, the computed trajectory parameters may be computed on a stand-alone computer and be transferred to the VersaCam controller prior to using the trajectory. If the software can execute on both platforms, then it is also possible to specify parameters on both platforms, either fully or partially.
The generation of optimal trajectories for the VersaCam is manageable if tool motion is first considered independently of machine timing. In general, tool motion requirements are a function of the particular tool, the piece being fabricated, the stock being used, and the spindle speed. Machine timing should be designed for compatibility with the tool motion, not vice versa. Thus when a tool is cutting metal, or is not clear of the metal, the required tool motion dictates what the other mechanisms must or must not do. On the other hand, when the tool is clear of the workpiece, the other mechanisms may have priority (in which case the turret must simply stay clear of the action).
A screw machine turret, cam, and tool holders have so many possible adjustments (degrees of freedom) that use of the machine (and the VersaCam in particular) will be greatly facilitated if some conventions are adopted about how the redundant adjustments should be employed. The following suggested conventions are believed to be consistent with standard screw machine practice, to be essentially optimal with respect to cycle time, and to provide a reasonably intuitive mapping between part geometry and machine set-up.
In a departure from normal robot (and CNC machine tool) conventions, consider each tool to be independent (no explicit common tool or workpiece coordinate system). Let each tool's maximum penetration into the stock occur at the same (maximum) turret slide position, unless turret slide travel is explicitly "cut down" for a given tool by the setup man. ("Cut down" would be used for tools which are unusually long.)
The above approach has the following implications:
1. The "Stop" will be the shortest tool (and it implicitly establishes the workpiece datum, which is the "stopped" surface of the stock). Any tool shorter than the stop could not reach the stock, much less cut it.
2. The length (radius installed in the tool turret) of any other tool, minus the length of the "stop", determines that tool's maximum penetration into the stock. (This should be both intuitive and familiar to setup men.)
3. The VersaCam system does not need to know anything explicit about the workpiece dimensions (other that the depth of individual cuts), because they are determined by tool length adjustments (both mechanical and software) alone.
4. The maximum excursion position of the turret can be established via software at run-time, because the VersaCam kinematics are embedded in the controller anyway. In general, however, the VersaCam wedge will be fully extended at the maximum excursion position; this is equivalent to the lobes of a hard cam extending to the maximum radius of the cam (which is the normal practice). The mechanical turret slide offset adjustment can be used exactly as it is with a hard cam. Turret slide offset adjustments (mechanical and/or software) would normally be used to adjust the workpiece reference surface (that surface which hits the stop) relative to tools mounted to cross-slides (such as the cut-off tool).
5. The turret slide excursions are minimized (and cycle time optimized), because there is no turret slide motion required to compensate for unmatched tool lengths.
The following general approach may be used to generate optimal cycles:
1. Fully specify all metal cutting operations of the turret tools, the associated turn-around operations, and any other required turret slide motions. The computer can determine the total amount of time required for such actions.
2. Specify tool changes as necessary between cutting actions. These can, in general, overlap turn-around operations. The computer can determine the time (if any) which must be added to the turn-around operations in order to allow for the tool change to complete.
3. Estimate the elapsed times required for independent cross-slide motions (i.e. ones which cannot be performed simultaneously with turret tool cutting actions). These should be programmed as explicit dwells or as minimum turn-around durations (as described above for tool changes) in the turret slide trajectory.
4. Select a machine cycle time which is slightly greater than the sum of all the above elapsed times.
5. Select cross-slide cams. Determine how many hundredths of motion are needed for each independent cross-slide operation. If necessary, adjust the corresponding dwell times or turn-around durations in the turret slide trajectory.
6. There will be, in general, some "slack" time (when the screw machine is doing nothing) at the beginning/end of the turret slide trajectory cycle. This is unavoidable, inasmuch as the available cycle times are discrete quantities, and the first one slower than the optimal time is the fastest cycle time that can be used. It is also desirable to have some amount of slack time, however, because it provides a safety margin for mix-estimation of cross-slide operation times, and permits the set-up man some flexibility in the installation of side-cams, etc.
The computer now has all the information necessary to compute optimal turret trajectories. The setup man now simply installs side cams, trip dogs, etc., at the appropriate positions in order to complete the machine setup.
