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B-Daht's Blog
Welcome to the blog of B Daht Obama! I've taken a new approach to MY blogs - I write letters to people. Hopefully one day some of the people can actually read the letters I write. If you have an idea of a letter you'd like me to write to someone (they don't HAVE to be in Sports) send it to theescore@yahoo. Hope you enjoy, and comments are STRONGLY encouraged!
Chris Davis is Austin Rivers, of Auburn
by B Daht
posted Dec 4 2013 7:49AM
During the Iron Bowl, I was hosting an event in Salisbury. Twitter was my only source of information. I remember my homie BA showing me his ESPN app, and being very happy the game was tied at 28, with :01 second on the clock. "We going to overtime, cuh!" I remember him exclaiming. He was rooting for Auburn, I on the other hand, enjoy the tradition of the tide, found myself rooting for Saban.
I pull up my Twitter, and all I see are tweets that read:
"Did you just see that?!?"
"That didn't just happen..."
"Roll. Tears. Roll!!"
I immediately say, "BA, I think Auburn won, cuh..." We are both super shocked and have NO CLUE how this could have happened. We JUST looked at the App and 'Bama had the ball with :01 left in the game! How did Auburn win 34-28???
that's how; and I missed it. Unbelievable.
As a Tar Heel fan, I can understand the hurt the Alabama faithful felt that day. The Alabama vs. Auburn Rivalry in football is the equivalent to UNC vs. Duke in basketball. Maybe bigger. You ever been to Alabama? The line is drawn in the sand. Roll Tide Roll, or War Hawk. Period.
I remember being in my Man Cave, hosting my annual "Us. vs. them" Party for the Carolina vs. Duke game. We were outnumbering the Duke fans, so, I wasn't AS boastful as I would have been if the numbers had been equal. UNC was winning the entire game, man. Tyler Zeller misses a free throw and we're only up 2 points, then this happened....
I feel your pain 'Bama fans.
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Deans Council Meeting
April 17, 2013
Note: At times, issues of confidentiality may require that some items discussed in these meetings be excluded from these minutes.
Members: Rich Cole, Tom Currin, Ruston Hunt, Thomas Nelson, Jeffrey Ray, Han Reichgelt, Zvi Szafran
Members Absent: Ruston Hunt
Guests: Joel Fowler, Faculty Observer
Item 1. Updates
Dr. Szafran updated the Council on the following:
- Budget Released – tuition increase for SPSU will be 2.5%. We received funding for new faculty and advisors as well. Szafran will release the details when they are available.
- New Programs – Linda Noble stated to Szafran that our two environmental degree proposals should be on the May BoR agenda. Biotechnology is still in negotiations; DPS is still being talked about.
- Zvi will be asking for data from the Council regarding Chemistry, Psychology, Accounting, etc. majors - actual numbers versus projected numbers. Zvi will circulate the report for the Council to review their numbers and make changes if necessary. These reports will be reviewed by the System Office to compare original projections with current data.
- Building D – funding is still in the budget - looks likely the project will happen.
- Capital projects - updated spreadsheet sent out last week on the latest approvals and projects that can be included if money is available.
- Faculty hires - should have the allocation soon. Zvi making several offers and is confident that we will be able to fill most positions.
- No news on staff positions except the approved line item in the budget for advisors.
Item 2. Degree Proposals
Szafran stated that degree proposals been handled informally in the past but due to some concerns raised, should we have a more structured process? The P&P states they should be distributed to the deans. Comments from the Council:
- Email deans with comments and discuss in Deans Council
- Nikki needs to be involved in graduate degrees
- Any comments about the two new masters degrees? Yes, the MSEE will put the MSET program out of business per Ray.
- Currin stated that Bush told him that numbers are up for Engineering Technology and Engineering
- What is the strategic plan for Engineering Technology and Engineering:
- How do you make the decision to put forward degree proposals?
- Szafran stated that we can make one of three decisions - get rid of Engineering, get rid of Engineering Technology, or be successful in both.
- Ray does not feel support is being given to Engineering Technology.
- Need to talk about how these degrees will affect the degrees in Engineering Technology.
- Zvi believes both programs can be successful and should develop new programs and recruit.
- Engineering is holding back waiting for Engineering Technology to redefine itself.
- Zvi disagrees that engineering has been stunted - programs are growing and resources have been given to them. Zvi, Tom and Jeff need to sit down and talk about ways to support both Engineering Technology and Engineering.
- Currin stated he is not opposed to Engineering Technology offering degrees in Engineering Technology that have the same name as Engineering degrees.
This discussion is to be continued. Szafran asked for endorsement to move these degrees forward. Consensus was yes. The P&P on new programs needs to be updated badly. The Board of Regents has changed its P&P numerous times since ours was created. We also need to streamline the process - Currin talked about the current process: review by deans and faculty senate, the prospectus then goes to Zvi and the president and then downtown for approval or not. This is Board of Regents policy. If the Board approves, we then do the full proposal for submission to UCC or GPC.
Szafran clarified the two steps: 1 – the prospectus or proposal is discussed by deans, the faculty, Zvi and the president and then sent downtown and 2 – the full proposal is created to include curriculum and then will go to UCC or GPC and then to senate for approval
Item 3. Student Awards
Szafran stated he was surprised and disappointed at the recent Student Awards Ceremony by the low numbers of awards given and that some of the academic departments gave no awards at all. In defense, one Council member asked if it is supposed to be a true awards ceremony or does everyone just get an award? Others commented that the program should not be so long and should not be on a Friday night and perhaps there would be more involvement. It was also suggested to have an MC read the script and the department member give the student the award to further facilitate the program. Zvi encouraged all departments to give awards for outstanding students and stated if funding is the problem, he can help.
Item 4. New Policy on Events, Summer Camps, Etc.
Szafran and Alana are working on a draft policy which was originally written for athletic camps but has been redrafted to fit the camps offered in Academic Affairs. This is being done to be sure that we have a policy that deals with minors, background checks for volunteers, waivers, etc. It was suggested to separate policies from processes - have a faculty handbook to address such things not a policy and procedure. Zvi stated basic steps should be in the business process and asked if any of the steps seem problematic? It was suggested that the draft policy be circulated to those who actually have presented camps in the past for input. Deans will circulate the draft policy on minors to camp directors and report back to Zvi in two weeks.
Item 5. New Business
- The CLEP testing authorization form approved previously requires only the signature of the advisor but it was asked that it be changed to have the department chairs approve. There was a brief discussion but no consensus to change form so it will remain the same.
- It was suggested that the Council needs to have an executive session to deal with student complaints.
Action Item(s):
- Zvi, Tom, and Jeff need to sit down and talk about ways to support both Engineering Technology and Engineering.
- Deans will circulate the draft policy on minors to camp directors and report back to Zvi in two weeks.
Future Agenda Item(s):
The meeting adjourned at 3:25 PM

subset: commoncrawl


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2012-11-27 / Columns
The Bright Side
Chilly Days Call For Chili
When I travel I search out those local cookbooks put together by ladies of the community. I love the simplicity of the recipes that are contributed to these down home cookbooks. They include the recipes people ask for at pitch-ins. Those little cookbooks are collections of the food we feed our families.
The full version of this story is only available to online subscribers.
© 2009-2015 Spencer Evening World, Inc.
No commercial reproduction without written consent.
Electronic reproduction of any kind forbidden without written consent.


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SMT Oven
Building a Surface Mount Oven
Supplies Needed and Approximate Cost
1Any convection oven should work. The oven we chose was the Sanyo SK-VF7S Digital Convection Oven, Stainless Steel Finish.
2The temperature controller we chose was the CN1501-K.
Assembly Instructions
Remember from basic physics that there are three main types of heating: Conductive, convective, and radiative. We need to change the properties of the oven you bought to balance these three types of heating.
Maximizing Convective Heating
Minimizing Radiative Heating
Most ovens are stainless steel or aluminum inside the cavity. This is an almost perfect reflector for heat. Since the reflectivity of solder and the copper traces on the board is very high, and the reflectivity of the components (particularly black encapsulated IC's) is very low, the components will get hot much more quickly than the board which is bad. To fix this we make sure there is not direct line of sight from a heating element to the PC board.
One disadvantage of the black paint is that the sides of your oven are going to get a lot hotter than they normally would. Make sure when you operating you don't touch the oven!
Conductive Heating
To accomplish conductive heating, an aluminum plate 1/16'' thick replaced the oven rack. This surface is where the PCB will be placed. The aluminum plate was painted black in order to reduce the reflection of heat and make sure it got hot as quickly as possible.
Putting it all together
Rewiring the heating elements
The side panel of the oven will no longer be used. Instead, the heat elements will be controlled by the temperature controller.With a soldering iron, connect one wire from the heating elements to the hot wire (black) of the power cord and the other to the neutral (white) wire.. The elements should be wired in parallel, not series.
Connect the ground wire from the power cord to the case for safety.
This power cord will then plug into the temperature controller which is connected according to the diagram below.
There will be two cords coming from the oven. One is to control the heating elements, the other operates the fan. You want the fan to run continuously, even when no power is applied to the heating elements.
Use the diagram above to wire the temperature controller and thermocouple.
It is important to mount the thermocouple DIRECTLY onto the surface on which the PCBs will rest. Not doing so will result in the thermocouple's measurement of ambient temperature and not the surface temperature of the PCB. Run the wire out through a hole in the oven and provide some strain relief.
Programming the Temperature ControllerWe use the manual from the temperature controller to program the ramp and soak profile. The specific values for the ramp and soak profile we developed can be seen in the table below.
Does it Work?
Yes, very well. The photos below show boards we milled using our T-Tech PCB mill and ran through our home-made oven
Other SMT Oven Projects
Important Links
The material appearing on this web site is copyright © 2004-August, 2009 by the School of Electrical Engineering at Oklahoma State University. All Rights Reserved.


