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Video: Cardinal Jorge Bergoglio of Argentina elected pope, Denver Archdiocese celebrates
Mahala Gaylord Posted by Mahala on 2013-03-13 18:57:25 tags: Video
Argentine Jorge Bergoglio was elected pope, the first ever from the Americas and the first from outside Europe in more than a millennium, on March 13, 2013. He chose the name Pope Francis.
Denver catholics gathered in Civic Center Park to rally in support of the new pope before marching to Denver's Catholic cathedral, the Basilica of the Immaculate Conception, which hosted a Mass in thanksgiving at 5:30 p.m. Wednesday March 13, 2013 to celebrate the selection of the new pope.
Video by Mahala Gaylord
Read more: Cardinal Jorge Bergoglio elected new pope, Francis I
Read more: Denver Catholics rally for the new pope at Capitol, cathedral
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Aveley, Hall Road c.1960
This is the 26th of 47 photos of Aveley.
Memories of Aveley
Boys Boxing
My dad did boxing for the school and was Essex school boy champion around 1955 -1956. If anybody knows where the shields or boxing memorabilia are please could you get in touch with me on firstname.lastname@example.com.
Return To Aveley With Glenda
Hello Glenda, my dear. I remember that name - Lighten. Where is Eastern Ave? Is it the road where Trevor Johnson and David Warren lived? Michael Cox there too. Remember him? Now I remember our dads - good mates - ...Read full memory
P C Dunn
Hi Keith I remember you, your sister and your father well. After he retired he lived next door but one to my family.
Class/School Photos
I am desperately trying to find any class/school photos for Aveley comprehensive school, leaving year of 2003 class teacher Mr How. please if anyone has anything along these lines it would be appreciated if you could contact me.
Remember this?
Collect photos, maps, memories and books of interest to you.


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State and nonprofit leaders discuss successes and challenges in improving reentry for prisoners and reducing recidivism.
Ensuring that all people who want to work are working will reduce poverty.
AEI's scholars in poverty studies examine the House Ways and Means Committee's proposed reforms to TANF and lay out their agreements and disagreements.
President Obama's recently proposed rule for overtime pay is well-intentioned, but it has the unfortunate potential to harm the very workers it intends to help.
One way to break the cycle of poverty nationally is to break the poverty of opportunity locally.
It is possible that spending will return to historical post-recession levels, but it seems fairly clear that it has not happened yet.
The stickiness of the official poverty measure suggests that new approaches are needed, and science may have an answer.
Benefit cliffs – steep drops in means-tested benefits when income crosses a certain eligibility threshold – send the wrong message about work and likely decrease work effort.
President Obama's recently proposed overtime provisions are not likely to be beneficial for workers.
Although government statistics show homelessness declining, Corinth's new study argues we should be skeptical of the official reports and look closer at the underlying challenge.
Evidence suggests that lifetime success may be influenced by factors beyond children's control, such as family structure, home neighborhood, and household income. Preserving economic mobility requires policymakers to focus specifically on these issues.


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Before Shop-Eat-Surf, there were two sites I paid for premium content on. One is Surfline, the other is the Wall Street Journal. One is about all things surf, the other, the best business content site in the world. Shop-eat-surf is the intersection of those two worlds. Shop-Eat-Surf provides everything from coverage of events, people, brands and trends. However, beyond the Executive Edition "wall" is more meaty analysis and interpretation of financial statements, business models and brand philosophies; why certain brands and companies are succeeding, where others aren't. The Executive Edition is a must have read if the business of surf and action sports are on your radar screen.- By Jeff Berg, Co-owner, Surfline
It is common knowledge in our industry that there is one undisputed leader in reporting on the topics, businesses and trends that impact all of us the most, and it is shop-eat-surf.com. Their access to those who make our industry happen is second to none, and we value not only the content of their reporting but the editorial thought on what it all means both in the present as well as the future. If we were asked to give a rating, it would be five out of five stars.- By Craig Levra, CEO, Sport Chalet
CIT: West Coast team featured in Fashion Manuscript.
FSG LAWYERS: Represented Loomworks Apparel (P.J. Salvage) on its acquisiton by Delta Galil.
Details on Industry Insight.
My husband, Andy Horan, will be covering the event. He will post an update during the day on how the hearing is going.
Here's a schedule from Surfrider of how the day will unfold.
WHAT: A public hearing regarding the toll road through San Onofre State Beach. Throngs of toll road opponents gathering to ensure the Federal Government upholds the decision made by the California Coastal Commission--no toll roads through state parks!
WHEN: The hearing is today from 10:30am-8:30pm. Of course, we would like everyone to attend all day (take a sick day, like the rest of us: ) or come for at least a few hours.
WHERE: O'Brien Hall at the Del Mar Fairgrounds. 2260 Jimmy Durante Blvd. Del Mar, CA 92014. Just off the I-5 in Del Mar at Via de la Valle exit. Do you have friends who are out of state and can't come? They can stay updated throughout the day.
Agenda for Hearing:
Surfrider, and our partners, will be providing supporters with tee shirts and other goodies (first come, first served). We will have food coupons to distribute to those who sign in at the welcome booth. Since we are a nonprofit, it's hard to feed everyone huge meals, but we do want to make sure that our supporters are taken care of and have sustained energy to be at the hearing all day. Upon arriving, please check in at the welcome booth to receive your tee shirts and food coupons.
Please note the following agenda is a rough estimate.
• 10:30am-1:30pm: Testimony from Elected Officials. There are several outstanding elected officials speaking on our behalf including Bobby Shriver, Donna Frye, Bill Lockyer and others.
• 1:30pm-2pm: Testimony from Organizations. Surfrider Foundation and other interesting organizations will be heard during the next few hours.
• 2:00-2:30: Official Hearing Break. We are having a rally in the pavilion area behind O'Brien hallcome and learn more about how the day will go and what to expect.
• 2:30-5:00: Continued Testimony from Organizations and Native American Tribes.
• 5:00-5:30: Official Hearing Break. Please be sure to visit our letter writing station during the break. We want to fill the drop boxes with letters opposing the toll road.
• 5:30-8:30: During this time, organizations will finish speaking and the general public will begin testimony. It's challenging to say exactly what time the general public will speak. As you know, not everyone from the public will be able to speak since the meeting ends exactly at 8:30pm.
• 8:30pm-9pm: Meet us outside of the O'Brien hall as we gather to celebrate our efforts, enjoy acoustic music, and listen to special guest speakers. Recognized singer-songwriter Steve Ybarra will play music which has been featured on radio and television across the country. Shaun Tomson, World Champion Surfer, will be our featured guest speaker. Upon listening to Shaun, we will hear from prominent environmental leaders.As you know, there will not be a decision made at the hearing, so it's important that we come together to 'celebrate our efforts of the day' and begin to look forward! We expect the Federal Government will make their decision by then end of the fall/early winter.
If you plan to drive yourself please note that the Del Mar Fairgrounds charges $9 for parking. Check out carpool areas: click here Please pass this around to everyone who cares about protecting our State Parks! We need thousands of people to attend!
Also, please review guidelines for the hearing. Attending hearing is much like being in a court room; we need to be calm, cool and collected. We can't cheer, hold our signs above our heads, or be distracting. Read the rules--they are long, but they say it all!


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FOX 66 News at Ten
A Flint-area school district has agreed to pay $75,000 in exchange for a former adult education student's promise not to sue over allegations of misconduct by a former school administrator.
The Flint Journal reported details of the agreement involving the Beecher Community School District following a Freedom of Information Act request. The agreement was made in August with a 21-year-old former student in the district's adult education center.
The student says he was sexually harassed after he began testing for his GED in 2012.
Superintendent Josha L. Talison says the administrator is no longer employed by the school after his contract wasn't renewed in June.
The payout comes as the district works to cut $500,000 from its budget over the next two years because of an ongoing budget deficit.
Copyright 2013 Associated Press. All rights reserved.
Friday, November 8 2013, 09:33 AM EST
National News Headlines
|San Diego man pleads guilty to leaving threatening voice mails to Muslim group
|A San Diego man accused of leaving a threatening voice mail at the office of a Muslim civil rights organization pleaded guilty Tuesday to felony charges.
|Wireless, landline phone outages reported in Southeast
|Phone carriers say some customers in the Southeast are experiencing outages with wireless and wired service.
|Persecution of Middle Eastern Christians spurs charity, calls for US to offer asylum
|A Syrian archbishop visiting Philadelphia has called the United States' reluctance to offer asylum to persecuted Christians "unjust." Aleppo Archbishop Jean-Clement Jeanbart made the remark Tuesday as he and an Iraqi counterpart appealed to the American people for help withstanding Islamic State oppression.
|First Solar 2nd-quarter revenue surges past Wall Street outlook, sending shares higher
|Shares of First Solar rose in aftermarket trading Tuesday after the largest U.S. solar company's second-quarter results surpassed Wall Street expectations.
|6 Random Activities That Help My Entrepreneurial Brain
|Sure, there's always reading, learning and writing, but these odd things also boost my skills and creativity.
|How to Succeed as a Foreign Founder in Silicon Valley
|To make it in the Valley, you need to focus on building a diverse team while maintaining roots in your country.
|Pentagon says more Syrian rebels trained by US were captured by Nusra Front insurgents
|The Pentagon says members of the Free Syrian Army who went through the new U.S. training program to fight Islamic State militants have been captured by the al-Qaida-linked Nusra Front in Syria.
|Georgia lawyer who was shot and wounded with Hustler publisher Larry Flynt dies at age 85
|A retired Georgia judge who was nearly killed in the 1978 shooting that injured Hustler magazine publisher Larry Flynt has died.
|6 Ways to Motivate Individuals to Become a Winning Team
|People work hardest when they believe what they do is important to the people they work with.
|Toxic algae blooms in a warmer Pacific, endangering marine life and forcing seafood bans
|One of the largest toxic algae blooms recorded off the West Coast is denser, more widespread and deeper than scientists feared even weeks ago.