As an alternative to the foregoing setup procedure for optimal cycles, the setup man can install the side cams, etc., where he sees fit, although he obviously cannot install them arbitrarily. In general, all he really has the freedom to do is to install them at a "later" position on the camshaft than is really necessary. Then, he can adjust turn-around durations and dwell times such that the computer agrees with his placement of the side cams, etc. The computer can then compute the entire (sub-optimal) turret slide trajectory. If the set-up man has used up more than the available amount of slack time, however, he will have to change his mechanical setup or else use a slower cycle time.
A complete turret slide trajectory is made up of multiple motion "segments" which together span an entire machine cycle. The boundary conditions of each segment are constrained such that the turret slide position and velocity are continuous (no step changes) over the entire trajectory. Note that a complete turret slide trajectory is cyclic, thus the "first" segment is actually the successor of the "last" segment, and the constraints on segment boundary conditions apply to this pair of segments also.
We have chosen to represent a trajectory segment by the coefficients of the polynomial X =P(t), where X 96 represents turret position and t 98 represents the elapsed time since the start of the machine cycle, and by the initial and final values of time for the segment. The final value of time for a given segment is equivalent to the initial value of time for the following segment. Equations for turret velocity and acceleration are obtained by differentiating the polynomial which describes each segment.
Second-order polynomials may be used to represent trajectory segments; this represents a good tradeoff between complexity, smoothness, and overall performance. Thus the turret slide acceleration is constant for the duration of a given segment. However, if it were desired to reduce the trajectory "jerk" (rate of change of acceleration), this could be accomplished by fitting a higher order polynomial to each trajectory segment while imposing the additional boundary value condition that acceleration be continuous across segment boundaries. Even trajectory "jounce" (rate of change of jerk) can be limited in this manner, if desired.
An "operation" specifies a set of one or more trajectory segments. Given the set of operator-input parameters for a given operation, software algorithms automatically compute all of the segment parameters for the segments within that operation.
Five types of operations are: Feed-In, Dwell, Feed-Out, Turn-Around, and Position. Note that the above operations cannot be used in an arbitrary sequence. Some of the operations fully or partially specify their own boundary conditions, and some inherit some or all of their boundary conditions from adjacent operations. The boundary condition constraints are satisfied when the operations are used in their customary and intended sequences; otherwise, the system signals the operator that the trajectory is "incomplete."
The Feed-In operation is used for normal cutting operations in which the turret tooling is advancing into the feedstock. The Feed-In operation preferably uses the following operator-specified parameters:
Initial position (millimeters or inches);
Feed-in rate (mm/spindle-rev or in/spindle-rev); and
Final Position (millimeters or inches).
The initial velocity is equal to the feed rate, and the final velocity is zero. Note that the initial and final position can be specified directly, or one can be specified directly and the other specified indirectly via a feed distance, or "throw."
The Dwell operation preferably causes the turret slide to remain in a given position for a specific number of spindle revolutions. It is used immediately following a Feed-In operation. The Dwell operation uses the following operator-specified parameter: Duration (spindle revolutions). The dwell position is equal to the final position of the operation which precedes it. The turret-slide velocity is zero throughout a Dwell operation.
The Feed-Out operation is used for cutting operations in which the turret tooling is retracting out of the feedstock, such as when a tap is being unscrewed. The feed-out operation preferably has the following operator-specified parameters:
Feed-out rate (mmn/spindle-rev or in/spindle-rev); and
Final Position (millimeters or inches).
The initial position is equal to the final position of the operation which precedes it. The initial velocity is zero, and the final velocity is equal to the feed-out rate. Note that the final position can be specified directly, or it can be specified indirectly via a feed distance, or "throw."
The Turn-Around operation computes the time-optimal trajectory which connects adjacent operations. The Turn-Around operation automatically provides the rapid out/in motions normally employed to get tools into cutting position in minimum time. The turn-around operation preferably has the following (optional) operator-specified parameters:
Minimum "clear" position (millimeters or inches); and
Minimum "clear" period (seconds, or hundredths of a cycle).
The initial position and velocity are equal to the final position and velocity of the operation which precedes it. The final position and velocity are equal to the initial position and velocity of the operation which succeeds it.
The optional operator-specified parameters provide a means by which the operator can allow adequate time and clearance for tool index operations, cross-slide operations, etc. The minimum clear position is specified such that, when the turret slide is retracted beyond the minimum clear position, there is no possibility of interference between the turret tooling and any other devices on the screw machine. The clear period is the period for which the turret slide is retracted to or beyond the minimum clear position. The default for the clear position is the minimum possible retract distance, and the default for the clear period is zero.