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<!–Saxotech Paragraph Count: 7
It was the typical routine for a Tuesday night practice, but Alabama State's practice was anything but typical.
The first indication the practice was different came in the form of a bus ride. Instead of walking out the door to Hornet Stadium, the players were driven down the street to their new $62 million home.
"It's like a little kid opening a Christmas present," senior receiver Landon Jones said. "I've never seen anything like this. You could see it in the eyes of all the players. We looked in here and were like, 'Wow.' There was just so much excitement. It felt like game day with no crowd. We just had fun."
The Hornets went through a spirited two-hour practice in the new football stadium, which is slated for completion on Thursday and scheduled to hold its first event a week later with the 89th Turkey Day Classic. While there remains some fence work to be completed, railings installed in concrete and sodding placed outside of the stadium, those are mere trimmings to a spectacular facility that left the players — and their coach — searching for the proper adjectives.
"When we pulled up here, the excitement, the words used by some of the guys because they haven't come in here (before), just to hear what they were saying is an awesome thing," ASU head coach Reggie Barlow said. "Whenever you come into a new environment, there's going to be a lot of enthusiasm. When you've got genuine enthusiasm, a lot of times that can cover up for mistakes. We'll go and watch the tape and make the corrections, but the energy was good."
The practice drew a few spectators as well as students drifted in and out of the facility, conducting self-guided tours of the stadium. The Mighty Marching Hornets came through at the beginning of practice, and school representatives borrowed small groups of players to film short videos for the scoreboard.
"It was a game-type feeling, being in the stadium for the first time and riding up on the bus with our uniforms on," senior quarterback Greg Jenkins said. "It felt like we had a game tonight, and I think we had pretty good energy for a practice, probably the most energy we've had all year."
This story was originally published at: http://www.montgomeryadvertiser.com/article/20121114/SPORTS0403/311140048/1180


text:
To provide you with a better understanding of endodontic therapy, Madison Endodontic Associates has the following multimedia presentation. Many common questions pertaining to root canals are discussed.
Having trouble? Please make sure you have version 7 of the Flash browser plugin in order to correctly view this presentation. This software is available as a free download.
Endodontic Patient Information Madison WI | Endodontic Instructions | Endodontic Procedures Madison WI | Meet Our Madison WI Endodontists
Endodontic Patient Registration Forms | Referring Doctors | Contact Endodontic Office Madison WI | Disclaimer | Sitemap
Website Design By PBHS Inc. - Copyright © 2008
Madison WI Endodontic Associates, S.C.
406 Science Drive, Suite 410, Madison, WI 53711, (608) 231-9989 • 4002 Monona Drive, Madison, WI 53716, (608) 222-5995


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Learn about the different kinds of tea and how to properly steep them {food reference}
Recipe for a DIY loose leaf black tea with cardamom pods for a subtle Arabic taste
Iced, Spiced Apple Tea. A refreshing combination of chai tea spices and apple juice.
why should coffee get all the to-go love? Libre Tea makes a To Go cup not just for tea, but LOOSE LEAF tea (now i f only i actually drank tea...)


text: Firefox 2.0 Usability Facelift Aug/31 in Usability Who will Mozilla turn to for help on the usability front? Radiant Core beat out two others for the project which will focus on updating four specific areas of the browser: the search bar, icons, the tab strip and dialog buttons. + Read More About the Firefox 2.0 Facelift! EmailFacebookTwitterGoogle facelift, firefox, mozilla, Radiant-Core, Usability


text: Healthy Recipes Toasted Bagel Recipe E-mail recipe Print recipe To save this recipe, register now! Quick Info: Servings Quick Meal Contains Wheat/Gluten Vegetarian GERD-Friendly Heart-Healthy Nutritional Info (Per serving): Calories: 190, Saturated Fat: 2g, Sodium: 290mg, Dietary Fiber: 4g, Total Fat: 7g, Carbs: 26g, Cholesterol: 0mg, Protein: 6g Carb Choices: 1.5 Recipe Source: Prep Time: 2 mins Cook Time: 3 mins Total Time: 5 mins Ingredients 1/2 medium bagel, 100% whole-wheat 2 teaspoon margarine with plant sterols, (e.g. Take Control, Benecol, etc.) Preparation 1. Toast bagel to desired doneness, spread with plant sterol spread. 2. Serve with cheese stick and pear. Enjoy! E-mail recipe Print recipe To save this recipe, register now!


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There will be no criminal charges filed resulting from the brawl that occurred at the close of the Cincinnati-Xavier game last Saturday at the Cintas Center.
Hamilton County prosecutor Joseph T. Deters said his office had reviewed film of the incident and spoke to coaches from both programs — as well as players and witnesses — and determined not to pursue the matter further.
He also revealed that Cincinnati center Yancy Gates and Xavier center Kenny Frease "reached out to each other privately, and that Mr. Frease is satisfied with Mr. Gates' apology."
Videotapes of the fight, which occurred with 9.4 seconds left in Xavier's victory in the annual Crosstown Shootout game, show Gates striking Frease with a righthanded punch with Frease apparently not in a position to anticipate the punch or defend himself.
"It's the right thing," Xavier coach Chris Mack told Sporting News on Wednesday afternoon. "I've known Yancy since he was a fresh in high school; he's a good kid who got caught up in an emotional moment. Kenny and Yancy have talked text and moved on."
Gates was suspended six games for his role in the fight; three other Cincinnati players and four Xavier players also were suspended. Frease was not among them. He still is recovering from a significant bruise around his left eye and several stitches necessary to close a wound that resulted from the fight.
"This was an unfortunate situation," Deters said. "However, after talking with both coaches, I truly believe that the teams will be able to deal with the situation more effectively than the criminal justice system."
Asked at Cincinnati's press conference Monday for his thoughts on Deters possibly filing criminal charges resulting from the brawl, Bearcats coach Mick Cronin said, "That's why he was elected. That's his job, and I'm sure he'll do his job. Anything we're asked to do, we'll fully comply."
Cincinnati has a scheduled road game Wednesday at Wright State. Eighth-ranked Xavier next plays Sunday at home against Oral Roberts.


text:
Benign Essential Tremor
(Essential Tremor; Familial Tremor)
- Postural tremor—shaking in certain positions only, such as with arms outstretched
- Kinetic or action tremor—shaking that gets worse during activities, such as eating or shaving
Risk Factors
- Tremor that occurs when standing or moving the limbs, but not usually at rest
- Uncontrollable, rhythmic movement
- Shaking most common in hands, arms, head, or voice
- Shaking only in certain positions or during activity
- Trouble with fine motor skills such as drawing, sewing, or playing an instrument
- Shaking that gets worse from caffeine, stress, fatigue, or heat
- Shaking that may decrease when using alcohol
- Hearing loss
- Problems with social, functional, or job-related abilities in more severe cases
- Staying well-rested
- Avoiding caffeine
- Avoiding stimulants often found in over-the-counter medications, like cold remedies
- Avoiding temperature extremes
- Beta-blockers
- Antiseizures
- Benzodiazepines
- Antipsychotics
- Botulinum injections
- Deep brain stimulation (DBS)—sends painless electrical pulses to the brain, interrupting faulty signals
- Thalamotomy—destroys a tiny part of the brain (less commonly performed than DBS)
International Essential Tremor Foundation http://essentialtremor.org
National Institute of Neurological Disorders and Stroke http://www.ninds.nih.gov
Health Canada http://www.hc-sc.gc.ca
Parkinson Society Canada http://www.parkinson.ca
About essential tremor. International Essential Tremor Foundation website. Available at: http://essentialtremor.org/about-et. Accessed February 12, 2014.
Essential tremor. EBSCO DynaMed website. Available at: http://www.ebscohost.com/dynamed. Updated August 27, 2013. Accessed February 12, 2014.
Essential tremor. International Radiosurgery Support Association website. Available at: http://www.irsa.org/essential%5Ftremor.html. Accessed February 12, 2014.
Lorenz D, Deuschl G. Update on pathogenesis and treatment of essential tremor. Current Opinions in Neurology. 2007;20:447-452.
Sadeghi R, Ondo WG. Pharmacological management of essential tremor. Drugs. 2010:70(17):2215-2228.
Smaga S. Tremor. Am Fam Physician. 2003;68(8):1545-1552.
What is essential tremor? Who gets ET? International Essential Tremor Foundation website. Available at: http://essentialtremor.org/About-ET. Accessed February 12, 2014.
Xie T, Bernard J, et al. Post subthalamic area deep brain stimulation for tremors: A mini review. Transl Neurodegener. 2012;1(1):20.
Revision Information
- Reviewer: Rimas Lukas, MD
- Review Date: 01/2015 -
- Update Date: 02/12/2014 -
This content is reviewed regularly and is updated when new and relevant evidence is made available. This information is neither intended nor implied to be a substitute for professional medical advice. Always seek the advice of your physician or other qualified health provider prior to starting any new treatment or with questions regarding a medical condition.
Copyright © EBSCO Publishing
All rights reserved.
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text:
Texas A&M Tunnels
Brought to you by Il Cartographer.
April 27th, 2009
Slight changes around the site, a few errors, typos, broken links, etc, etc that were noticed have been fixed. Small tidbits of information have been added here and there nothing major.
The most important change however would be to the Disclaimer, I recommend you go over them.
Also, the additional information I mentioned last night is still sitting in my inbox, I'll get to it soon I promise.
April 26th, 2009
Thank you Mr. Richard for pointing out the legibility issues in our color schemes...I hadn't quite gotten around to resizing our background image for our webpage, and that lead to the issues you mentioned. This works a little better I think (temporarily). I'll get around to actually spending the 5 minutes needed to modify the image and stick it in here.
In other news, I have more information on the map, I'm working on updating the map and the website, I should have it up eventually.
April 22nd, 2009
Alright, tamutunnels.netii.net is up and running. It isn't quite perfect, yet (as you've probably noticed, it is MILES from being perfect) but I do have all the basic information up.
Follow the links on your left to the Map of the steam tunnels under campus, the Map Key will help you make sense of all the symbols and notations on the map.
The Exits, Landmarks and Notes basically provide further detail, and the Photo Gallery is for your viewing pleasure (should you wish to know what it's like down there).
I'm not quite done here yet, as time goes on I fully intend on making this whole site much better. I plan on making it nicer, a lot more interactive, hopefully the map will be more navigable, and obviously, I'll keep updating the map and the various things that go with it as new information comes to me. If you guys have any thing you'd like to share anything about the tunnels themselves or about the website, feel free to shoot me and email at firstname.lastname@example.com.
Keep checking back for updates!