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June 10, 2013
By: Jonathan Rothwell
Workers in STEM (science, technology, engineering, and math) fields play a direct role in driving economic growth. Yet, because of how the STEM economy has been defined, policymakers have mainly focused on supporting workers with at least a bachelor's (BA) degree, overlooking a strong potential workforce of those with less than a BA. A new report from the Brookings Metropolitan Policy Program presents a new and more rigorous way to define STEM occupations, and in doing so presents a new portrait of the STEM economy.
Graphics by Christopher Ingraham
Sources: Based on Brookings analysis of data from the Department of Labor's O*NET program, the Bureau of Labor Statistics, the American Community Survey
and the Strumsky Patents Database.
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July 24, 2015,
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Robert D. Atkinson and Stephen Ezell
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Latest Headlines
Just as Medicaid has helped expand health coverage and affordability to millions of Americans, private insurers also strive to expand healthcare access through innovation, according to executives who spoke at an event to celebrate Medicaid's 50 th anniversary.
Six states successfully re-enrolled large numbers of residents during the second year of open enrollment on the health insurance exchanges.
Consumers enrolled in employer-sponsored health plans over the last two years are largely staying in those plans, according to a new report from the U.S. Bureau of Labor Statistics.
Michigan-based insurer Priority Health wants to control healthcare costs—so it plans to reward its members who hunt down the best price for their medical procedures.
Medicare Advantage (MA) enrollees enjoy considerable plan choice and are likely to continue to do so even amid the wave of consolidation that has recently taken place in the health insurance industry, according to a new analysis from Avalere.
To adjust to the rise of consumerism in healthcare, the traditional "power players"--providers and payers--must embrace the fact that they are no longer the only ones in control, according to a report from the Healthcare Performance Management Institute.
By bringing together a variety of healthcare stakeholders--including providers local leaders--Humana's latest health venture, Bold Moves, aims to improve the health of certain communities 20 percent by 2020.
Despite the Supreme Court's ruling to uphold a key provision of the Affordable Care Act, funding cuts have led some states to reduce their efforts to help people sign up for health insurance through either federal or state-based exchanges.
A war of words--and advertisements--is taking place in California over long-simmering allegations that Kaiser Permanente has failed to provide adequate treatment and insurance coverage for patients who need mental health services. A Kaiser spokesperson told FierceHealthcare that the Courage Campaigns' claims are just the latest efforts in an ongoing union smear campaign.
Insurers and providers are putting more emphasis on wellness and preventive care--including smoking cessation programs--in an effort to control costly chronic conditions, such as heart disease.
Press Releases
- Leidos Defense Healthcare Management System Modernization contract
- More than $38 million awarded to improve coordinated health information sharing in communities across America
- Covered California Announces Rate Increases for 2016; Consumers Should Consider "Hidden Premium" From Narrow Networks, High Deductibles, When Shopping For Insurance Says Consumer Watchdog
- Most Wired Hospitals Focus on Security and Patient Engagement
- USW Applauds Supreme Court Decision to Uphold Affordable Care Act Subsidies
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VIEWS: 2 PAGES: 21 POSTED ON: 11/21/2012 Public Domain
18 City-Climber: A New Generation Wall-climbing Robots Jizhong Xiao and Ali Sadegh The City College, City University of New York USA 1. Introduction 1.1 Motivations An increasing interest in the development of special climbing robots has been witnessed in last decade. Motivations are typically to increase the operation efficiency in dangerous environments or difficult-to-access places, and to protect human health and safety in hazardous tasks. Climbing robots with the ability to maneuver on vertical surfaces are currently being strongly requested by various industries and military authorities in order to perform dangerous operations such as inspection of high-rise buildings, spray painting and sand blasting of gas tanks, maintenance of nuclear facilities, aircraft inspection, surveillance and reconnaissance, assistance in fire fighting and rescue operations, etc. Such capabilities of climbing robots would not only allow them to replace human workers in those dangerous duties but also eliminate costly scaffolding. Open Access Database www.i-techonline.com 1.2 Related Work One of the most challenging tasks in climbing robot design is to develop a proper adhesion mechanism to ensure that the robot sticks to wall surfaces reliably without sacrificing mobility. So far, four types of adhesion techniques have been investigated: 1) magnetic devices for climbing ferrous surfaces; 2) vacuum suction techniques for smooth and nonporous surfaces; 3) attraction force generators based on aerodynamic principles; 4) bio- mimetic approaches inspired by climbing animals. Magnetic adhesion devices are most promising for robots moving around on steel structures. Robots using permanent magnets or electromagnets can be found in (Grieco et al., 1998), (Guo et al., 1997), (Hirose et al., 1992), (Wang et al., 1999), (Shen et al., 2005), and (Kalra et al., 2006) for climbing large steel structures and in (Kawaguchi et al., 1995), (Sun et al., 1998) for internal inspection of iron pipes. However, their applications are limited to steel walls due to the nature of magnets. In applications for non-ferromagnetic wall surfaces, climbing robots most generally use vacuum suctions to produce the adhesion force. Examples of such robots include the ROBUG robots (Luk et al., 1996) at University of Portsmouth, UK, NINJA-1 robot (Nagakubo & Hirose, 1994) at Tokyo Institute of Technology, ROBIN (Pack 1997) at Vanderbilt University, FLIPPER & CRAWLER robots (Tummala et al., 2002) at Michigan Source: Climbing & Walking Robots, Towards New Applications, Book edited by Houxiang Zhang, ISBN 978-3-902613-16-5, pp.546, October 2007, Itech Education and Publishing, Vienna, Austria 384 Climbing and Walking Robots, Towards New Applications State University, and ALICIA robots (Longo & Muscato, 2006) developed at the Univ. of Catania, Italy. Besides those robots built in academic institutes, some robots have been put into practical use. For example, MACS robots (Backes et al., 1997) at the Jet Propulsion Laboratory (JPL) use suction cups for surface adherence when inspecting the exterior of large military aircraft; Robicen robots (Briones et al., 1994) use pneumatic actuators and suction pads for remote inspection in nuclear power plants; SADIE robots (White et al., 1998) use a sliding frame mechanism and vacuum gripper feet for weld inspection of gas duct internals at nuclear power stations. A wall climbing robot with scanning type suction cups is reported in (Yano et al, 1998). Other examples include (Rosa et al., 2002) and (Zhu et al., 2002). More recently, some robots using vacuum suction cups for glass-wall cleaning are reported in (Elkmann et al., 2002), (Zhang et al., 2004) and (Qian et al., 2006). The common defects of the suction-based climbing robots lie in the facts that the suction cup requires perfect sealing and it takes time to generate vacuum and to release the suction for locomotion. Thus they can only operate on smooth and non-porous surfaces (e.g., glass, metal walls, or painted walls) with low speed. These constraints greatly limit the application of the robots. The third choice is to create attraction force based on aerodynamic principles including the use of propeller (Nishi & Miyagi, 1991) (Nishi & Miyagi, 1994) and recent innovative robots such as vortex climber (Illingworth & Reinfeld, 2003) and City-Climber (Xiao et al., 2005) (Elliott et al., 2007) robots. The vortex climber is based on a so-called "tornado in a cup" technology, while the City-Climber combines the suction and aerodynamic attraction to achieve good balance between strong adhesion force and high mobility. Both robots have demonstrated the capability moving on brick and concrete walls with considerable success. However, the power consumption and noise are two issues need to be addressed for some surveillance tasks. Apart from the aforementioned adhesion mechanisms, significant progress has been made to mimic the behavior of climbing animals (e.g., geckos and cockroaches). The investigation on gecko foot (Autumn et al., 2000), (Sitti & Fearing, 2003) has resulted in many gecko inspired climbing robots including the early version of Mecho-Gecko developed by iRobot in collaboration with UC Berkeley's Poly-PEDA lab, Waalbot (Murphy & Sitti, 2007) developed at Carnegie Mellon University, and more recent work of StickyBot (Kim et al., 2007) (Santos et al., 2007) at Stanford University. These robots draw inspiration from the dry adhesive properties of gecko foot and achieved certain success in climbing applications. However, it is a challenging work to synthesize gecko foot hair which should be rugged, self-cleaning and can produce dry adhesive force strong enough for practical use, especially when large payload is desired. Other successful bio-inspired climbing robots are based on microspines observed on insects, which lead to the SpinyBot (Kim et al., 2005) (Asbeck et al., 2006) and RiSE platform (Clark et al., 2007) developed by Stanford University and other RiSE (Robotics in Scansorial Environments) consortium members. The robots are used to climb rough surfaces such as brick and concrete. A novel spider-like rock-climbing robot (Bretl et al., 2003) has been developed at Stanford University and JPL which uses claws at the end of limbs to meticulously climb cliffs. However, this robot cannot move on even surfaces without footholds. City-Climber: A New Generation Wall-climbing