The Position operation is used to precisely position the turret slide in a specified location for a specified duration. It differs from the Dwell operation in two ways: it includes a pre-defined approach trajectory to the specified position (this trajectory maximizes the positioning accuracy), and its duration is not specified in terms of spindle revolutions. One use of the Position operation is to position the turret slide for a feed-stop operation.
The Position operation preferably uses the following operator-specified parameters:
Final Position (millimeters or inches); and
Duration (seconds, or hundredths of a machine cycle).
The initial position is a function of the Final Position and of the approach trajectory. The final velocity is zero. The initial velocity is a function of the approach trajectory.
The VersaCam trajectory design 80 provides a benefit which is not available using a conventional turret cam. Using a hard cam, there is normally no efficient way to independently and precisely adjust the extension of the tools in the tool turret. The normal practice is to loosen the tool holders and tap the tools with a brass hammer, using trial and error to get within the part tolerance. The VersaCam trajectory design, however, allows the operator to enter a precise tool offset adjustment for a given tool into the VersaCam controller, using the controller's numeric keypad. The trajectory design Subsystem 80 then makes the appropriate offset adjustment to the turret slide trajectory during the period of time in which the given tool is being used.
The Camshaft Monitoring Subsystem 82 provides camshaft state 92 (position, velocity, and acceleration) information to the other VersaCam functional subsystems. In general, all camshaft state variables can be sensed, or else a subset of them can be sensed and the remainder of them estimated by a state observer. To minimize the cost of the sensor system, and because there is mechanical (rotational) noise on the camshaft that is not desirable, it is preferred to directly measure the position of the camshaft, and to use state observer/filter techniques to obtain accurate estimates of camshaft position, velocity, and acceleration.
The camshaft monitoring system thus preferably comprises two primary subsystems: the Camshaft Position Sensor (including its electronic interface), and Camshaft Observer Subsystem.
The Camshaft Position Sensor is a position transducer which measures the angle of the turret camshaft relative to the machine frame. An incremental optical encoder, with a 1024 counts per revolution quadrature output and an index channel, may be used. The encoder may be driven in a 1:1 ratio by the camshaft relative to the machine frame. Associated with the encoder is an electronic circuit which receives the quadrature signal and converts it to a binary count of 4096 counts per revolution. This circuit interfaces to a microprocessor in the VersaCam controller. The electrical power to the encoder, and to its associated electronics, may be supplied by a battery in the event of an AC power failure; this prevents the absolute position information from being lost (which would require a re-registration procedure to be performed).
The Camshaft Observer Subsystem is a software system which processes the signal from the Camshaft Position Sensor, produces a better estimate of camshaft position than can be obtained by the sensor alone, and provides velocity and acceleration information as well. The raw sensor output has several deficiencies: (1) it does not provide the velocity or the acceleration of the camshaft, (2) it contains discretization noise, and (3) the camshaft is subject to backlash to which the turret slide should not respond to (but which the sensor measures).
The camshaft of a screw machine is driven with respect to the spindle via a gear train which exhibits backlash. At certain times, cross-slide return springs may, via the cross-slide cams, suddenly back-drive the camshaft through this backlash region. In such situations the spindle does not undergo any acceleration, thus we do not wish the turret slide to undergo any acceleration. If the turret slide were to track the transformed camshaft acceleration, it could result in a tool being accelerated rapidly into the stock during a cutting operation, possibly breaking a tool or ruining the part being machined.
The Camshaft Observer Subsystem may include a P-I filter which produces pseudo-continuous (as opposed to discretized) acceleration, velocity, and position outputs. The error between the observed position and the measured position is used to force the observed position to track the measured position. The output of the P-I filter is input to a 2nd-order, state-variable, low-pass filter, which further reduces discretization noise.
In addition to reducing discretization noise and providing acceleration and velocity outputs, the Camshaft Observer Subsystem can detect the position errors characteristic of the camshaft backlash phenomenon. To minimize the effect of this phenomenon on the filter output, the gains of both filter stages are changed when backlash is detected. This gain-scheduling algorithm increases the time constant of both filter stages for the duration of the backlash phenomenon, resulting in the observed camshaft position, velocity, and acceleration being largely unaffected by the backlash phenomenon.