text:
KAH Designs
Featuring the Stained Glass Artwork of Kimberly Heismann
Tribune Craft Show
Island Grove
Saturday, October 12th 2013
Sunday, October 13th 2013
Greeley, CO
Christmas in Windsor
Saturday, Nov 23rd 2013
Sunday, Nov 24th 2013
Windsor, CO
Theme made by 12345j.
This site is powered by Concrete5.
Home | Sitemap | RSS Feed


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You are using an outdated browser. Please upgrade your browser to improve your ReverbNation experience.
Gender: Male
Visits: 4690
Friends: 5
Bio: Everyone of my Favorite Songs Here are My Personal Friends and Outstanding Texas Musicians Check out their Pages/Songs... I am the Mgr/Promoter for Stray Dog and The Wolves.....I am Not "Stray Dog" Please "COMMENT" or "BECOME A FAN" on "STRAY DOG AND THE WOLVES" page... become a fan and theyll fa... See Full Bio


text:
Updated: 05/07/2013 8:12 AM KSTP.com By: Aaron Chalich
One of the first martial arts movies that I saw as a kid was the movie "Enter the Dragon" and it starred the legendary martial artist Bruce Lee. This was the first time I had seen a movie like this and I could not believe what I was watching. Bruce Lee was like a superhero and I loved every minute of it.
After watching "Enter the Dragon" I was obsessed with anything that had to do with martial arts. Movies, books, magazines, clothes, I even joined Karate for about seven years.
I am still a huge fan of martial arts films and I was ecstatic when I received review copies of two new Bruce Lee Double Features from Shout Factory. On one DVD you get "The Way of the Dragon" and "Game of Death." On the other DVD you get "The Big Boss" and "Fist of Fury."
I absolutely enjoyed watching these films because they are amazing. The films are all from an HD transfer and look fabulous. They look as if you are in the theater watching them for the first time. The picture and sound is sharp and clear. These films were released in the 1970's and I figured that their age would really show with the transfer, but I was wrong.
Every movie is jam packed with some of the most amazing fight scenes I have ever seen in a martial arts movie. Sure, martial arts films now have tons of CGI effects, but back in the 70's there was not much, if any CGI used. That's why I really enjoyed these Bruce Lee films so much.
I really thought that the stories of each film were very well written and some of the films were written and directed by Bruce Lee. One thing that I found interesting was that a lot of the same actors are in multiple films.
If I am not mistaken Bruce Lee was only in six different movies and you get four of them in these two great double features. You also get the last film that Bruce Lee starred in before his death and that's the film "The Game of Death."
Like I said earlier I really enjoyed the stories of each film and I just want to briefly mention what each one is about.
The Big Boss/Fist of Fury Double Feature
"The Big Boss" was released in 1971 and Bruce Lee plays a character named Cheng. He moves to Bangkok to work at an ice factory with his cousins. One day a block of ice breaks and two of Chen's cousins see that drugs are inside and the workers disappear.
Cheng is curious about what happens and starts to investigate and learns that the drugs are being smuggled through the ice factory. He learns about the "Big Boss" behind the operation and tries to stop him.
"Fist of Fury" was released in 1972 and Bruce Lee plays a character named Chen. Chen's teacher has been poisoned and he must try and figure out what happened. Chen learns that members of a nearby Japanese martial arts school may have something to do with it. He vows to get revenge on the people or person that was responsible.
The Way of the Dragon/Game of Death Double Feature
"The Way of the Dragon" was released in 1972 and Bruce Lee plays a character named Tang Lung and he travels to Rome to help out a friend. Tang's friend owns a restaurant and a local gang wants her to sell the restaurant to her and they try to do everything they can to get her to sell. Once Tang arrives the gang feels that he is a threat and hire an expert martial artist to take him out.
The expert martial artist is Chuck Norris. Bruce Lee and Chuck Norris have one of the most exciting fights I have ever seen. It is truly awesome to see these two martial arts legends fight against each other.
"Game of Death" was released in 1987 and Bruce Lee plays a Kung Fu actor named Bill Lo. Billy decides not to resign his contract with his manager; the manager gets mad and has his body guards harass Billy. Billy has to go through each one of the guards one by one to get to the manager to end the harassment.
I really enjoyed Shout Factory's Bruce Lee Double Feature's a lot.They were full of action and it was great to see these four martial arts films in such clarity. I know that people who are fans of Bruce Lee will not want to miss out on these films. I feel that these movies are classics and are a must have in any movie lovers library.
For more information on Shout Factory go to www.shoutfactory.com
Aaron Chalich is a columnist for KSTP.com blogging about the latest entertainment news.


text:
Canine Chat: Dog Tales and Other Stories
The subject of dogs facilitates heartwarming pet stories, pet peeves and pet praises. Let's talk dogs.
Posts filtered on Tag
10 Must Have Items for your New Puppy
Be Prepared cDiane Rich 2011 It is an exciting time when bringing home a new puppy. It helps to be prepared by purchasing all the pup's supplies before bringing the new addition home. Supplies can be purchased via many online sources or from your local pet store. cDiane Rich 2011 Buying supplies online is easy […] [Read More]


text:
- D.C. Mayor's Race 2010,
- DCision 2010 Edumacation Kids Are Political Pawns Series of Special Fact Checks,
- Education,
- Government,
- Politics
D.C. education reform: Is it all about the children?
When it comes to education reform in the District, presumptive D.C. mayor-elect Vince Gray and public schools Chancellor Michelle Rhee are only trying to do what's best for the children. Or the teachers union. Or the D.C. Council. Or themselves.
But mostly the children. Or so they say.
"Yesterday's election results were devastating, devastating," said Rhee, when asked about the Gray's victory after the Democratic primary in September (she later clarified her remarks.) "Not for me, because I'll be fine, and not even for Fenty because he'll be fine, but devastating for the schoolchildren of Washington, D.C."
Gray, speaking during in the wake of his primary win, said: "I want to do what is best for the children of our city."
His spokeswoman bemoaned the suffering of the children, who were probably keeping close tabs on this year's contest, in between swapping Silly Bandz and mourning the loss of their chocolate milk.
"It is unfortunate that the children have been thrown in the middle the political fray," spokeswoman Traci Hughes said. "Chairman Gray has made it very clear from the very beginning: He will continue education reform. It's his top priority already and he will put children first."
Now lame-duck Mayor Adrian Fenty championed Rhee on the campaign trail this year, praising her often controversial moves in the D.C. schools. Gray didn't appear sold on the lightning rod of a chancellor, instead saying he'd wait until after the election to make a decision on whether to keep Rhee at her post.
The two didn't seem that chummy when Gray was on the council, either, and not all those spats seemed to be entirely focused on the children. It was more about control, transparency and oversight when Gray and Rhee butted heads for years over budget issues or teacher layoffs. And wasn't it about the instructors when Gray was endorsed by the Washington Teachers Union? What about when Rhee suggested that she couldn't work in an administration that wasn't as supportive as Fenty's? That was about politics. And it's about politics now, as Gray searches for a chancellor that he can happily work with, and Rhee looks for the same in a new boss.
Here is what's at stake right now, besides the fate of the children: the careers of hundreds of teachers, whose contract was recently ratified. Possibly money from private foundations, or federal funding that the District won with a Race to the Top grant, which carries some Rhee-related requirements. And, some have argued, the future of education reform as a whole.
These kinds of decisions can't just be based on what is best for the children. It's much more complicated than that.
Surely both Rhee and Gray care deeply about the fate of D.C. Public Schools students. Neither would hold his or her position if that wasn't true. But education reform is never just all about the kids. It can't be, really. It's a messy process that involves so many problems — like these issues of mayoral control, power struggles, and contractual bargaining.
So while the children certainly do factor into the equation, it is probably OK to leave them out of the fight for now. To suggest that either candidate is only doing what's best for them, at this point, is just Total Malarkey.