Robots 385 1.3 City-Climber Features A multi-disciplinary robotics team at the City College of New York (CCNY) has developed a new generation wall-climbing robot named as City-Climber, which has the capabilities to climb walls, walk on ceilings, and transit between different surfaces. Unlike the traditional climbing robots using magnetic devices, vacuum suction techniques, and the recent novel vortex-climber and gecko inspired robots, the City-Climber robots use aerodynamic rotor package which achieves good balance between strong adhesion force and high mobility. Since the City-Climber robots do not require perfect sealing as the vacuum suction technique does, the robots can move on virtually any kinds of smooth or rough surfaces. The other salient features of the City-Climber robots are the modular design, high-payload, and high-performance on-board processing unit. The City-Climber robots can achieve both fast motion of each module on planar surfaces and smooth transition between surfaces by a set of two modules. Experimental test showed that the City-Climber robots can carry 4.2kg (10 pound) payload in addition to 1kg self-weight, which record the highest payload capacity among climbing robots of similar size. The City-Climber robots are self-contained embedded systems carrying their own power source, sensors, control system, and associated hardware. With one 9V lithium-polymer battery, the robot can operate continuously for half hours. DSP-based control system was adopted for on-board perception and motion control. This chapter provides detailed description of City-Climber prototypes, including the adhesion mechanism, mechanical design, and control system. A video which illustrates the main areas of functionality and key experimental results (e.g., payload test, operation on brick walls, locomotion over surface gaps, and inverted operation on ceiling) can be downloaded from website http://robotics.ccny.cuny.edu 2. Adhesion System 2.1 Adhesion Mechanism Fig. 1. Vacuum rotor package to generate aerodynamic attraction 386 Climbing and Walking Robots, Towards New Applications The adhesion device we designed for City-Climber is based on the aerodynamic attraction produced by a vacuum rotor package which generates a low pressure zone enclosed by a chamber. The vacuum rotor package consists of a vacuum motor with impeller and exhaust cowling to direct air flow as shown in Fig. 1. It is essentially a radial flow device which combines two types of air flow. The high speed rotation of the impeller causes the air to be accelerated toward the outer perimeter of the rotor, away from the center radically. Air is then pulled along the spin axis toward the device creating a low-pressure region, or partial vacuum region if sealed adequately, in front of the device. With the exhaust cowling, the resultant exhaust of air is directed toward the rear of the device, actually helping to increase the adhesion force by thrusting the device forward. Fig. 2. Exploded view of the vacuum chamber with flexible bristle skirt seal. In order to generate and maintain attraction force due to the pressure difference, a vacuum chamber is needed to enclose the low pressure zone. Fig. 2 shows a vacuum rotor package installed on a plate, and a vacuum chamber with flexible bristle skirt seal. When the air is evacuated through the hole on the plate by the vacuum rotor, the larger volume of the chamber, and the smaller gaps between the seal and contact surface, the lower steady state pressure we can obtain, thus increase the attraction force and load capacity. Two low pressure containment methods were investigated: inflated tube skirt seal and the flexible bristle skirt seal. The inflated tube seal is very successful, generating attraction force which is so strong that it anchored the device to wall surfaces. In order to make a trade-off between sealing and mobility, we designed a flexible bristle skirt seal, which the bristle surface is covered in a thin sheet of plastic to keep a good sealing, while the flexing of bristle allows the device to slide on rough surfaces. A novel pressure force isolation rim connecting the vacuum plate and the bristle skirt seal is designed. The rim is made of re-foam which improves the robot mobility, and also enhances sealing by reducing the deformation of the skirt as shown in Fig. 3. When the vacuum is on, the rim helps reducing the pressure force exerted directly on the skirt, thus reduce the deformation of the skirt. We select internal differential drive system which adopts two drive wheel and one castor wheel inside the chamber. Since the locomotion system and the payload are mounted on the plate, thus the City-Climber: A New Generation Wall-climbing Robots 387 re-foam makes the skirt and the robot system flexible and adaptable to uneven surfaces such as stone walls. Re-foam Plate Vacuum Off Vacuum On Re-foam PressureForce Skirt Reaction forces from weight Reaction forces from weight Drive wheel and pressure force on outer rim area only Fig. 3. The pressure force isolation rim is made of re-foam. When the vacuum is on, the rim helps reducing the pressure force exerted directly on the skirt, thus reduce the deformation of the skirt. 2.2 Aerodynamic Study We studied the aerodynamic behavior of the adhesion mechanism by means of computational fluid dynamics (CFD) simulation using Fluent 6.2 software. The simulation results provide directions to optimize some design factors (e.g., the shape and distribution of impeller vanes, the volume of chamber, etc.) to generate stronger attraction force. Gambit 4.0 was utilized as pre-processor software for Fluent where the geometry of the rotors and the impellers were generated. In the gambit software the volume of the fluid (space within the impellers and inside the chambers) were meshed and proper boundary conditions were applied. This file was read into Fluent for the aerodynamics analysis. In Fluent, the solver was defined as "Steady State" and the type of flow was defined as a "K-Epsilon", and the material as air. Fig. 4 and 5 (static and total pressure) show the pressure distribution inside the chamber when the impeller rotates in a constant speed of 600 rpm. It indicates that the most low- pressure region (shown in blue) is at the entrance of the curved region of the impeller which caused by the rotational flow due to the rotation velocity of the rotor. This low pressure sucks the air from the inlet and pushes it to the outlet. This has been reflected by the high- pressure region at the most outer boundary area of the rotor (shown as orange to red regions). As shown in Fig. 6, the velocity is low at the entrance and it is high at the outlet, which corresponds with the pressures at these locations. It reveals that the rotor package can generate negative pressure around the axial, and the higher the rotation speed, the lower pressure it can create inside the rotor cylinder. Note that total pressure is the sum of the static and dynamic pressure of air. 388 Climbing and Walking Robots, Towards New Applications Fig. 4. Aerodynamic simulation, static pressure distribution inside the rotor cylinder (Pascal) Fig. 5. Aerodynamic simulation, total pressure distribution inside the rotor cylinder (Pascal) City-Climber: A New Generation Wall-climbing Robots 389 Fig. 6. Aerodynamic simulation with Fluent 6.1, velocity distribution We compare the original design (Fig. 7, impeller diameter is 8cm) with scale two design , i.e., we left all the conditions the same and just double the size of impeller. As shown in Fig. 7 the minimum total static pressure in original design is -2.22e+00 Pascal, but with increasing the size of impeller, Fig. 8 indicates that the minimum static pressure decreases to -1.24e+03 Pascal. We also compare the areodynamic behavior with chamber diameter as 28cm in three conditions when the chamber is: 1) fully open, 2) has 1cm gap between wall and chamber, and 3) fully sealed. Simulation results show that in the case of fully open (Fig. 9) we have minimum suction pressure of -4.54e+00 Pascal; in case 2 (Fig. 10, 1cm gap between wall and chamber) we have minimum suction pressure of -3.80e+02 Pascal but it is not uniformly distributed; in the case of fully sealed (Fig.11) we have minimum suction pressure -2.43e+02 Pascal and it is evenly distributed compared with case 2. The total attraction force generated by the adhesion mechanism can be calculated by integrating the pressure distribution within the the chamber. It is apparent that the attraction force will be the highest when the chamber is fully sealed because of the evenly distributed large low pressue area in Fig. 11. It also reveals that the rotor package can generate negative pressure around the axial even if there are gaps between wall and the chamber. Our simulation shows that for getting stronger suction force we need to increase the size of impeller, rotation speed, and the volume of chamber, and decrease the gaps between wall and chamber. However, these design factors have physical constraints, and balance between suction force and mobility shall be made. We use pressure sensors to monitor the pressure change inside the chamber and adjust the impeller speed to keep a constant pressure value for strong suction and smooth motion. 390 Climbing and Walking Robots, Towards New Applications Fig. 7. Simulation of suction pressure in original design Fig. 8. Simulation of suction pressure in Scale 2 City-Climber: A New Generation Wall-climbing Robots 391 Fig. 9. Simulation of suction pressure: fully open Fig. 10. Simulation of suction pressure: 1cm gap between wall and chamber 392 Climbing and Walking Robots, Towards New Applications Fig. 11. Simulation of suction pressure: fully sealed 3. City-Climber Prototypes 3.1 City-Climber Prototype-I Suction Motor Inner Exhaust Outer Exhaust Isolation Seal Platform Isolation Rim bristle Skirt Drive Wheel Drive Wheel Passive Wheel Fig. 12. Exploded view of City-Climber prototype-I. City-Climber: A New Generation Wall-climbing Robots 393 Fig. 12 shows the exploded view of the City-Climber prototype-I that consists of the vacuum rotor package, an isolation rim, a vacuum chamber with flexible bristle skirt seal, and internal 3-wheel drive. The entire bristle surface is covered in a thin sheet of plastic to keep a good sealing, while the flexing of bristle allows the device to slide on rough surfaces. A pressure force isolation rim connecting the platform and the bristle skirt seal is made of re- foam. The rim improves the robot mobility, and also enhances sealing by reducing the deformation of the skirt. The driving system and the payload are mounted on the platform, thus the re-foam makes the skirt and the robot system adaptable to the curve of rough surfaces. Fig. 13 shows a City-Climber prototype-I operating on brick wall. Fig. 13. City-Climber prototype-I approaching a window on brick wall, a CMU-camera is installed on a pan-tilt structure for inspection purpose. 