The camshaft serves as a mechanical transmission which powers or activates various mechanisms on the screw machine, causing one part to be made during each full revolution of the camshaft. For our purposes, the important attribute of the camshaft is that it controls the machine, it establishes the relationship between the operations of the various devices, and it controls the rate at which the various operations progress. Thus we use the term "machine cycle," or simply "cycle," synonymously with "one full revolution of the camshaft."
The time-based trajectory which is generated by the Turret Slide Trajectory Design Subsystem is computed assuming that the camshaft speed is a known, constant value. In general, however, this is not precisely true (especially when the machine is starting and stopping). Since the turret slide must be precisely synchronized with the other mechanisms that are driven from the camshaft, the turret slide trajectory should be made to conform to the actual camshaft speed. Because a physical cam does precisely synchronize its output drive with the camshaft, regardless of camshaft speed, the subsystem which performs this synchronization function is termed the Cam Simulator Subsystem 84. It preferably has two primary components:
Time-Base to Cycle-Base Conversion Subsystem; and
Cycle-Base to Time-Base Conversion Subsystem.
Since the camshaft angle, rather than time, is the independent variable that controls turret slide position, velocity, etc., the first thing done by the Cam Simulator Subsystem 84 is to convert time-based trajectory parameters to cycle-based parameters. This can be done to each of the segment parameters, the complete set of which completely describes the entire trajectory. In this manner, the entire trajectory can be converted off-line, prior to actual trajectory execution. Alternatively, individual turret-slide states (position, velocity, and acceleration) can be converted as they are used during trajectory execution.
Trajectory parameters with units of time (seconds) are converted to units of "cycles" by dividing by the nominal machine-cycle period (seconds/cycle). Parameters with units of position (meters) do not require conversion. Parameters with units of velocity (meters/second) are converted to units of meters/cycle by multiplying by the nominal cycle period (seconds/cycle). Parameters with units of acceleration (meters/second2) are converted to units of (meters/cycle2) by multiplying by the square of the nominal cycle period (seconds/cycle).
During trajectory execution, the actual camshaft state 92 (position in cycles, velocity in cycles/second, and acceleration in cycles/second2) is used, together with the desired cycle-based turret-slide state 100 (position in meters, velocity in meters/cycle, and acceleration in meters/cycle2), to determine the desired time-based turret-slide state (position in meters, velocity in meters/second, and acceleration in meters/second2). The turret-slide position requires no conversion. To obtain the corrected turret velocity (meters/second), the cycle-based turret velocity (meters/cycle) is multiplied by the actual camshaft velocity (cycles/second). To obtain the corrected turret acceleration (meters/second2), the camshaft velocity and acceleration are combined with the cycle-based turret velocity and acceleration as follows:
The Turret Slide Actuation Subsystem 86 provides a means by which the screw machine turret slide can be made to move in the desired manner. It preferably has two major functional subsystems:
Controlled Actuator; and
Transmission System.
The Controlled Actuator Subsystem is a motor system which can follow motion commands to the appropriate level of accuracy. The Transmission System connects the Controlled Actuator to the screw machine turret slide mechanically, and also provides software functions which describe the relationship between the Controlled Actuator and the turret slide. These functional subsystems are described in greater detail hereinafter.
The Controlled Actuator Subsystem preferably includes all of the functional subsystems necessary to provide a mechanical motion output which tracks a commanded motion input. These functional subsystems include:
Motor Feedback System;
Motor Amplifier; and
Feedback Control Law.
A brush-type electric DC servomotor may be chosen for the VersaCam system. Alternative motor types which could be used include brushless DC servomotors, electric stepper motors, and hydraulic motors. The particular motor selected can operate at the voltage levels obtained by simply rectifying and filtering, for example, the 205 VAC, 3-phase power used to operate a typical conventional screw machine; this eliminates the need for a bulky and expensive power transformer or for separate electrical service to the VersaCam system.
In controlling a DC servomotor, useful feedback parameters include: motor position, motor velocity, motor acceleration, motor current, and motor output torque. However, knowing only the motor position and the motor current, it is possible to obtain very good estimates of motor velocity, motor acceleration, and motor output torque which permit near-optimal control of the motor. Thus in order to minimize sensor costs, it is advantageous to directly sense only motor position and motor current.
The motor state feedback system preferably includes the following primary functional subsystems:
Motor Position Feedback Subsystem;
Motor Current Feedback Subsystem; and
Motor State Observer Subsystem.