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Jeff Conover
Assistant Coach
Jeff Conover begins his second season as Jeff Campbell's top assistant at Cal State Northridge in 2008. A two-year member of the Northridge men's volleyball team, Conover played on two Matador MPSF Tournament squads in 2004 and 2005. In 2005, Northridge reached the semifinals of the MPSF Tournament before ultimately falling in four games at top-ranked Pepperdine. Conover finished the 2005 season with a team-high 1,346 assists which ranked ninth in the MPSF and 12th in the nation. Also in 2005, he was named Most Outstanding American Player at the Can-Am Challenge in Alberta, Canada. Conover wound up his two-year Matador career with 1,351 assists which ranks eighth on the Northridge career assists list. In addition to his coaching duties at Northridge, Conover is in his second season coaching with the Sportshack Volleyball Club girls squad and his first season working with the Pacific Palisades boys club team. Conover, who this past summer coached on the AVP Tour, also brings the experience of working as an assistant coach for the boys volleyball team at University of San Diego High School in 2001. Born in San Diego, Calif., Conover was an all-league player in both volleyball and basketball at University of San Diego High School. He earned his associate of arts degree from San Diego's Grossmont Junior College in 2003. At Grossmont, he earned All-State honors in both 2002 and 2003. He earned his bachelor's degree in marketing from Northridge in 2006. Jeff is single and currently resides in Santa Monica.


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2nd man dies in recent shooting
HUNTINGTON — A second man has died from injuries suffered in a shooting last week.
DeVante Penn, 17, of Detroit, died Sunday at a local hospital, according to a press release issued Monday by the Huntington Police Department. A state medical examiner's autopsy determined Monday that Penn died from a single gunshot wound.
Penn's death became the second in a shooting that occurred about 10:30 a.m. Nov. 6, at 1939 Foster Ave. It also killed Darrell Fugua, 22, of Detroit.
Fugua's death led city police to charge Rocky Hudson Williams with murder during the commission of a felony.
The 19-year-old suspect provided a statement to police alleging he and alleged accomplice Thomas Maurice White had conspired to rob the Foster Avenue residence. Williams told police it was during that failed robbery that Fugua was shot and killed, according to a criminal complaint filed in Cabell County Magistrate Court.
A misdemeanor complaint, charging Charity Dawn Cornell, described 1939 Foster Ave. as a drug house occupied by multiple people who stayed at the residence. It further states those investigating the homicide found "extensive drug use and possession of narcotic medications."
White, 21, had not been charged as of Monday morning. He remained hospitalized for non-life threatening injuries he suffered during the incident.
No charges have been filed in relation to Penn's death, however the case remains the subject of ongoing investigation.
Police did not identify a specific triggerman in Williams' criminal complaint, instead only alleging that Fugua died in the commission of a felony to meet the definition of murder.
Huntington Police Capt. Rick Eplin, last week, described the incident as a drug dispute that erupted into gunfire. He said investigators believe multiple gunmen were involved, but they have not pinpointed who fired what gunshots and what precipitated the exchange.


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In 1943, when Adolf Hitler's Nazis were well into his "final solution" for exterminating the Jews in the many European countries his armies occupied, three Jews — Margot Friedlander, her mother and brother — hatched a plan to escape from their home in Berlin.
Just hours before they planned to leave, the Gestapo picked up Margo's brother. Her mother, distraught and concerned about her son, went to Gestapo headquarters and was never seen again. Margo, then 21, who learned all this from a neighbor, began a new life in hiding.
It was also the beginning of her horrific Holocaust tale that Friedlander, now 92, shared Friday with students at Winston Churchill High School in Potomac.
"Talking to students and telling them what happened helps me because I talk for the people who can't talk anymore," Friedlander said. "Not only for the 6 million Jews, but for the many others who were not Jews and were killed."
Friedlander read to the students from her book, "Try to Make Your Life," the story of her survival from Jan. 25, 1943, the day her family was separated, never to be reunited, to May 8, 1945, when she was liberated from the Theresienstadt concentration camp in what is now the Czech Republic.
The title came from the message her neighbor gave her from her mother — just five short words of advice that she has remembered for more than 70 years.
As the students listened attentively, Friedlander read to them about her 15 months in hiding in Berlin, moving from safe house to safe house and learning not to ask questions or share information. She also knew when to disappear, once jumping from a balcony to the ground below when she believed "visitors" to the safe house were Gestapo agents. It was a jump that saved her life, she said, because another person at the home was taken away.
Hiding was difficult for her, Friedlander said, and she had 16 helpers in 15 months.
Finally, one day she was stopped and asked for her papers, which she did not have.
"I am Jewish," she said.
Though that statement led to her internment in a concentration camp, she was relieved, she said.
"I felt reunited with my family and lost the sense of isolation," she said.
The concentration camp was neither life nor death.
"People were emptied out, they longed for empathy," she said. "I was determined to survive but life after liberation was unimaginable."
Friedlander immigrated to the U.S. in 1948 and lived in New York until 2008. She now lives, again, in Berlin.
She started her book as a memoir after her husband, also a Holocaust survivor, died in 1997 and she published it in German in 2008. The English translation was published this year.
"My brother was 17. What would he have become? He didn't have the chance you have," she told the Churchill students. "Don't throw it away."
When she finished speaking many students spoke to Friedlander.
Jacob Glassman, 15, a ninth-grader, thanked her for sharing her story.
"I thought it was very important [for] Mrs. Friedlander to share her experiences and help students understand and be aware of the incomprehensible," he said.
Eugenia Cardinale, 14, another ninth-grader, said listening to the talk was very emotional.
"I knew about the Holocaust, but never heard anything from the perspective of a survivor," she said.
Friedlander's book is available in English at friedlanderbook.com.


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Salmon Center in Belfair Gets Alpaca Permit
The Pacific Northwest Salmon Center in Belfair has received a temporary grazing permit for a portion of the salmon center property owned by the Washington Department of Fish and Wildlife.
Officials with the salmon center are raising seven alpacas and a llama to demonstrate traditional agriculture activities at the former Johnson Farm. A portion of the farm was purchased by Fish and Wildlife to help restore the Lynch Cove estuary.
The alpacas were placed inside an existing fence and barn on the Fish and Wildlife property. Technically, that was in violation of state law, which requires an environmental assessment and grazing permit for use of Fish and Wildlife property, according to Kyle Guzlas, wildlife area biologist with the agency.
The animals were moved off the property for a month until a temporary permit could be issued. The animals will need to be moved off again by May 17 unless another temporary permit is issued.
"Fish and Wildlife purchased that property for estuary restoration," Guzlas noted.
Whether raising alpacas fits within long-term goals for the property will depend on the restoration design and management plans for the property, he said.
Neil Werner, director of the Pacific Northwest Salmon Center, said the only reason the animals were placed on the state's property was because it was the highest area on the salmon center's grounds.
"We had to get them out of the water," he said.
Werner said the center plans to regrade a portion of the salmon center site, breach existing dikes and create a back berm to contain high tides. At most, he said, the alpacas will remain on state property a few years before they have a permanent place that is dry.
Join an ongoing discussion about all things water-related at the blog Watching Our Water Ways.
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May 21, 2013
Media Advisory: Experts Available to Discuss Psychological Impacts of Oklahoma Tornado Disaster
Psychologists are available to discuss mental health impacts following the Oklahoma tornado on May 20 that leveled communities and killed dozens of people, including young children. As victims face the loss of loved ones and homes and the search continues for survivors, these experts can discuss various psychological issues related to immediate and long-term trauma caused by such disasters.
Elana Newman, PhD
Tulsa, Okla.
Work: (918) 631-2836
Cell: (918) 633-2258
Expertise: McFarlin professor of psychology, University of Tulsa, and research director, Dart Center for Journalism and Trauma, she can discuss disaster mental health with a focus on children. She has written about journalists' trauma when covering disasters, best practices for journalists reporting on victims and effects of disaster news coverage on the public.
Robert Hayes, EdD (will be onsite in Oklahoma beginning 5/22/2013)
Miamisburg, Ohio
Cell: (765) 208-0362
Expertise: Retired professor of counseling psychology at Ball State University, disaster mental health officer with American Red Cross and member of APA Disaster Response Network, he is an expert in crisis and disaster mental health. He has responded to major disasters, including the 9/11 Pentagon attack and 1995 Oklahoma City bombing.
Donald Freedheim, PhD
Cell: (216) 406-2800
Expertise: Professor emeritus of psychology, Case Western Reserve University, chair of Cleveland chapter of Red Cross mental health and disaster response team, he has worked in several trauma situations with individuals and families.
Jacqueline Lapidus, PsyD
Chevy Chase, Md.
Work: (202) 364-4687
Expertise: Clinical psychologist, volunteer with the American Red Cross and the National Association of Victim Assistance and member of APA Disaster Response Network, she can discuss crisis response, disasters, death, dying and bereavement.
Ellin Bloch, PhD
Alhambra, Calif.
Cell: (626) 270-3337
Expertise: Professor, California School of Professional Psychology, Los Angeles, she can discuss psychology of disasters, recovery from trauma (individuals, groups, communities, nations), effects of media on victims, bystanders and general public during and after traumatic events.
Nora Baladerian, PhD
Los Angeles
Home: (310) 925-4488
Work: (310) 754-2388 x1
Expertise: Director, Counseling Center of West Los Angeles, she headed three trauma teams in New Orleans following hurricanes Katrina and Rita. She can discuss depression and anxiety in trauma victims and family reactions to trauma of a family member.
For more information, APA's online Help Center offers these resources: Managing Traumatic Stress: After the Tornadoes and Tornadoes, Hurricanes and Children.
The American Psychological Association, in Washington, D.C., is the largest scientific and professional organization representing psychology in the United States and is the world's largest association of psychologists. APA's membership includes more than 134,000 researchers, educators, clinicians, consultants and students. Through its divisions in 54 subfields of psychology and affiliations with 60 state, territorial and Canadian provincial associations, APA works to advance the creation, communication and application of psychological knowledge to benefit society and improve people's lives.
Public Affairs
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Things Sharky is:
A terrible admin
dsfhkdjf. I am sorry. Stuff happened, and a there were a lot of Ughh I'll do it tomorrow's, and now it's about ten million years after I said I would do anything. BUT I will make it up to you, because that seems like the sort of thing I would do.
NOW it is time to stop being a derpy Lurn face. But ~YOU~ get to decide which icon we go with.
The voterating!
The entries are as follows. Choose ONE that you like the most and would like to see as the group icon. Then send me a message personally with your vote. Posting your vote here will result in it being hidden and not counted.
What's the point? Well, voters will receive rainbow bandages on Neurogalaxy for free! But be sure to include your username so you get a prize!
Some additional rules;
•Yes, you can vote for your own submission
•Only users who have been here for 1 week or more may vote
•I can't think of more than two rules
The entries!