3.2 City-Climber Prototype-II The City-Climber prototype-II adopts the modular design which combines wheeled locomotion and articulated structure to achieve both quick motion of individual modules on planar surfaces and smooth wall-to-wall transition by a set of two modules. Fig. 14 shows the exploded view of one climbing module which can operate independently and is designed with triangle shape to reduce the torque needed by the hinge assembly to lift up the other module. To traverse between planar surfaces two climbing modules are operated in gang mode connected by a lift hinge assembly that positions one module relative to the other into three useful configurations: inline, +90°, and -90°. Responding the electronic controls, a sequence of translation and tilting actions can be executed that would result in the pair of modules navigating as a unit between two tangent planar surfaces; an example of this is going around a corner, or from a wall to the ceiling. Fig. 15 shows a conceptual drawing of two City-Climber modules operating in gang mode that allow the unit to make wall-to-wall and wall-to-ceiling transitions. Fig. 16 shows the City-Climber prototype-II resting on a brick wall and ceiling respectively. The experimental test demonstrated that the City-Climber with the module weight of 1kg, can handle 4.2kg additional payload when moving on brick walls, which double the payload capability of the commercial vortex climber. 394 Climbing and Walking Robots, Towards New Applications Isolation Seal Isolation Rim bristle Skirt Suction Motor Inner Exhaust Vacuum Impeller Outer Exhaust Lift Hinge Assembly Platform Lift Motor & Gearbox Passive Wheel Drive Wheels Fig. 14. Exploded view of City-Climber prototype-II Fig. 15. Two robot modules connecting by a hinge in +90°, and -90° configurations, being able to make wall-to-wall, and wall-to-ceiling transitions Fig. 16. The City-Climber prototype-II rests on a brick wall and sticks on a ceiling respectively City-Climber: A New Generation Wall-climbing Robots 395 3.3 City-Climber Prototype-III The most important improvements in City-Climber prototype-III are the redesign of transition mechanism and the adoption of 6-wheel driving system to increase the contact friction and avoid wheel slippage while climbing vertical walls. Note that the wheels are outside of the robot frame, making it possible for each module to make ground to wall transition with ease (see video demonstration on http://robotics.ccny.cuny.edu). The two modules are closely coupled to reduce the torque required to lift up other module, as shown in Fig. 17. Due to efficient placement of the driving system the robot is still capable of +/- 90 degree transitions, similar to prototype-II. Fig. 18 shows the robot prototype III and Fig. 19 shows the exploded view with each module consists of a vacuum rotor package and is closely coupled by shared center axel and transition motor. Same as the prototype-II, the new design still uses one motor for lift/transition and two motors for driving. The two driving motors drive the two center wheels (left and right) independently, and via the right and left belts, drive the front and rear wheels. Additional multiple modules could be linked together in the future to a form snake-like version. Fig. 17. City-Climber prototype-III, two modules are closely coupled with one transition motor placed in the middle and two other motors drive the two center wheels (left and right), and via the driving belts drive the front and rear wheels Fig. 18. City-Climber prototype-III: a) One module resting on a brick wall; b) two module 396 Climbing and Walking Robots, Towards New Applications Fig. 19. Exploded view of City-Climber prototype-III 4. Control System Good mechanical structure cannot guarantee excellent performance. It is crucial to design an effective control system to fully realize the potential of the City-Climber and empower it with intelligence superior to other robots. Resource-constrained miniature robots such as the City-Climber require small but high-performance onboard processing unit to minimize weight and power consumption for prolonged operation. The TMS320F2812 digital signal processing (DSP) chip from Texas Instruments (TI) Inc. is an ideal candidate for an embedded controller because of its high-speed performance, its support for multi-motor control and the low power consumption. This section describes the DSP-based control system design. 4.1 Actuators and Sensor Suite To minimize weight and complexity, the City-Climber robots use limited number of actuators and sensor components. The actuators in each module include the two drive motors, one lift motor, all of them are DC servo motors with encoder feedback, and one suction motor. The primary sensor components include pressure sensors for monitoring the pressure level inside the vacuum chamber; ultrasonic sensors and infrared (IR) sensors for distance measurement and obstacle avoidance; a MARG (Magnetic, Angular Rate, and Gravity) sensor for tilt angle and orientation detection. For remote control operation the robot has a wireless receiver module, which communicates with the transmitter module in a remote controller. All the signals from those components and sensors need to be processed City-Climber: A New Generation Wall-climbing Robots 397 and integrated into an on-board control system. Apart from the primary sensors which are critical for operation, additional application sensors can be installed on the robot as payloads when requested by specific tasks. For reconnaissance purpose, a wireless pin-hole camera is always installed and the video images are transmitted to and processed at a host computer. 6 Digital I/O Sensors ChA QEP1 GPIOF, 8,9,10,11,12,13 PWM1 IN1 OUT1 EN M1 Encoder GPIOB2 33887 M1 PWM2 IN2 ChB QEP2 FB MotorolaOUT2 QEP3 Drive Motor ChA M2 Encoder PWM3 IN1 OUT1 ChB QEP4 GPIOB3 EN 33887 M2 CAP3 PWM4 IN2 Motorola ChA OUT2 M3 FB Encoder Drive Motor ChB CAP6 PWM5 IN1 OUT1 GPIOB4 EN 33887 M3 PWM6 IN2 MotorolaOUT2 Ultrasonic Trig F2812 DSP FB Lift Motor GPIOB7 PWM7 IN1 OUT1 Sensor XINT1 eco M3 GPIOB5 EN 33887 Presssure PWM8 IN2 Motorola OUT2 Sensor Vacuum Motor ADCINB3 P-Sensor2 ADCINB4 P-Sensor1 ADCINB0 ADCINB1 ADCINB2 Magnetic Valve1 GPIOB6 ADCINA0 ADCINA1 Accelerometer ADCINA2 ADCINA3 IR ADCINA7 ADCINA4 ADCINB5 ADCINA5 MARG Sensor ADCINB6 ADCINA6 GYRO (SHARP) ADCINB7 SCI-A SCI-B Host Computer RS232 RS232 Decoder Receiver Fig. 20. Hardware design of DSP-based control system 4.2 Hardware Design The F2812 is a 32-bit DSP controller (TI 2003) targeted to provide single chip solution for control applications. This chip provides all the resources we need to build a self-contained embedded control system. Fig. 20 illustrates the hardware connection based on F2812 DSP. The DSP controller produces pulse width modulation (PWM) signals and drives the motors via 4 Motorola H-bridge chips (Motorola 33887). F2812 DSP has two built-in quadrature encoder pulse (QEP) circuits. The encoder readings of the two drive motors are easily obtained using the QEP channels while a software solution (Xiao et al.; 2000) is implemented to get encoder reading of the lift motor using the Capture units of the DSP. With the encoder feedback, a closed-loop control is formed to generate accurate speed/position control of the drive motors and lift motor. The speed of the vacuum motor is adjusted with the feedback 398 Climbing and Walking Robots, Towards New Applications from the pressure sensors. Using Analog to Digital Converter (ADC) the pressure inside the vacuum chamber is monitored continuously. If the pressure reading is higher than a threshold, the vacuum motor increases the speed to generate more suction force. If the pressure drops too low and the suction force prevent the robot from moving, the vacuum motor will slow down to restore the pressure. An ideal pressure will be maintained which keeps the robot sticking to the wall and with certain mobility. The climbing robot can be operated both manually and semi-autonomously. Infrared sensors are installed to measure distances from close proximity objects, while ultrasonic sensors are used to measure distance from objects that are far away. The infrared sensor has a reliable reading in the range of 10 cm to 80 cm and the ultrasonic sensor has a reliable range between 4 cm to 340 cm. External interrupt (XINT) channel is connected to the ultrasonic sensor to measure the time-of-fly of sound chirp and convert the measurement to distance reading. In order for the climbing robot to understand its orientation and tilt angle, a MARG sensor is integrated into the control system. The MARG sensor (Bachmann et al., 2003) is composed of nine sensor components of three different types affixed in X-Y-Z three axes: the magnetic sensor, accelerometer, and gyro. The magnetic sensors allow the robot to know its orientation with respect to a reference point (i.e., north pole). The accelerometers measure the gravity in three axes and thus provide tilt angle information to the robot. The gyro sensors measure angular rates which are used in the associated filtering algorithm to compensate dynamic effects. The DSP controller processes the inputs from the nigh MARG sensor components via ADC and provides the robot with dynamic estimation of 3D orientation which is very important for robot navigation. There are two ways the DSP controller communicates with external sources. Host computer can exchange data with DSP controller via serial communication interface (SCI) using RS232 protocol. Another source that can send commands to the DSP controller is a radio remote controller. This is accomplished by interfacing a receiver with a decoder and then translating the commands into a RS232 protocol compatible with SCI module. Fig. 21. Control system block diagram City-Climber: A New Generation Wall-climbing Robots 399 4.3 Software Modules The control system structure is illustrated in the block diagram as shown in Fig. 21. The physical actuators and sensors are represented in the right block. Other blocks represent the on-board software modules including command interpreter, task level scheduler, trajectory planner, motor controller and motion planner. The operator commands, such as "move forward", "make left turn", are transmitted from the remote controller held by a human operator and decoded by the on-board command interpreter. The generated task level commands are then fed into the task level scheduler. The task level scheduler uses a finite state machine to keep track of robot motion status and decompose the command into several motion steps. The trajectory planner interpolates the path to generate a set of desired joint angles. The digital motor controller then drives each motor to the desired set points so that the robot moves to the desired location. The motion planner module generates a feasible motion sequence and transmits it to the task level scheduler. After the motion sequence has been executed, the robot is able to travel from its initial configuration to its goal configuration, while avoiding the obstacles in the environment. 