A motor position sensor may be mounted directly to the motor shaft. One preferred sensor is an incremental optical encoder, with a 1024 counts per revolution quadrature output and an index channel. Associated with the encoder is an electronic circuit which inputs the quadrature signal and converts it to a binary count of 4096 counts per revolution. This circuit interfaces to a microprocessor in the VersaCam controller. The electrical power to the encoder, and to its associated electronics, may be supplied by a battery in the event of an AC power failure; this prevents the absolute position information from being lost (which would require a re-registration procedure to be performed).
Because the particular design selected for the Turret Slide Actuation Subsystem requires that the motor make multiple revolutions in order to move the turret slide through its full range of motion, the once-per-revolution index pulse provided by the motor encoder does not establish an absolute motor position. For this reason, the Transmission System provides a "home position" output when the mechanical transmission is at a particular location. This output enables the Motor Feedback Subsystem to determine the absolute revolution number of the motor. A software component of the Motor Feedback Subsystem converts the encoder count information, the encoder index pulse information, and the Transmission System "home position" information into an absolute motor shaft angle.
Motor current may be sensed by connecting a low-ohmage resistor in series with the motor, and then measuring the voltage drop across this resistor. Alternatively, devices may be used which measure the magnitude of the motor current by measuring the strength of the magnetic field produced by the current.
The basis of the Motor State Observer Subsystem is a dynamic motor simulation, which is based on a mathematical model of the motor. The inputs to the motor simulation may be the motor current and the motor shaft (output) torque. The outputs of the simulation may be motor acceleration, velocity, and position.
Since the current of the physical motor is measured and is thus known, it is used as the current input for the simulated motor. The motor shaft torque is not directly known, and is the remaining input to the simulated motor through which the simulated motor can be controlled.
The position output of the simulated motor is compared to the measured position of the physical motor. The resulting error is used to generate an observed motor shaft torque, via a feedback control law, which is used as the torque input to the simulated motor. The feedback control law forces the position of the simulated motor to track the position of the physical motor. Thus, within the limitations of the accuracy of the mathematical motor model and the bandwidth of the observer feedback loop, the observer acceleration, velocity, and motor shaft torque are also equal to those of the physical motor.
The function of a motor amplifier is to produce a high-power output, which can directly power a motor, as specified by a low-power control input. For the brush-type DC servomotor used in the VersaCam system, the basic amplifier should produce a short-term average voltage across the motor terminals which is specified by a low-power control input.
A four-quadrant PWM (Pulse-Width Modulation) type amplifier may be used on the basis of its good energy efficiency, low heat generation, and compact size. A PWM amplifier rapidly switches the voltage across the motor terminals between the full supply voltage and zero volts. The average voltage is controlled by varying the ratio of the time that the two different voltages are applied.
The preferred amplifier design operates off of a DC voltage supply of approximately 300V. This voltage supply is normally provided by rectifying and filtering the 205 VAC 3-phase power used to operate the screw machine.
In the event of a power failure, the screw machine will not stop immediately (unless it is declutched) but will instead coast to a stop. In order to prevent damage to tooling during this coastdown period, it is desirable for the VersaCam Turret Actuation Subsystem to continue actuating the turret slide in synchronization with the camshaft. This can be made possible by connecting a battery system (preferably 300 V) to the amplifier power inputs. This battery system need only supply the amplifier with current during the brief coastdown period. It can be recharged automatically when AC power is recovered.
The Actuated Motor is caused to track its commanded position, velocity, and acceleration by means of a two-stage feedback control law. The output of the feedback control law is a motor voltage command to the motor amplifier. The inputs to the feedback control law are the outputs of the Motor State Observer Subsystem (observed motor position, velocity, acceleration, and output torque), and the commanded motor state. The two stages of the control law are:
Motor Acceleration Control Law; and
Motor Current Control Law.
The first stage of the feedback control law is a simple state-space control law that is used to calculate the desired acceleration of the motor, given the commanded and observed motor state variables. Then, using a standard mathematical model of the motor, the motor current required to produce the desired motor acceleration is computed algebraically. This desired motor current is used as the input to the Motor Current Control Law.
The Motor Current Control Law is used to force the actual motor current to track the desired motor current. The inputs to this control law are the desired motor current and the measured motor current, the output is the motor voltage command to the motor amplifier. Because of the high bandwidth requirements of the current control system, the current control law is preferably implemented using electronic hardware rather than software.