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There are times when you just need to clear off the icons on your Desktop, like when you're giving an important presentation at work. No one wants to see all the images you've saved from the internet, right?
I used to solve this problem with a Sort Me folder on the Desktop, just select all in a Finder window focused on the Desktop, and drag it all to the Sort Me folder.
There's an even faster and easier way to hide all the icons on your Desktop, though, using the Terminal.


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Lining Up for Breaking Dawn 2
Obviously, huge crowds are expected this weekend to watch the final installment of the Twilight franchise. How will our local theaters manage the twihard crowds? Kathy Quinn told us how AMC is preparing for the increased traffic.
You don't have to be a fan, but you've got to be living under a rock if you don't at least know about the "Twilight" franchise. But what is it that's made it a bona fide cultural phenomenon? Fox 4 Film Critics, Russ Simmons and Shawn Edwards, told us about the impact the franchise has had on the world.
It all started with the books. Millions of people have read the Twilight Saga and are now vampire obsessed. But don't give all the credit to the Twilight books. Author, Bridget Heos, told us how the books that came before the franchise "suck" readers in.


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|Hilton Hotels And Resorts Scotland hotels are listed below. Search for cheap and discount Hilton Hotels And Resorts hotel rates in Scotland, MD for your personal or business trip. We list the best Hilton Hotels And Resorts Scotland venues so you can review the Scotland Hilton Hotels And Resorts hotel list below to find the perfect place.
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NEW ORLEANS -- The metaphor was perfect. Generally speaking, NBA coaches don't want to spend pre-game moments comparing their players to the mild-mannered plant-eaters of the animal kingdom, but New Orleans' Monty Williams did just that before his Hornets pulled out a 93-88 Game 4 win to even their series with the Los Angeles Lakers.
Williams sat his team down and showed it a YouTube video taken on a handheld camera four years ago at Kruger Park in South Africa. In the video, a pack of lions attacks a small family of water buffalo, and comes away with the calf. The lions have the calf surrounded and are in the process of subduing it to begin their meal. But then, the camera operator pans out and suddenly, there are about 200 water buffalo. They begin to chase the lions. One of the water buffalo catches a lion with its horn and flips it into the air.
"It was pretty cool," Williams said.
No question which bunch in this scenario is the lions. The Lakers are the two-time defending champions and the second seed in the West, an overwhelming favorite to drub the Hornets in the series and a favorite to return to the NBA Finals for the fourth straight year. New Orleans is the seventh seed, scratching into the playoffs with 46 wins — 11 fewer than the Lakers. Even after the Hornets won Game 1 with a terrific performance from point guard Chris Paul (33 points and 14 assists), few expected the Lakers to drop so much as another game.
But Game 4 was one for the water buffalo. Paul topped his Game 1 output with a triple double, scoring 27 points with 13 rebounds and 15 assists, and carrying the Hornets when they most needed him — he scored 12 of his points in the fourth quarter.
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And if Williams' point with the video was that his team would need to go after the lions with a group fight, it was a message well-received. Small forward Trevor Ariza was a force early in the game, scoring 16 points in the first half, and Carl Landry added 16 points and seven rebounds while doing a good defensive job against Lakers star forward Pau Gasol. Backup big man Aaron Gray chipped in 15 valuable minutes, with seven points and three rebounds. And with 10.3 seconds to play, it was Jarrett Jack — 0-for-5 in the game to that point — who knocked down a 15-foot shot on an assist from Paul.
Make no mistake, an upset in this series is still only a remote possibility. The Lakers are still a much bigger team, even if they have not adequately exploited that advantage to this point. Gasol and center Andrew Bynum scored just 27 points in Game 4, and Gasol had a costly flub of a pass from Bryant that would have surely led to a dunk with 1:13 to play. The Lakers were outrebounded in Game 4, too, by a 39-32 margin, and Paul was the only player with double-digit rebounds.
But the Lakers have now taken two pretty good punches from the Hornets, and with Bryant's ankle becoming a question mark for Game 5, it almost seems as though anything is possible in this series. After all, watch the video. It has a happy ending from which Williams drew an important lesson.
"Don't give up, you know?" Williams said. "The calf lived. It was getting attacked for about three, four, five minutes and it lived. They just stayed together, the lions obviously had the advantage, but the (buffalo) were pretty tough when they were together."