5. Experimental Test Experiments were conducted to evaluate the performance of City-Climber prototypes. The main areas of functionalities and several key experimental tests are recorded in video which is downloadable from website http://robotics.ccny.cuny.edu/. The specifications of the City-Climber robots are listed in table 1. Table1. Physical specifications of the City-Climber robots It was demonstrated that the City-Climber robots are able to move on various wall surfaces, such as brick, wood, glass, stucco, plaster, gypsum board, and metal. With the module weight of 1kg, the City-Climber can generate enough adhesion force to carry additional 4.2kg payload. The video also shows that the City-Climber can operate on real brick wall, and cross surface gaps without difficulty. 6. Conclusion and Future Work This chapter highlights some accomplishments of CCNY robotics team in developing novel wall-climbing robots that overcome the limitations of existing technologies, and surpass them in terms of robot capability, modularity, and payload. The performance of several City-Climber prototypes are demonstrated by the experimental results recorded in video. By integrating modular design, high-performance onboard processing unit, the City-Climber robots are expected to exhibit superior intelligence to other small robot in similar caliber. The next step of the project is to optimize the adhesion mechanism to further increase suction force and robot payload, and to improve the modularity and transition mechanism to allow the robot re-configure its shape to adapt to different missions. Other directions are 400 Climbing and Walking Robots, Towards New Applications to increase the robot intelligence by adding new sensors, improving on-board processing unit, and developing software algorithms for autonomous navigation. 7. Acknowledgment This work was supported in part by the U.S. Army Research Office under grant W911NF-05- 1-0011, and the U.S. National Science Foundation under grants ECS-0421159, CNS-0551598, CNS-0619577 and IIS-0644127. The authors would like to thank all the team members for their contributions to the climbing robot project, especially Matt Elliot and William Morris for mechanical design, Parisa Saboori for Fluent simulation, Angel Calle and Ravi Kaushik for control system design. 8. References Asbeck, A; Kim, S.; Cutkosky, M. R.; Provancher, W. R. & Lanzetta, M. (2006). Scaling Hard Vertical Surfaces with Compliant Microspine Arrays. International Journal of Robotics Research, Vol. 15, No. 12, pp. 1165-1180, 2006. Autumn, K.; Liang, Y; Hsieh, T.; Zesch, W.; Chan, W. P.; Kenny, T.; Fearing, R. & Full R. J. (2000). Adhesive force of a single gecko foot-hair. Nature, 405:681-684, 2000. Bachmann, E. R.; Yun, X. P.; McKinney, D.; McGhee, R. B. & Zyda, M. J. (2003). Design and implementation of MARG sensors for 3-DOF orientation measurement of rigid bodies, Proceeding of 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, May 2003. Backes, P. G; Bar-Cohen, Y. & Joffe, B. (1997). The multifunction automated crawling system (MACS), Proceedings of the 1997 IEEE International Conference on Robotics and Automation, pp. 335--340, Albuquerque, New Mexico, USA, 1997. Bretl, T; Rock, S. & Latombe, J. C. (2003). Motion Planning for a Three-Limbed Climbing Robot in Vertical Natural Terrain, In Proceedings of IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Sep 2003. Briones, L; Bustamante, P.; & Serna, M. A. (1994). Wall-climbing robot for inspection in nuclear power plants, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp. 1409--1414, 1994. Clark, J; Goldman, D; Lin, P; Lynch, G; Chen, T; Komsuoglu, H; Full, R; Koditschek, D. (2007). Design of a Bio-inspired Dynamical Vertical Climbing Robot, Proceedings of Robotics: Science and Systems 2007, Atlanta, Georgia, USA, June, 2007, on line proceedings, http://www.roboticsproceedings.org/rss03/index.html. Elkmann, N.; Felsch, T.; Sack, M.; Saenz, J. & Hortig, J. (2002). Innovative Service Robot Systems for facade cleaning of Difficult-to-access arears, Proceedings of 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 756 – 762, Lausanne, Switzerland, Oct. 2002. Elliott, M; Xiao, J; Morris, W.; Calle, A. (2007). City-Climbers at Work Video Proceeding of the 2007 IEEE International Conference on Robotics and Automation, pp2764-2765, Roma, Italy, April 2007. Grieco, J. C; Prieto, M; Armada, M; & Santo, P. (1998). A six-legged climbing robot for high payloads, Proceedings of the 1998 IEEE International Conference on Control Applications, pp. 446--450, Trieste, Italy, 1998. City-Climber: A New Generation Wall-climbing Robots 401 Guo, L; Roger, K & Kirkham, R (1997). A climbing robot with continuous motion, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp. 2495--2500, Albuquerque, New Mexico, USA, 1997. Hirose, S. & Tsutsumitake, H. (1992). Disk rover: A wall-climbing robot using permanent magnet disks, Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2074--2079, Raleigh, NC, 1992. Illingworth, L. & Reinfeld, D. (2003). Vortex attractor for planar and non-planar surfaces, US Patents #6619922, Sept. 2003. Kalra, L. P.; Gu, J.; Max, M. (2006). Wall Climbing Robot for Oil Tank Inspection, Proceedings of the IEEE International Conference on Robotics and Biomimetics, pp. 1523 – 1528, Dec. 2006. Kawaguchi, Y; Yoshida, I; Kurumatani, H.; Kikuta, T. & Yamada, Y. (1995). Internal pipe inspection robot, Proceedings of the 1995 IEEE International Conference on Robotics and Automation, pp. 857--862, 1995. Kim, S., Asbeck, A., Provancher, W. & Cutkosky, M.R. (2005). SpinybotII: Climbing Hard Walls with Compliant Microspines, Proceedings of 12th International Conference on Advanced Robotics, pp. 601-606, July 18-20, 2005. Kim, S; Spenko, M; Trujillo, S.; Heyneman, B; Mattoli, V. & Cutkosky, M. R. (2007). Whole body adhesion: hierarchical, directional and distributed control of adhesive forces for a climbing robot, Proceedings of the 2007 IEEE International Conference on Robotics and Automation, pp. 1268-1273, Rome, Italy, April 2007. Longo, D. & Muscato, G. (2006). The Alicia 3 Climbing Robot, a Three-Module Robot for Automatic Wall Inspection, IEEE Robotics and Automation Magazine, Vol. 13, No. 1, March 2006. Luk, B; Collie, A.; Piefort, V. & Virk, G. (1996). Robug III: A tele-operated climbing and walking robot, Proceedings of UKACC International Conference on Control, pp. 347-- 352, 1996. Murphy, M. P. & Sitti, M. (2007). Waalbot: An Agile Small-Scale Wall-Climbing Robot Utilizing Dry Elastomer Adhesives, IEEE/ASME Transactions on Mechatronics, Vol. 12, Issue 3, pp. 330-338, June 2007. Nagakubo, A. & Hirose, S. (1994), Walking and running of the quadruped wall-climbing robot, Proceedings of the 1994 IEEE International Conference on Robotics and Automation, pp. 1005--1012, 1994. Nishi, A. & Miyagi, H. (1991). A wall climbing robot using propulsive force of propeller, Proceedings of the Fifth International Conference on Advanced Robotics, pp. 320--325, 1991. Nishi, A. & Miyagi, H. (1994). Mechanism and control of propeller type wall-climbing robot, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1724--1729, 1994. Pack, R. T.; Christopher, J. L.; & Kawamura, K (1997). A rubbertuator-based structure climbing inspection robot, Proceedings of the 1997 IEEE International Conference on Robotics and Automation, pp 1869--1874, Albuquerque, New Mexico, USA, 1997. Qian, Z. Y.; Zhao, Y. Z.; Fu, Z. (2006). Development of Wall-climbing Robots with Sliding Suction Cups, Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3417 – 3422, Beijing, China, Oct. 2006. 