The Transmission System provides the interface, both mechanical and computational, between the Controlled Actuator and the screw machine turret slide. It comprises three primary functional subsystems:
Transmission Mechanism;
Kinematics Mathematical Relationships; and
Transmission Position Feedback.
The primary function of the Transmission Mechanism is to provide a mechanical transmission between the Controlled Actuator and the screw-machine turret slide. One of the simplest possible mechanism designs would be a direct ball-screw drive between the motor and the turret slide. However, any such direct linear drive system would require extensive modifications to the screw machine in order to provide for the mechanical attachment of the drive system. Thus the turret slide may preferably be actuated via the stock turret-cam follower; that is, the stock turret-cam follower is used as a component of the VersaCam Transmission Mechanism.
Having made the decision to actuate the turret slide via the cam follower, there is a multitude of possible mechanisms which could successfully interface between the Controlled Actuator and the cam follower. Examples of such mechanisms include:
Spiral-shaped rotary cam actuation;
Wedge-shaped linear cam actuation; and
Pinned lever actuation.
The prototype Transmission Mechanism makes use of wedge-shaped linear cam actuation. This mechanism uses a ball-screw to convert the rotary motion of the Controlled Actuator to linear motion of a wedge-shaped linear cam. When the linear cam is fully retracted, the turret slide return spring pushes the turret slide, and thus turret-cam follower, to its minimum position. As the linear cam is extended, its wedge shape pushes the cam follower, and thus the turret slide, toward its maximum position.
A pinned-lever actuation system is another attractive mechanism alternative. This mechanism makes use of a lever on which the roller of the cam follower rides. The lever is pinned at a fixed position on one side of the roller. On the other side of the roller, a ball-screw (which is at approximately a right angle to the lever) may be used to rotate the lever through an appropriate angle about the pinned joint. As a result of the rotation of the lever, the cam follower is moved through its required range of motion.
Pinned-lever actuation has several advantages over wedge-shaped linear cam actuation. First, it makes use of rotary joints only, thus it does not require the expense of a linear guideway. Second, it is easier to seal the mechanism from oil, metal chips, etc. Third, (for the Brown & Sharpe 2G screw machine, at least) it can be packaged into a volume which is less likely to inconvenience people working in the vicinity of the machine.
Rotary cam actuation is, of the various alternatives discussed herein, the mechanism most similar to the normal cam actuation. Using this scheme, a cam, which is preferably of a spiral shape is servo-actuated so as to engage the cam follower. Thus any desired turret slide position can be achieved by rotating the cam to a corresponding angle.
The function of the Kinematics Mathematical Relationships is to compute the relationships between the position, velocity, and acceleration of the screw machine turret and the position, velocity, and acceleration of the Controlled Actuator. Obviously, the mathematical description is dependent upon the type of mechanism.
For a very simple mechanical transmission such as a direct ball-screw drive, the Mathematical Relationships are straightforward: the motor, position, velocity, or acceleration is multiplied by a constant in order to obtain the turret slide position, velocity, or acceleration.
If the turret cam is actuated via the cam-follower, using a non-linear mechanism, the kinematic equations of the VersaCam Transmission Mechanism are quite complex. However, polynomial curve-fitting techniques may be used in order to make the Kinematics Mathematical equations relatively simple. Only the polynomial approximations to the kinematic equations are embedded in the VersaCam system, thus the kinematic equations can be evaluated quickly by a microprocessor in the VersaCam controller.
To obtain polynomial approximations to the kinematic equations, the exact kinematic equation relating turret slide position to Controlled Actuator position is first derived. That equation is then used to generate a set of points (actuator position and turret slide position) which cover the entire range of motion of the system. That set of points is input into polynomial curve-fitting software which generates sets of polynomial coefficients for the equations X=P1(Phi) and Phi=P2(X) (where X represents turret slide position and Phi represents Controlled Actuator shaft angle). The order of polynomials P1 and P2 are chosen to be as small as possible, yet still maintain the maximum curve-fit error to within a specified tolerance.
The equations relating turret velocity and acceleration with actuator velocity and acceleration can be obtained by differentiating the kinematic equations relating the positions of the turret slide and actuator. Now having accurate polynomial representations of the positional relationships, one may differentiate the polynomial approximations, rather than laboriously differentiating the exact equations.