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A servo control system for a machine tool or the like requires only a single computational resource, such as a microprocessor, to provide coordinated control along multiple axes. No active control mechanism is required for any axis outside of the single resource. A real time multitasking approach enables the single resource to control multiple axes of motion, with the control of each individual axis being carried out by means of simple, yet effective, routines that conserve computing power. The routines also facilitate the generation of geometric designs in other media, such as the display of such shapes on a video screen or via a printer.
1. A system for controlling the formation of geometric shapes in materials by moving a tool relative to a workpiece along multiple axes of movement, comprising:
means defining data representative of geometric shapes to be cut or otherwise formed in materials;
means for converting said data into a description of a path to be followed by the tool and storing said description;
a plurality of motors respectively associated with said multiple axes, each of said motors providing relative movement between the tool and the workpiece along an associated one of said axes;
a plurality of feedback devices respectively associated with said plurality of motors for providing feedback information indicative of at least one of the actual position and velocity of the tool along an associated axis; and
a single active processor for controlling said data defining means and said data converting means, for receiving feedback information from each of said feedback devices, and for controlling the operation of each of said motors to provide coordinated relative movement between the tool and the workpiece along each of said multiple axes in accordance with said stored path description.
2. The servo system of claim 1 wherein said single active processor comprises a single microprocessor.
3. The servo system of claim 1 wherein said active processor produces said coordinated relative movement of the tool by controlling said motors in a cyclic manner, wherein each cycle comprises a sequential reading of feedback information and generation of a motor control signal for each of the axes being controlled.
4. The system of claim 3 wherein said data comprises a sequence of operations which define said geometric shape, and said data converting means processes said sequence of operations to produce a table that describes the movement of the tool along each axis, relative to the workpiece, for each cycle of operation.
5. The system of claim 1 wherein said data defining means includes a user interface by means of which a user communicates with said single active processor to define and/or modify geometric shapes, and wherein said single active processor stores said data in response to communications received from a user through said user interface.
6. A method for providing coordinated movement of a device along multiple axes of motion by means of a single active processor, comprising the steps of:
a) determining desired movement of the device along each of said axes of motion for successive increments of time;
b) carrying out one cycle of control in said active processor for one of said increments of time, said cycle including the steps of:
i) determining, on the basis of said desired movement, at least one of a desired position and desired velocity of the device along one of said axes;
ii) detecting at least one of the actual position and actual velocity of the device along said one axis;
iii) calculating at least one of a position error and a velocity error along said one axis for said increment of time;
iv) generating a pulse-width modulated control signal to produce movement along said one axis that is effective to reduce said error by:
determining a center value indicative of the average width of the pulse-width modulated signal over plural previous cycles of operation;
computing a response based on said error and detecting whether said response is less than or greater than a reference value;
increasing said center value when said response is greater than said reference value and decreasing said center value when said response is less than said reference value; and
summing said center value and said response to determine the width of said pulse-width modulated signal; and
v) sequentially repeating steps i, ii and iii for each of the other axes; and
c) repeating step b for each of the successive increments of time.
7. The method of claim 6 wherein said step of determining desired movement includes the steps of:
parametrically representing the path of movement of the device along one axis for successive periods of time;
determining the coefficients of a polynomial which describes at least a portion of said parametric representation;
computing recursive values for at least position and velocity at the beginning of a period of time from said coefficients; and
storing said recursive values in a table.
8. The method of claim 7 further including the steps of computing a recursive value for acceleration from said coefficients, and storing said value in said table.
9. The method of claim 8 further including the steps of computing a recursive value for change of acceleration from said coefficients, and storing said value in said table.
10. The method of claim 8 further including the step of computing desired position for successive increments of time by cyclically summing said stored velocity value with said stored position value, to compute a new position value, summing said stored acceleration value with said stored velocity value to compute a new velocity value, and updating said table with said new values.
This application is a continuation of application Ser. No. 07/655,857, filed Feb. 15, 1991, now abandoned.
The present invention is directed to a computer control system for generating geometric designs in a tangible form. In one preferred embodiment, the invention is directed to a servo control system for machine tools which cut or form pieces of material, such as metal or wood, into desired geometric shapes.
Since the 1950's, servo control systems have been used for the control of machine tools, to automate repetitive machine operations. At first, these systems were large, complex, inflexible and expensive; operating in many ways like a player piano, with programs stored on paper tape. Over the years, these systems have evolved into powerful, reliable and reasonably priced fixtures of industry. Servo controls now integrated with computer technology are referred to as CNC or DNC systems (Computer Numerical Control or Direct Numerical Control). Along with production lines and the concept of interchangeable parts, machine tools equipped with CNC systems have become an integral part of modern mass production technology.
Even though CNC systems are highly economical for mass production of machined components, the vast majority of machine tools worldwide are still operated by hand. The reason for this apparent contradiction is that most machine tools are not used for mass production. Rather, they are used for prototyping, repair, or small quantity production.
If a machine is used to make large quantities of a single component, the time spent writing a CNC program and setting up the machine is quickly recovered during actual production. If the user is only interested in one sample of a part, however, he can typically make that one sample faster with manual control than he can program the CNC.
The obstacles to using prior CNC systems for small quantity production are the rigid demarcations between the stages leading to actual production on CNC machine tool systems. The desired part must first be designed, this design must then be translated into a "tool path" which will cut the part, and finally this tool path must be translated into codes (sometimes known as G-codes) for use by the CNC system. This three-step process is typically carried out by different people using different equipment in each step.
It is one objective of the present invention to provide automation techniques which allow small quantity production on machine tools and other equipment to be substantially improved, compared to either traditional manual or traditional CNC approaches. At present, about 95% of all machine tools are manual, so that more than 95% of machine operators are using manual machines (since one operator can sometimes service more than one CNC machine). A main objective of the present invention is to substantially improve the productivity of this large majority of operators. The direct value of such improved productivity will be very large and its "economic ripple effect" could be even larger.
There are several million manual machine tools in place worldwide. The techniques disclosed herein are applicable to the majority of these machines by means of adding or "retrofitting" computer control systems, which embody the principles of the present invention, to these machines. Although the present invention is directed primarily toward automation of existing and/or new manual equipment, the techniques disclosed herein will also benefit CNC machine tools used for mass production.
Part of the resistance to using CNC machines in the past for small quantity production is due to the large amount of processing power that is required. In conventional machine control environments, a large amount of processing power is required, and different parts of the manufacturing process are frequently carried out in different locations. Due to the distributed nature of tasks, computer aided drawing (CAD) or CAD/CAM (computer assisted manufacturing) operations are carried out on one processor and CNC operations are carried out with the use of several other processors. Typically, CNC systems have allocated one processor per motor being controlled, with each motor providing the driving force along one axis of machine operation. In addition, conventional CNC systems require another processor to coordinate the activities of these motor controllers, plus a processor to handle the user interface. No known multi-axis CNC system operates with a single central computational resource and without individual active axis controllers, which may be active analog feedback loops or digital feedback loops.
To enable manual machine tools to be automated in a manner which adapts them to be reliably and economically used for small quantity part production, two objectives are desireable. First, all of the tasks which were heretofore carried out in a distributed manner should be integrated into a single system that is controlled by one user through a consistent interface. Secondly, a control system should be available that provides coordinated control of movement along multiple axes in an economical manner with small processing power requirements.
The present invention is particularly directed to the latter of these two main objectives.
In achieving the desired objective of an economical control system with low processing power requirements, the present invention provides a combination of electronic hardware, a microprocessor (preferably embodied in a conventional personal computer), and control software blended together with unique systems integration techniques. When attached to a machine tool, the result is an integrated, interactive and intuitive system; capable of component design (CAD), tool path generation (CAM), and direct machine tool control (DNC) by one person at one work station with a consistent user interface.
All active components and functions are contained within a central computational resource which is shared among all motors in the system. At the heart of this invention is the concept of using one microprocessor for all system functions. In other words, no active components are dedicated specifically to only one motor. Rather, the motors are all controlled, in a coordinated and integrated fashion, by a central computational resource.
A good example of a central computational resource is a personal computer (PC). A modern personal computer might consist of an 80386 central processing unit (CPU) with or without an 80387 numeric coprocessor, both available from Intel Corporation. The personal computer also typically includes a keyboard subsystem, a disk controller subsystem, and a screen display subsystem (all subsystems could incorporate a microprocessor dedicated to those functions). Although the PC may contain several microprocessors, it is programed as and functions as a single computational resource.
Modern PC's contain "expansion slots" which are used to add functionality to the PC. There are in fact many examples of commercially available motor control systems which plug into a PC's expansion slot and which contain active components dedicated to controlling one motor each. The applicability of these systems is limited, however due to high cost, difficulty of programming, and great difficulty in achieving the required variety of tightly coordinated motion required of precision machine tool controllers.
In the present invention, the control processor is shared among the many different tasks required of the system by a technique of real time multitasking. By performing all system functions on one computer with one central computational resource, the barriers between the above described stages of component production are more easily and effectively broken down. By using one CPU, one memory space, one display screen, one user input device, and one disk drive system, data from any of the different stages of operation is directly accessible to any other part of the system, and coordinated movement along each of multiple axes of motion is produced.
FIG. 1 is a block diagram of the hardware configuration for a multiple-axis servo control system;
FIG. 2 is a block diagram of the system software architecture;
FIG. 3 is a flow chart of the Low Level Servo Loop algorithm;
FIG. 4 is a flow chart illustrating the Path Construction Task;
FIG. 5 is an example of the Path Tables stored in the memory of the computer;
FIG. 6 is an illustration of an exemplary second-order curve along which a machine tool is controlled to move;