402 Climbing and Walking Robots, Towards New Applications Rosa, G. L; Messina, M; Muscato, G. & Sinatra, R. (2002). A low-cost lightweight climbing robot for the inspection of vertical surfaces. Mechatronics, 12(1):71–96, 2002. Santos, D.; Kim, S.; Spenko, M.; Parness, A. & Cutkosky, M. R. (2007). Directional Adhesive Structures for Controlled Climbing on Smooth Vertical Surfaces, Proceedings of the 2007 IEEE International Conference on Robotics and Automation, pp. 1262-1267, Rome, Italy, April 2007. Shen, W; Gu, J; and Shen, Yanjun. (2005). Proposed Wall Climbing Robot with Permanent Magnetic Tracks for Inspecting Oil Tanks, Proceedings of the IEEE International Conference on Mechatronics & Automation, pp. 2072-2078, Niagara Fall, Canada, July 2005. Sitti, M. & Fearing, R. S. (2003). Synthetic Gecko Foot-Hair Micro/Nanostructures for Future Wall-Climbing Robots, Proceedings of the IEEE Robotics and Automation Conference , pp. 1164-1170, Sept. 2003. Sun, L; Sun, P; Qin, X. & Wang, C. (1998). Micro robot in small pipe with electromagnetic actuator, Proceedings of the International Symposium on Micromechatronics and Human Science, pp. 243--248, 1998. TI (2003). TMS320F2812 DSP controllers reference guide, Texas Instruments Inc., January 2003. Tummala, R. L; Mukherjee, R.; Xi, N; Aslam, D.; Dulimarta, H.; Xiao, J. Z.; Minor, M; Dangi, G. (2002). Climbing the Walls, IEEE Robotics and Automation Magazine, Vol. 9, No. 4, pp. 10-19, Dec. 2002. Wang, Y; Liu, S; Xu, D; Zhao, Y; Shao, H. & Gao, X. (1999). Development and application of wall-climbing robots, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, pp. 1207--1212, Detroit, Michigan, USA, 1999. White, T. S.; Hewer, N.; Luk, B. L. & Hazel, J. (1998). Design and operational performance of a climbing robot used for weld inspection in hazardous environments, Proceedings of the 1998 IEEE International Conference on Control Applications, pp. 451--455, Trieste, Italy, 1998. Xiao, J. Z.; Sadegh, A.; Elliot, M.; Calle, A.; Persad, A.; Chiu, H. M. (2005). Design of Mobile Robots with Wall Climbing Capability, Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pp438~443, July 2005. Xiao, J. Z.; Dulimarta, H.; Yu, Z.; Xi, N. & Tummala, R. L. (2000). DSP solution for wall- climber microrobot control using TMS320LF2407 chip, Proceedings of the 43rd IEEE Midwest Symposium on Circuits and Systems, Lansing, Michigan, USA, 2000. Yano, T; Numao, S. & Kitamura, Y. (1998). Development of a self-contained wall climbing robot with scanning type suction cups, Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 249--254, Victoria, Canada, 1998. Zhang, H. X.; Zhang, J. W. & Zong G. H. (2004). Realization of a Service Climbing Robot for Glass-wall Cleaning, Proceedings of the 2004 IEEE International Conference on Robotics & Biomimetics, pp. 395 -400, Shenyang, China, Aug. 2004. Zhu, J; Sun, D. & Tso, S. K. (2002). Development of a tracked climbing robot. Journal of Intelligent and Robotic Systems, 35(4):427–444, 2002. Climbing and Walking Robots: towards New Applications Edited by Houxiang Zhang ISBN 978-3-902613-16-5 Hard cover, 546 pages Publisher I-Tech Education and Publishing Published online 01, October, 2007 Published in print edition October, 2007 With the advancement of technology, new exciting approaches enable us to render mobile robotic systems more versatile, robust and cost-efficient. Some researchers combine climbing and walking techniques with a modular approach, a reconfigurable approach, or a swarm approach to realize novel prototypes as flexible mobile robotic platforms featuring all necessary locomotion capabilities. The purpose of this book is to provide an overview of the latest wide-range achievements in climbing and walking robotic technology to researchers, scientists, and engineers throughout the world. Different aspects including control simulation, locomotion realization, methodology, and system integration are presented from the scientific and from the technical point of view. This book consists of two main parts, one dealing with walking robots, the second with climbing robots. The content is also grouped by theoretical research and applicative realization. Every chapter offers a considerable amount of interesting and useful information. How to reference In order to correctly reference this scholarly work, feel free to copy and paste the following: Jizhong Xiao and Ali Sadegh (2007). City-Climber: A New Generation Wall-Climbing Robots, Climbing and Walking Robots: towards New Applications, Houxiang Zhang (Ed.), ISBN: 978-3-902613-16-5, InTech, Available from: http://www.intechopen.com/books/climbing_and_walking_robots_towards_new_applications/city- climber__a_new_generation_wall-climbing_robots InTech Europe InTech China University Campus STeP Ri Unit 405, Office Block, Hotel Equatorial Shanghai Slavka Krautzeka 83/A No.65, Yan An Road (West), Shanghai, 200040, China 51000 Rijeka, Croatia Phone: +385 (51) 770 447 Phone: +86-21-62489820 Fax: +385 (51) 686 166 Fax: +86-21-62489821 www.intechopen.com
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A man aged in his 70s has been arrested today as part of the ongoing investigation into the shooting death of road worker George Taiaroa.
The man was arrested after a search of a property today north of Rotorua in the Mamaku Ranges.
It was one of a number of warrants that have been carried out since the March 19 shooting
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Detective Inspector Tim Anderson said: "It is important that we continue to protect the integrity of this investigation and not be drawn by speculation into making premature comments. We will not therefore be making any specific comments in relation to today's search or any of the previous search warrants."
No-one has been arrested for Taiaroa's murder to date.
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The Top 10 In Action Sports
01Eccentric Adventures Episode 4: We Risked Life And Shin At The Cotswold Olimpicks
02Why Do We Travel?
03Going Against the Brain: How Ski and Snowboard Head Injuries Re-Shaped Two Young Lives
04Easy Riders: Is This Vintage Bikes & Surfboards Festival the Coolest in Europe?
05Free Wheels East: Rejecting Society for Historic Adventure
06Eccentric Adventures Episode 3: We Took on Vikings at the Scottish Highland Games
07A Million Miles Away... In Your Own Backyard
08Brick By Brick: Camping Lego Style
0917 Cringe-Worthy Holiday Video Clichés That Every Skier Should Avoid
10Booze and Bikes: 14 Tours That Let Combine Two of the Best Things in the World
Red Bull Upstream Slovenia 2011
A Wakeboarding video by keltron - 7,200 views
On a beautiful sunny Saturday, 12 brave wakeboarders from 5 different nations challenged the white waters of the river Sava in Ljubljana by riding up the stream. The third edition of Red Bull Upstream, which saw its world premiere on the exact same location in 2008, now brought even more action and unforgettable tricks. More than 2,000 spectators witnessed insane sliding on rocks and amazing jumps from the kickers that were built especially for this event.
Robert Pokovec (SLO), national hero and the founder of this project who placed 4th in both 2008 and 2009, proved that this is undoubtedly his year. In the finals he went for all-or-nothing and slid over all the rocks on the right bank, completely skipping the kickers – and the crowd went crazy! Being the only rider who dared challenge all the mighty rocks in one run, the jury placed him on the highest spot on the podium without any hesitation. Second place went to Dominik Hernler (AUT) who placed 1st at this year's Red Bull Upstream in Bratislava, and third place went to Dominik Ghürs (GER) who placed third also at the first edition of Red Bull Upstream in 2008.


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|Name: _________________________
|Period: ___________________
This quiz consists of 5 multiple choice and 5 short answer questions through Chapters 9-10.
Multiple Choice Questions
1. What was Karen drawing?
(a) Greg's hands.
(b) Greg's face.
(c) A basketball.
(d) Greg's eyes.
2. What kind of basketball players were at the Y?
(a) Mediocre ones.
(b) Those who wanted to play but really couldn't.
(c) Really good ones .
(d) Aggressive ones.
3. What was Greg's dream?
(a) To become an artist.
(b) To become a coach.
(c) To play for the NBA.
(d) To make basketball movies.
4. What ruined the life of the girl Greg saw at Carl's shop?
(a) An automobile accident.
(b) A lack of education.
(c) She found the pipe.
(d) The stock market crash.
5. What did The Guardians do?
(a) They kept the streets safe.
(b) They scouted great basketball players.
(c) They reunited families.
(d) They tutored and counseled young African-Americans.
Short Answer Questions
1. How did Greg react when Mtisha refused to accept his apology?
2. What type of job did Pops have?
3. What type of film did Greg and his partner decide to do?
4. Who was Greg's close friend since he was little?
5. Derek said that what type of people attended Latimerr?
This section contains 224 words
(approx. 1 page at 300 words per page)


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Jun 23 -
Blue tick / Redtick hound pups born and bred to hunt
Blue tick / Redtick hound pups shots dewormed pups are bred for hunting mother and father hunt coons father is full blue tick mother is full red tick pups use there noses and are very itelligent father comes from jet blood lines and is reg pups can't and do not have papers they are amazing come see for yourself $500 call or text 530 701 4128
Jun 9 -
Awesome American Bully Select Pit Bull Blue Nose pups. From some of the best Bullies available today. They are wormed and have all shots. For those who know about this rare combination of bloodlines, these pups have Bullies such as "Blue Drop", Pumba, Donkey, Savage, Mr. Pocket, Goldberg, Lil D, Ch. Bullmaster, Ch. King Kamali. Thing, Manu, Kurupt, Blue, Remy, etc. They will be super thick ...
Aug 1 -
Central Valley :
Hi I have a litter of 11 blue nose pitbull puppies 7 girls and 4 boys.3 are gone already so now I have 4 girls and 2 boys left.cause I'm keeping 2.the dad is 140 pounds and the mom is 90 pounds. Dad has papers mom do not. 500 for my males.600 for females. Already been dewormed. There big and healthy.
Jul 31 -
San Francisco Bay Area :
cute cutly blue nose pitbull n bully puppies
Jul 30 -
San Francisco Bay Area :
Beautiful UKC registered, Blue Nose Pit Bull terrier pups. Both parents on sight. asking $800.00 (530) 510-1799
Jul 22 -
Redding :
One female left. parents are both here for you to see. $350.00 Call with any questions. 650 714-2207 text. or call at 650 862-0968. thank you. pup was born on May 16th, 2015.
Jul 17 -
San Francisco Bay Area :
Palo Alto
I have a beautiful and unique colored blue nose pitbull. He is 7 weeks old. He is a very playful boy and loves to chase people around. He is a huge cuddler when it comes time for bed time. He is a beautiful silver coloring with bright blue eyes. 350$ OBO
Jul 14 -
Reno :
Trying to find a good home for this beautiful female she's 4 months update on all her shots UKC register
Jul 11 -
Reno :
7 generational Purple Ribbon Ukc Registered PUPPIES,
quality puppies and show winning dogs and have pups all over US. Amazing quality for great price !
UKC PAPERS in hand no wait Can be dual registered with ABKC
puppies come with UKC papers!!!
Will meet so can pick one out in person
! also have video of puppies if interested you can see thick bully ...
Jul 8 -
Reno :
AMERICAN BANDOG MASTIFF) F3 pups. 5 female 2 male Black and or Blue in color.
DRA registered. Large breed dogs. Expect dogs to mature to over 120 pounds. Our largest dog produced to date is is now 180 pounds.