Because the VersaCam trajectory is initially specified in terms of turret slide positions, velocities, and accelerations, the Kinematics Mathematical Relationships Subsystem is used to compute the corresponding Controlled Actuator positions, velocities, and accelerations (which are then used as inputs to the Controlled Actuator). Similarly, when the actual turret slide position is displayed to the operator, the kinematics software is used to calculate the turret slide position based upon the measured motor position.
To provide a means by which the VersaCam controller can determine the absolute position of the VersaCam motor (the motor encoder itself cannot indicate the motor revolution number), a position-sensing device has been incorporated into the Transmission System. The device selected may be a mechanical limit switch, configured so as to be "on" when the motor has rotated beyond a given point, and so as to be "off" if the motor has not rotated beyond that point. Thus information is provided which specifies the direction of motor rotation required in order to reach the trip point. The trip point is preferably chosen to lie approximately midway between two adjacent motor index pulses. Thus, after finding the trip point, the motor can proceed to rotate to an adjacent index pulse, which then provides a precise absolute motor position.
The Operator Interface Subsystem 88 provides the operator with the appropriate control over, and feedback from, preferably all functional subsystems of the VersaCam system. In general, each functional subsystem may require input from the operator, and it may have to prompt the operator in order to obtain such input. In addition, the operator will require feedback from various VersaCam functional subsystems in order to verify that they are programmed as desired, and that they are operating properly.
If provided a large number of independent operator I/O devices for the VersaCam system, one could dedicate one input device and one display device to each functional subsystem. The I/O software for each functional subsystem would then be straightforward: it could format the output display, and it could write to the display at any time.
As a practical matter, one embodiment of the VersaCam system operates with one primary display device and one primary input device at a time (although there may also be some secondary devices such as control switches and indicator lights). The primary input device may be a keypad or a computer keyboard (although it could easily be a touchscreen or other such device). The primary display may be a device that supports alpha-numeric display, such as a small alpha-numeric LCD display or a full-size computer monitor. Thus the primary input device and the primary display may be shared by many functional subsystems.
The complexity of sharing the operator I/O devices can be separated from the VersaCam functional subsystems by using the concept of "virtual" I/O devices. Although restricted to a single pair of physical I/O devices, one can implement as many virtual I/O devices as desired by sharing the physical devices in a well-defined way, such as by separating the display screen into different regions or by allowing only one virtual I/O device at a time to use the physical I/O devices. Regardless of how the virtual devices are implemented, one can provide dedicated virtual I/O devices to all of the functional subsystems.
The scheme chosen to provide virtual I/O device support is a "windowing" system. In general, each virtual display can be shown in a "window" on the physical display device. (A given window may or may not be visible on the screen at any given time.) Operator input is then routed to the functional subsystem which "owns" the window in which the visible cursor resides (although certain keys may be dedicated to specific functional subsystems). The software subsystem which implements the windowing capability can support different types of display and input devices without requiring changes to the functional subsystem software.
On a large display screen, it is possible for many or all windows to be shown on the screen simultaneously. On a small screen, it may be possible to show only the active (input) window. A relatively large window may support menu-driven operation. Alternatively, a single-cell window may be created for each operator input parameter, resulting in a user interface very similar to a spreadsheet.
To illustrate the flexibility afforded by this approach, consider the following example. It is expected that the Turret Slide Trajectory Design Subsystem 80 will operate on both the VersaCam controller, using a keypad and a small (4�20 characters) alphanumeric display, and on a personal computer using a standard keyboard and a full-size display. However, the majority of the trajectory design software can run on either platform with no modification whatsoever. The functional subsystem I/O software can be left unchanged using only a 4�20 section of the PC screen for the display; only the windowing support software need be changed to support the different hardware platforms. Even if it is desired to make optimal use of each type of display, the functional subsystem I/O software can query the windowing support software as to the size of available windows and then implement the optimal interface for that window size, with there still being no modifications required to the remainder of the functional subsystem software.
The preferred embodiments herein disclosed are not intended to be exhaustive or to unnecessarily limit the scope of the invention. The preferred embodiments were chosen and described in order to explain the principles of the present invention so that others skilled in the art may practice the invention. Having shown and described preferred embodiments of the present invention, those skilled in the art will realize that many variations and modifications may be made to affect the described invention. Many of those variations and modifications will provide the same result and fall within the spirit of the claimed invention. It is the intention, therefore, to limit the invention only as indicated by the scope of the claims.
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Fred Perry Plain V-Neck T-ShirtSKU: #7940588
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