FIG. 7 is an illustration of the parametric representation of the curve of FIG. 6 along one axis; and
FIG. 8 is a more detailed illustration of the first three data points on the curve of FIG. 7.
The following is a description of one embodiment of the system concept behind the present invention. In this embodiment, the central computational resource comprises a microprocessor which forms part of a personal computer (PC), and is used to control motion along six independent axes. These axes could be the respective axes of relative movement between a cutting tool and a workpiece in a CNC machine tool, for example. Many other similar and useful embodiments, such as robotics or dedicated automation equipment, should become apparent to those skilled in the art.
Referring to the block diagram of FIG. 1, the basic system configuration of the machine tool controller comprises a personal computer having a motherboard 10 which houses a CPU 12. An interface card 14 is plugged into one of the expansion slots 16 on the motherboard, for communication with the CPU. The interface card 14 has I/O ports 17 which enable it to communicate with external power boards 18. One power board is associated with each axis under the control of the servo system. Connected to each power board is a motor 20 which provides the driving force for the axis, and an encoder 22 which provides motor position and/or velocity feedback information.
The CPU 12 of the personal computer, such as an 80386-based personal computer, is the only "active component" in the system. In the context of the present invention, the term "active" denotes a component or circuit which receives feedback information, processes it and carries out the operations necessary to complete a feedback loop. Thus, in the present invention the processor 12 does everything from closing all low level servo control loops to the highest level user interface functions. The user interface is a form of active feedback loop in which the computer enables the user to go from where he is to where he wants to be. Since the processor handles all active functions, there are no master/slave processors, no analog servo loops, no interprocessor communications, and no data format translations that are used or required.
Many of the specific values given in the following example are for the sake of clarity and to facilitate an understanding of the invention. The system in many cases could be operated successfully over a range of such values. The system could also operate successfully with 80286 or 80486 microprocessors which are generally software compatible with the 80386 microprocessor. The system could also be converted to work with 68000, 68020, 68030, and 68040 series microprocessors (manufactured by Motorola), other personal computers, or custom designed systems based on an architecture similar to modern personal computers.
Apart from the CPU 12, the major elements of the servo system are the hardware which provides communication between the CPU and the motor, and the software for controlling the CPU. These latter two elements are described in greater detail hereinafter.
The electronic hardware implements several input and output functions, in addition to controlling power to the motors, but performs no active functions in the sense of closing servo loops. The following describes the function of the circuits on the interface card 14 and the power boards 18, which constitute the hardware component.
The interface card 14 includes up/down counters 23 which accumulate pulses from the optical encoders 22 attached to the motors, to allow the micro-processor 12 to read the position of the motors 20. The interface hardware also includes counters 24 which accumulate pulses, the frequency of which are proportional to current in the motors. In addition, the interface hardware includes counters 25 which are loaded by the CPU to send a fixed PWM (pulse width modulated) signal to the power boards. Another counter 26 within the interface card circuitry is loaded with a value which thereafter causes the card to produce a fixed frequency pulse that is used to signal interrupts to the computer, for requesting servo control updates. A deadman timer 27 on the interface card is periodically loaded by the CPU. If it is not reloaded periodically, PWM signals and control interrupts are automatically shut off as a safety feature.
To sequentially access each axis, a pointer latch (not shown) on the interface card is rippled each time a PWM count is loaded into one of the counters 25. The output from this pointer latch indicates which one of the six axes is to receive the PWM signal. The amount of I/O space that is required is thereby reduced because all sets of I/O ports are at the same physical address for the CPU, but are individually selected via the pointer latch.
The electronic hardware on the power boards 18 converts the logic level PWM signal to a high voltage PWM signal at current levels necessary to run DC motors, for example, by means of power transistors in an "H" bridge configuration, or a three-phase bridge for operating a brushless motor. The power electronic circuit on each power board performs a "break before make" function on the power bridge, does a current-to-frequency conversion, and verifies that the PWM signal frequency is within an acceptable range. Circuitry for carrying out these operations is conventional, and is therefore not described in further detail herein.
The system software operates under an operating system appropriate to the personal computer in which it is installed, such as MS DOS (Microsoft Disk operating System) for example. With reference to the software system architecture diagram of FIG. 2, the software is divided into four distinct tasks. These tasks are:
______________________________________Name Priority Rate______________________________________Low level servo loop 28 highest 6000 HzMouse monitoring 29 2nd 60 HzPath construction 30 3rd 10 HzUser interface 31 lowest foreground______________________________________
Three of these tasks (28, 29 and 30) are invoked periodically through hardware generated interrupt requests, which occur at the rates shown in the "Rate" column in the above table for the example described herein. The fourth task 31 is the foreground task which operates whenever no hardware interrupts are pending or active. All of the tasks have access to a common shared memory 32. The net result is a smoothly operating system over which the operator has immediate control and seldom waits for the system to process data. Even while extended cutting operations are being carried out by a machine tool under control of the system, other parts can be concurrently designed or other operations on the part being cut can be concurrently programmed, for example. If any one task required too much computing power, the system would not work as a whole.
Servo Loop Control
The highest priority task in the system is the low level servo control loop. A computationally efficient and dynamically stable algorithm at this level, to control the motors, is a prerequisite to a low-cost and workable CNC system. A preferred algorithm is depicted in the flow chart of FIG. 3. A particular advantage of this algorithm is that, when written in assembly language, it requires only a small fraction of the system computing resources. Running on a 25 MHz 386 PC, for example, one cycle of the servo algorithm executes in 40 to 50 microseconds. When controlling 6 axes at a rate of 1000 times per second, this requires only 240 to 300 microseconds out of every 1000 micro seconds (1/1000 second) or 25 to 30% of the microprocessor's computing power.
Since all of the servo loops are serviced sequentially by one processor, they are all inherently synchronized to each other. This is particularly significant since the primary objective of any CNC system is to produce coordinated motion among all of the axes.
In the example presented herein, the control of each axis is updated 1000 times per second. Thus, when controlling six axes, the Servo Control Loop shown in FIG. 3 is accessed 6000 times per second. The accessing of this control loop is carried out in response to an interrupt request (IRQ), which is generated by the counter 26 in the interface card 14 at a rate of 6 KHz. Once an interrupt occurs, the operation of the Servo Control Loop is carried out as follows:
Step 1--Push Registers and Increment . . . The state of the processor is saved so it knows where and how to return after the interrupt routine has been serviced. In addition, the next axis in sequence is selected for control.
Step 2--Read Encoder . . . A 32-bit count which represents actual motor armature position, in units of "encoder counts", is read from the counter 23 on the interface card 14. Typically the encoder might produce 2000 pulses per revolution. When geared to a 5 thread per inch (2 threads/cm) ball screw with a 2.5:1 ratio, each pulse represents 0.000040 inch (1.6×10-5 cm) of travel of the machine tool along the associated axis.
Step 3--Perform Recursive Addition . . . During each control cycle the processor must determine a desired motor position in units of encoder counts (position count). If one axis were to require constant velocity, this is achieved by adding a constant number of encoder counts (velocity count) to the desired encoder position count each control cycle. If the motor is required to remain stationary, then the velocity count is zero. By extension this concept can be extended to higher order terms. If constant acceleration is required, during each control cycle an acceleration count is added to the velocity count which is in turn added to the position count. This technique can be extended to jerk (rate of change of acceleration) and beyond. This approach allows a continuous polynomial function to be exactly reconstructed in a piecewise fashion using only addition instructions. By contrast, if polynomials had to be solved every control cycle using floating point multiplication, not enough computing power would remain from a 386-based PC to run the rest of the system.
The particular values for position, velocity, acceleration and jerk, which are to be recursively added, are stored in Path Tables A in the memory of the microprocessor. The manner in which these values are derived is explained in greater detail hereinafter with reference to FIGS. 4 and 5.
Step 4--Compute backlash compensation.
Step 5--Compute actual motor velocity . . . If the motor is turning clockwise, backlash compensation encoder counts are added to the desired position count. Otherwise, nothing is added.
Step 6--Subtract actual from desired position counts and velocity counts . . . This provides position count error and velocity count error.
Step 7--Compute the servo feedback response . . . The PWM (pulse width modulated) count loaded into the counter 25 is an 8-bit count which can range from 0 to 255. 0 represents full power clockwise, 255 full power counterclockwise, and 128 is zero power. More particularly, the PWM signal is a binary "low/high" signal. When this signal is in one state, e.g. high, power flows in one direction to the motor. When the signal is in the other state, power flows to the motor in the opposite direction. The particular number that is stored in the counter 25 determines the ratio of these two levels to one another during a cycle of the signal. For example, a value of O indicates that the PWM signal remains in the low state to provide full power clockwise, 255 indicates that the signal remains in the high state to provide full power counterclockwise, and 128 indicates that the signal alternates between the two states evenly.
The PWM count value (motor power) is computed in the following manner:
control response=(G1*PE)-(G2*VE) PWM count=center count+control response
where G1 and G2 are gain values,
PE is position error, and
VE is velocity error.
The center count value begins at 128 (zero power) and is adapted every control cycle in the following fashion:
if control response >0 then the center count is increased, for example by 1
if control response <0 then the center count is decreased.
The net result of this calculation is an adaptive response where the center count closely approximates the PWM count which would have provided the average power demanded by the motor over the previous several control cycles. This is a very simple but effective control algorithm which is almost unconditionally stable, rejects disturbances very robustly, and produces "zero following error".
Once the PWM count value is determined it is written to the PWM counter 25 on the interface board.
Step 8--End loop . . . If axes 1 through 5 have just been completed, then the registers are popped and the processor returns back to the operation it left to service the interrupt. If axis 6 has been completed then the control cycle count is incremented.
If the control cycle count is less than 100 then the registers are popped and the microprocessor returns to its previous task. If the control cycle count equals 100 then the Path Construction Task (FIG. 4), which is responsible for toggling path tables, computing new recursive coefficients, and loading them into tables, is called up. This task requires between 5 and 35 subsequent control cycle periods (5 to 35 ms out of 100 ms) to complete, depending on the nature of the path being followed. This one interrupt does not return for several milliseconds, but interrupts are enabled and subsequent control cycle interrupts do interrupt this routine before it returns.
Path Construction Task
The Path Construction Task is invoked as described in Step 8 above, and is illustrated in FIG. 4. This routine is technically invoked by the Low Level Servo Loop hardware interrupt once out of every 600 interrupts (10 times per second)t The purpose of this task is to read actions which have been stored in memory, convert these to detailed tool path descriptions, and to convert these tool path descriptions into path tables used by the low level servo loop in the recursive addition step. The exact tool path is determined by the sequence of the actions combined with the value of the variables which describe each action.