Pups come with Registration to DRA. Dew claw removal and tail dock included in price.
F3 American Bandog Mastiff puppies will ...
Jul 7 -
San Francisco Bay Area :
San Bruno
I have a 12 week old blue nose American bully with clipped ears up to date on shot pup.she loves kids and cats also other dogs she is crate trained.
This ad was posted with the eBay Classifieds mobile app.
Jul 7 -
Central Valley :
I have 3 of the cutest pug/bully hybrid pups. 2 females & 1 male. Pups are 9 weeks & have 1st shot & dewclawed. Dad is blue nose bully & mom is tan pug. Please contact Victoria for more info. No emails please. 559-643-7755.
Jul 6 -
Central Valley :
I have american pit bull terrier puppies available to the public from my own public stock.
Males and females available.
Pure bred american pit bull terriers.
NOT THE BULLY BREED!(no blue noses)
Original bloodlines. Well respected!
Carver bolio jeep bloodline.
These puppies have good temperaments.
People friendly, very intelligent and very athletic
Black or Brown puppies with black ...
Jul 4 -
San Francisco Bay Area :
El Sobrante
Very loving, playful & friendly 1 year old RARE BLUE nosed/ GREEN eyed Pure-Bred AKC Shih Tzu Male with Gold/White Silky Coat wants to find a very loving home. He is very playful and loves people, children & other animals and is potty-trained. He has Gold/White silky, non-allergic, non-shedding hair, is very healthy & he comes with up complete vaccination records and Pure-bred Pet AKC ...
Jun 30 -
San Francisco Bay Area :
El Sobrante
This fun female is ready to go home! 11 weeks old, up to date vaccines, UKC registered. Check out our website for pictures of the sire and dam at www.predominantbullies.com (559) 417-7597 or call (559) 999-2370
Jun 20 -
Central Valley :
This loving girl is ready to go home! 11 weeks old, up to date vaccines, UKC registered. Check out our website for pictures of the sire and dam at www.predominantbullies.com (559) 417-7597 or call (559) 999-2370 .....
I unfortunetly am having to find a new home for my doberman pitbull puppy he is 5 months old. Super loving hyper and loves to cuddle. Mother is Red nose Pit and dad is full blood doberman. Puppy has pretty green eyes. Had all of his shots, except he will need boosters.
Rh $200
If interested you can email me. Thank You.
Jun 17 -
San Francisco Bay Area :
Santa Cruz
4 females 2 boys , parents on site
They come wit shots , contact for any further questions. Serious inquiries only . Thank you
This ad was posted with the eBay Classifieds mobile app.
Jun 14 -
Central Valley :
Blue Nose Bully Pitbull for service. Looking for female with similar build. He's 90lbs with a 23" blocky head and short muzzle. He's 2 1/2 years old now with no aesthetic flaws whatsoever. You have to see him in person to appreciate the build. Have more photos and videos of him upon request. Cell phone is 408-747-9043.
Jun 14 -
San Francisco Bay Area :
Santa Clara
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text:
BARCELONA Yuliya Efimova of Russia set a world record in the 50 metres breaststroke and Australia's Cate Campbell left her rivals for 50 freestyle gold trailing in qualifying at the world championships in Barcelona on Saturday.
Efimova, who said she had barely slept after Friday's gold in the 200 breaststroke and was stunned by her performance, touched in a time of 29.78 seconds to beat the previous best of 29.80 set by American Jessica Hardy in 2009.
Hardy was swimming alongside the Russian and posted the second-quickest qualifying time of 29.99 seconds.
"I still don't understand it," Efimova told reporters.
"Yesterday I was ready for a world record but today, I didn't sleep half the night and I am so tired," the 21-year-old added.
"I didn't do the warm-up and I am so sleepy and I just swam a record it's crazy."
Campbell, whose bid for Olympic gold in the freestyle sprints was wrecked by illness in London last year, posted 24.27 seconds in the 50 metres version on Saturday, well ahead of Briton Francesca Halsall in second with 24.60.
Campbell's younger sister Bronte was third quickest in 24.65 ahead of Ranomi Kromowidjojo of the Netherlands, Olympic champion at 50 and 100 metres, in 24.68.
Campbell put some of the disappointment of missing out at the Olympics behind her by winning the 100 gold on Friday and said she was still recovering.
"I'm stinging a little bit I won't deny but did what I needed to do, got through fairly comfortably so hopefully I can just build on that," she told reporters.
"I didn't get that much sleep or probably as much rest as I would have liked so I am really happy with that swim," added the 21-year-old.
"It's a 50, how much energy can you blow? 50's are fun. They don't hurt. It's splash and dash, essentially."
Sun Yang of China, chasing a rare treble of distance freestyle golds and already the winner of titles at 400 and 800 metres in Barcelona, eased through as the fastest man in qualifying for Sunday's 1,500 final.
Sun, who set the world record at the longer distance to win Olympic gold in London, will match a feat achieved previously only by Australian Grant Hackett in 2005 if he wins all three world titles as expected.
Daniel Orzechowski of Brazil topped the heats for the 50 backstroke ahead of Spain's Aschwin Wildeboer and Frenchman Jeremy Stravius. (Editing by xxxxxxxxx)
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'Bombshell' Says Jesse 'Avoided' Real Dirt in Teary Confessional
"I do think things were avoided ... Like details of our affair. He seemed to gloss over everything and it was very generic," McGee tells In Touch about Jesse's interview.
In the days following the 'Bombshell' story breaking, details of their affair were plentiful. Everything from when, where and how they had sex were in the headlines, shooting McGee from obscurity to infamy overnight. It's her being dragged into this scandal that McGee thought deserved a mention from James, but that never came.
"What about the other people he hurt along the way? Even though I don't expect to get an apology, at the very least, I was hoping for some sort of acknowledgment regarding the pain and embarrassment he caused myself and others," McGee says.
And what of the claims by James that he "wanted to get caught" in some strange sense?
"He took every precaution NOT to get caught. I was only allowed to come up during after hours at the shop. We could never go get food -- even at his own restaurant," McGee says of their time together.
Oddly enough, despite all of the heartbreak and trauma James has caused Bullock, McGee thinks that the two will likely reunite.
"I have my suspicions that they will be still together but out of the public eye," Michelle tells In Touch.
Sandra Bullock and Jesse James Pics
Sandra Bullock and Jesse James Pics
Sandra Bullock and Jesse James Pics
Sandra Bullock and Jesse James Pics
Sandra Bullock and Jesse James Pics
Sandra Bullock and Jesse James Pics
Sandra Bullock and Jesse James Pics
Sandra Bullock and Jesse James Pics
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- Filed under:
- Famous Couples -
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- Celebrity Scandal -
- Sandra Bullock
- Wednesday 26 MayBy susan
She is so ugly, she should just shut up and go away. she said she didnt know he was married in an interview before and now she says he was not going out in public with her, get real and go away you 15 minutes are up leave them alone.
- Wednesday 26 MayBy katie
Good point. If she didn't know he was married, why did she only meet him in his office "after closing" and why couldn't they go out in public? What kind of a skank would agree to such an arrangeement? He can't be that good!
- Wednesday 26 MayBy Jenna
Excuse me Miss Dirtbag McGee? Did you actually say you wanted an apology for being "dragged" into the spotlight for your affair? Didn't you betray Jesse and cash in on a large sum of money for exposing the affair?? You are getting what you deserve you absolute skumbag hole in the ground! That's all you are, a body with a few holes for men to play with. Enjoy your money you snake! Do the world a favor and drop dead!
- Wednesday 26 MayBy Jen
My thoughts EXACTLY!!!!! She is the one that brought this into the spot light! Dragged her own name through the dirt. She is a pile of crap who does NOT in any way deserve an appolgy.
- Friday 28 MayBy LR
I fully agree with you...this person which many would call "White Trash" knew good and well from the get go that she was with someone who had a family and that she was going to bring this affair out for money purposes...Why else would ANYONE keep hundreds of text messages unless you were planning on cashing in on your information that you were collecting. How heartless can a person be and SELFISH to destroy so many lives...NO APOLOGY FOR YOU EVER YOU OPPORTUNIST!!!!!!!!!!!!!!!
- Thursday 27 MayBy Woo Hoo
AMEN sista!!
- Wednesday 26 MayBy Bam
Way to go Jenna!!! I can't believe these women who air their dirty laundry for money (and 5 minutes of fame-the extended version, Ha!) and expect an apology for their own decision...or indecisiveness! LMAO
- Wednesday 26 MayBy kim
OMG you friggin said it!!! Stupid idiot BM does NOT deserve anything from anyone!! She needs to disappear for good..OMG seriously!!!
- Wednesday 26 MayBy Robert
This piece of slime needs to just go away. She wants an apology?!? Okay, here's one: I'm sorry anyone is still paying attention to you.
- Thursday 27 MayBy Eric Johnson
Yo Robert she is some what of an exotic women , she is going to be paid attention to for a long time providing she abstains from self destruction behavior.Jesse should apologize ,If he is a sex addict then he used her by definition,you don't go and get into a females pants and then dish her when the affair is out of the closet! what do you have going on Robert despite a rude disposition ?
- Wednesday 26 MayBy Laurel
She wants an apology for being "dragged into this scandal"? Then she admits she snuck into his place after hours to have sex with him and agreed to not even go eat? Sounds like she was a willing participant.
- Wednesday 26 May
She is so sad and is willing to cash in on others pain (Sandra Bullock). She doesn't deserve an apology she needs to apologize to Sandra for sleeping with her husband
- Wednesday 26 MayBy mec1140
Bottom feeder
- Wednesday 26 MayBy kristy
Let's see...You knowingly slept with a married man and you want an apology for how you got hurt along the way? Give me a break! Zero sympathy for you.
- Wednesday 26 MayBy lnautigrl21
Did this woman not know her role?? She was a jump off.....something on the side and that does not entitle you to "go get food -- even at his own restaurant!!!" And as for an apology for her pain.......ha! She knew what was up so she shouldn't of got any kind of apology!!
- Wednesday 26 MayBy J
Why exactly would Jesse James owe this girl an apology again? I don't understand that. "I accidentally banged him, profited off telling the press about it, and now he owes me an apology." What?
- Wednesday 26 MayBy wzygrl
Well, I was going to post the exact same! You said it! Also, I could really care less who has affairs, but for this bimbo to say he owes her an apology? She brought the affair to public light and is loving every minute of it.
- Wednesday 26 MayBy Angie
LMAO Excellent post! I would like to add that it seems she also wants an apology because he didn't talk about her enough in his "candid" interview. "I do think things were avoided ... Like details of our affair. He seemed to gloss over everything and it was very generic," McGee tells In Touch about Jesse's interview. WTF did she want him to say about her-this is the sleaze I did that ran and sold the story, here's how we did it? Damn parasite.
- Wednesday 26 MayBy Donna
she seems to forget he couldn't have hurt her if she were not a willing participant. Apology? She was having an affair with a married man....I guess the fact that he was rich and famous wasn't an attraction for her. Poor her...poor victim...NOT!
- Wednesday 26 MayBy 82Brute
How is it that Jesse James managed to find the one woman in the entire United States of American who thought he wasn't married?? It's amazing, a miracle, a statistical anomaly, one might say, or perhaps just a total load of BS. I believe she found him, and she knew exactly what the game was. As for the name "Bombshell", exactly how did she acquire this appellation? By leaving collateral damage in the wake of every man she lures into her snake basket or simply by appearing to be the victim of a bomb blast at an Ed Hardy outlet? Good luck to you, Ms. Bombshell. Perhaps a little self reflection might be in order about now.
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text:
- A Visit From St Nicholas - Canadian Brass
- Carol Of The Bells - Canadian Brass
- Away in a manger (Tune: Cradle Song) (New English Hymnal 22) - Canadian Brass
- Jingle Bells - Canadian Brass
- The First Nowell (English) - Canadian Brass
- Dance of the Sugar-Plum Fairy - Canadian Brass
- We Three Kings of Orient Are - Canadian Brass
- Angels From the Realms Of Glory - Canadian Brass
- Coventry Carol (2): "Lully, Lulla, Thou Little Tiny Child" - Canadian Brass
- D' où viens-tu bergère (French), carol - Canadian Brass
- The Twelve Days Of Christmas - Canadian Brass
- O come, O come, Emmanuel (Veni, veni, emmanuel), carol - Canadian Brass
- I Wonder As I Wander (American) - Canadian Brass
- What Child Is This? (Greensleeves) - Canadian Brass
- La Cloche de Noël - Canadian Brass
- We Wish You a Merry Christmas (English) - Canadian Brass
- Noël nouvelet, carol (French) - Canadian Brass
- Hark! the Herald Angels Sing (adapted by W. H. Cummings from Mendelssoh - Canadian Brass
- Stille Nacht, heilige Nacht (Silent Night) - Canadian Brass
- Good King Wenceslas (Piae Cantiones, 1582) - Canadian Brass
- Hallelujah Chorus - Canadian Brass
- Es ist ein Ros entsprungen (Lo, How a Rose E'er Blooming), instrumental - Canadian Brass
- O Come, All Ye Faithful (Adeste fidelis) - Canadian Brass
Christmas Albumby Canadian Brass
The Christmas Album features Canadian Brass performing a variety of holiday favorites. Featured performances include "Visit From St. Nicholas," "Carol of the Bells," "Away in a Manger," and "Jingle Bells," in addition to 19 others. Most of these songs are traditionals and may be unfamiliar.See more details below
The Christmas Album features Canadian Brass performing a variety of holiday favorites. Featured performances include "Visit From St. Nicholas," "Carol of the Bells," "Away in a Manger," and "Jingle Bells," in addition to 19 others. Most of these songs are traditionals and may be unfamiliar.
Product Details
- Release Date:
- 08/10/1990
- Label:
- Philips
- 0028942683525
- catalogNumber:
- 426835
Album Credits
Performance CreditsCanadian Brass Primary Artist,Ensemble
Lydia Adams Organ
Aaron Davis Keyboards
Elmer Iseler Singers Choir, Chorus
Technical CreditsFelix Mendelssohn Composer
Franz Gruber Composer
William James Kirkpatrick Composer
Don Gillis Arranger
Charles Wesley Composer
Howard Cable Arranger
George Cramer Artwork,Art Direction
Hein Dekker Producer
Fiona J. Gale Engineer
Wouter Hoekstra Producer
Stephen McNeff Arranger
Frederick Oakeley Composer
John Francis Wade Composer
David Gray Arranger,keyboard arrangements
Joseph Mohr Composer
William Sandys Composer
John Mason Neale Composer
Traditional Composer
William Chatterton Dix Composer
John Henry Hopkins Composer
Elmer Iseler Singers Contributor
James Pierpont Composer
John Newton Engineer
Customer Reviews
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SOUTH Melbourne's return to the national stage has been cut short in gut-wrenching fashion, losing an epic penalty shootout to Palm Beach Sharks at Cbus Super Stadium.
AFTER dismissing Australia for just 136, England dominated Australia with the bat on the opening day of the third Test at Edgbaston.
THE decision to effectively end Brad Haddin's career has polarised former Australian greats, but Rod Marsh is adamant selectors had no other choice.
A former A-League goalkeeper has been stood down from Wednesday night's FFA Cup action after posting a Tweet calling for Adam Goodes to be "deported".
THERE were goals galore, late drama and penalty shootout drama on a frenetic opening night of the 2015 FFA Cup. Re-live it all here and watch EVERY goal!
Jun 01, 2014
Event: AFL Round 11
Teams: Hawthorn v GWS GIANTS
Date: Sunday June 1, 2014
Start time: 4.40pm
Gate opening:
Public/AFL members: 2.30pm
MCC members: 2.30pm
Car park opening:
Gate 3: 11.00am
Gate 5: 1.00pm
Gate 6: 1.00pm
Gate 7: 12.00pm (pass holders only)
Expected attendance: 26,000
General admission seating:
Great Southern Stand
Olympic Stand
Q49-Q50 (Rows P-MM)
Q51 (Rows K-MM)
Ponsford Stand
Cheersquad allocation:
Hawthorn - Bay M3 (Rows A-R)
GWS GIANTS - Bay M33 (Rows A-S)
Tickets: On sale now through Ticketek.
National Sports Museum: TBA
View MCG conditions of entry
Follow the MCG on Facebook and Twitter!


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Home > News > World
Saturday August 2, 2014 MYT 10:45:13 PM
Saturday August 2, 2014 MYT 10:46:21 PM
by hasmik mkrtchyan AND nailia bagirova
BAKU/YEREVAN (Reuters) - Five more soldiers were killed in skirmishes between Azeri government forces and ethnic Armenian separatists controlling the breakaway Nagorno-Karabakh enclave of Azerbaijan, officials from both sides said on Saturday.
The casualties bring the death toll to at least 15 in a flare-up of violence over the last few days around Nagorno-Karabakh, a mountainous area with a majority ethnic Armenian population.
The clashes have underlined the risk of broader conflict in the South Caucasus, where vital oil and natural gas flow from the Caspian region to Europe. Russia, an ally of Armenia, issued a statement on Saturday warning against further escalation.
Energy-producing Azerbaijan, host to oil majors including BP, Chevron and ExxonMobil, frequently threatens to take Nagorno-Karabakh back by force and is spending heavily on its armed forces.
Armenia, an ex-Soviet republic as is Azerbaijan, has warned it will intervene if Nagorno-Karabakh is overrun.
Fighting between ethnic Azeris and Armenians first erupted in 1991 and a ceasefire was called in 1994. But Azerbaijan and Armenia have regularly traded accusations of further violence around Nagorno-Karabakh and along the Azeri-Armenian border.
Azerbaijan's Defence Ministry said on Saturday four of its soldiers had been killed in overnight skirmishes along the line that demarcates Nagorno-Karabakh from Azerbaijan.
"Armenian sabotage groups attacked positions of the Azeri army," the Azeri ministry said in a statement.
The breakaway enclave also said one of its combatants was killed in the fighting.
On Friday, Azerbaijan reported about eight soldiers killed and the separatists said two of their soldiers had been killed.
Armenia blamed Azerbaijan for the latest bloodshed.
"Such behaviour by the Azeri armed forces contradicts the logic of negotiating a resolution of the conflict and may lead to large-scale military actions," the Armenian Defence Ministry said in a statement.
Nagorno-Karabakh runs its own affairs with heavy military and financial backing from Armenia since the war that killed about 30,000 people two decades ago. Armenian-backed forces also seized seven Azeri districts surrounding Nagorno-Karabakh.
Efforts to reach a permanent settlement of the Nagorno-Karabakh conflict have failed despite mediation led by France, Russia and the United States.
"We see the events of recent days as a serious violation of agreements on a ceasefire and declared intentions to achieve a regulation (of the conflict) through political means," the Russian Foreign Ministry said in a statement on Saturday.
"We take the position that any further escalation is unacceptable," it said.
(Writing by Margarita Antidze; Editing by Gareth Jones)
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