The end products of the Path Construction Task are Path Tables which contain values describing the tool path. These are the values which are used in Step 3 of the Low Level Servo Loop to perform the recursive addition. An example of the Path Tables which are created in the Path Construction Task is illustrated in FIG. 5. In practice, two Path Tables are constructed, and the microprocessor toggles between them after 100 cycles of the Low Level Servo Loop routine has been implemented for all six axes. In other words, the values stored in Path Table #1 are used for the first 100 cycles of control for each axis, the values in Path Table #2 are used for the second 100 control cycles for each axis, and so forth. In the example described herein, six independent axes of motion are controlled by the microprocessor 12. Accordingly, each Path Table contains six values for each of the four parameters of desired position, velocity, acceleration and jerk. Each stored value comprises two parts, a number of whole encoder counts W, and a number of fractional encoder counts F. Each time the recursive addition step 3 of the Low Level Servo Loop is implemented, the velocity value 36 for the axis under control is added to the position value 34, the acceleration value 38 is added to the velocity value 36, and the jerk value 40 is added to the acceleration value 38. The new desired position value which is computed by adding the velocity value 36 to the previously stored position value 34 is then used throughout the rest of the cycle for controlling the position of the motor during that control cycle.
Although the motor encoders 22 only produce integral numbers of pulses in representing actual motor positions, the fractional values F for desired position velocity, acceleration and jerk are stored in the tables to provide continued accuracy over multiple iterations of the recursive addition process.
After 100 cycles of operation of the low level servo control algorithm for each axis (600 cycles total), the microprocessor toggles to the other Path Table (Step 42, FIG. 4), to access updated information which is used to control the motion along the respective axes for the next 100 cycles. During this time, the values in the previously used Path Table are updated for subsequent use in the next group of 100 control cycles.
The manner in which the Path Construction Task of FIG. 4 operates to derive the particular values that are stored in the Path Table is explained with respect to FIGS. 6-8. To facilitate an understanding of the principles presented herein, the following example of the generation of data pertaining to a second order curve, i.e. a two-dimensional curve, is given. The extrapolation of these principles to third and higher order curves, as well as additional axes, will be readily apparent to those of ordinary skill in the art.
An example of a path that might be followed by a cutting tool during operation is illustrated in FIG. 6. This path is two dimensional in nature, and can be defined by two parametric second order polynomials corresponding to two axes, x and y. Such a curve might be defined and stored in the memory 32 by the user through a CAD program, for example, which is preferably included within the User Interface Task 31.
In the implementation of the present invention, the polynomials which define the curve are converted into recursive values for position, velocity, acceleration and jerk (if appropriate) for each axis, which are stored in the Path Tables of FIG. 5. To perform such a conversion, a series of time points t0 -t18 are labeled on the curve. The placement of these points is arbitrary and suitably chosen by the user to optimize the machine operation to the available computing power. Essentially, each point represents a fixed period of time. In the present example, each point is representative of 1/20th of a second. The total number of points therefore represents the amount of time it takes the machine tool to transcribe the illustrated path. Thus, with 18 time points as shown, the machine tool would transcribe this path in slightly less than one second.
Once the time points have been placed on the curve, their coordinate values (Xn, Yn) are stored in the memory 32. The microprocessor 12 then transforms them into a parametric representation for each axis of motion. The parametric representation of the curve for the x axis is illustrated in FIG. 7. In the graph illustrated in this figure, the horizontal axis represents time and the vertical axis represents position along the x axis. For each of the time points tn along the curve of FIG. 6, its x-axis value is plotted in the parametric representation of FIG. 7. Thus, at time to the value X0 is plotted, at time t1 the value X1 is plotted, etc. The resulting curve represents the path of motion that is taken along the x axis to transcribe the curve. A similar such parametric representation is made for the y axis values.
As noted above, the distance between two adjacent time points is representative of 1/20th of a second. Therefore, any three consecutive data points along the parametric representation is indicative of 1/10th of a second, which is the length of time that the Low Level Servo Task operates before calling for an updated Path Table. Thus, for each Path Table, the data represented by the parametric curve along three consecutive points is used to determine the stored values.
An expanded view of a portion of FIG. 7, illustrating the curve between the first three data points X0, X1 and X2, is illustrated in FIG. 8, and represents 1/10th of a second. The curve defined by passing through these three points can be represented as the unique second order polynomial
Since the values for x are known for each of t0, t1 and t2, the coefficients a, b and c can be readily determined (Step 44, FIG. 4). Using these coefficients, the desired x position value at any given instant in time can be computed. Since the Low Level Servo Task is carried out for each axis at a rate of 1000 times per second, the desired x position is thus calculated for each of the first three thousandths of a second. These calculations are carried out as follows:
x0 =a
x1 =a+bt1 +ct1 2
x2 =a+bt2 +ct2 2
where t0 =0, t1 =1/1000of a second and t2 =2/1000 of a second.
From these values the desired values for velocity and acceleration can also be computed as follows (Step 46):
v0 =x1 -x0
v1 =x2 -x1
a0 =v1 -v0
Once each of these values has been computed, the values for x0, v0 and a0 are stored in the Path Table at the appropriate locations corresponding to position, velocity and acceleration, respectively, for the x axis (Step 48). These values are subsequently processed during each recursive addition step in the Low Level Servo routine, as described previously. This technique can be extended to higher order curves in a straightforward manner by computing additional values for x, v, a and j (if appropriate) for subsequent time periods.
Once the Path Construction Task completes the table, the registers are popped (Step 50) and the microprocesser returns to the foreground routine until the next interrupt occurs.
User Interface Task
The User Interface Task (UIT) 31 is the foreground task. Although it does not form a part of the servo control loop, it will be described for completeness of understanding. Essentially, this task is a CAD/CAM system with features which allow the operator to have control over the operation of motor controls that operate in the background. The UIT is the section of software which the CPU executes when no other tasks are pending or executing.
It appears to the user that the UIT is running all the time. The maximum amount of time spent away from this task to perform one of the other routines is about 35 milliseconds. The response delay associated with this interruption is not perceptible to the user. This task monitors the keyboard and manages the text and graphics screens available to the user as part of the CAD/CAM package.
The part of the UIT which handles the geometric computations for the two-dimensional graphics display is called the graphics engine. The graphics engine code is very similar to code in the Path Construction Task called the execution engine, which handles the geometric computation for the three dimensional tool path. These two engines can be similar because most geometries occur in two dimensions, not three. Because this engine code uses many global variables, it would be difficult to make it reentrant (interruptible). It is therefore preferably duplicated in both the Path Construction Task and the UIT so that the execution engine can run concurrently with the graphics engine. This means to the user that the system can be used to program one set of operations while it is executing another.
The UIT is a software loop which updates the screen every cycle and monitors the keyboard and mouse. The worst case loop time is about 1/3 second while the software is interactively drawing long, complex curves or large diameter circles. The UIT's primary function is to create a sequenced list of operations which define the shape of the desired article. The overall program uses this list in two ways:
1. The UIT uses this list (or parts of it) to display on the screen a representation which enables a user to visualize what a part looks like;
2. The Path Construction Task uses the list as described with reference to FIG. 6, to guide it through a sequence of cutting operations which will produce an actual machined part.
One of the major obstacles to direct use of CAD data by CNC systems is that the purpose of CAD is to represent parts design to people either on a computer screen or on paper. The sequence of drawing such a representation is unimportant to the human viewer who only looks at a CAD drawing after all entities in the drawing have been drawn. Therefore CAD systems make no effort to keep track of drawing sequence. It turns out that the data which underlies CAD drawings contains much of the same information necessary to perform cutting operations to actually make the desired part. The primary objective of computer assisted manufacturing (CAM) is to "fill in" cutting operations implied by the CAD data and to put all operations into a usable sequence.
In the CAD/CAM UIT which forms part of the preferred embodiment of the present invention, all drawing and editing that is done during the design phase produces data that describes a sequence of operations and all information necessary to "fill in" cutting details such as pocket routines, tool compensation, and so on. This sequence information is maintained with the CAD data.
Since conventional CAD programs do not keep track of sequence, each entity they keep in the underlying data base must contain redundant information. For example a line must store both end points. When two lines are meant to connect, they are both in random locations in the data base, and if the user wants to move that connecting point, somehow the two end points must be matched and both moved.
In the present invention, by keeping track of sequence, only one point per line must be stored because the end of the previous line segment (or other operation) is the beginning of the next. In this way no data must be matched by the system because no redundant data is required (or allowed). Since the data is sequenced and none is redundant, it is possible for the user to intelligently view this data in text rather than graphical form. This alternate "view" of the data turns out to be very useful and easier to work with in many cases. Such an approach allows the user to switch very rapidly between a graphical and textual view of the underlying CAD data, add or edit data in either view, and have the new data instantly reflected in both views. Preferably, entities are numbered in both views so they may be related back and forth.
The same techniques used to define and reconstruct paths of motion, as described above, could also be applied to computer graphics. For example, curves which represent objects on a screen could be defined and reconstructed with the recursive technique that describes a multi-order function. Fonts for character display could be computed, displayed, and printed much more quickly, making WYSIWYG (what you see is what you get) formats more practical. Likewise colors or shades in objects or areas of the screen could be so represented. These techniques could be applied to the way objects change from screen to screen in computer animation. In such a case, the parametric step size would be the pixel dimension or printer dot spacing rather than the servo update time used in motion control. The mathematics are identical and thus should be apparent to those skilled in the art.
Similarly, the concept of recursive path definition can be used as the basis for interprocessor communication within a motion control system which uses one processor per axis. With this approach, multiple processing units can be synchronized to follow complex, coordinated paths.
The recursive addition techniques for defining a geometric shape allow faster drawing of complex shapes and do so with a minimum of stored data, and therefore can be considered a data compression and expansion technique. It is also possible to represent changing pitch in sounds (speech, music, etc.) with these recursive techniques. The purpose could be data compression for storage or transmission (e.g., for HDTV broadcast and display). Also the data reduction made possible by these techniques can make speech or image recognition algorithms faster or simpler by "filtering" large amounts of data down to computationally manageable levels.
Thus, it will be appreciated that the present invention is not limited to the specific embodiment described herein to facilitate an understanding of the principles of the invention. Rather, the invention has applicability in a wide range of fields and is limited only by the scope of the claims appended hereto.
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Simple but popular single 3-1/2" x 5" vertical style acrylic picture frame is of one piece construction and ideal for displaying pictures on a desk or tabletop. This inexpensive yet sturdy 2mm plastic frame also makes a great sign holder.
Note: May be sold as MCS 31305 or Saflin HSB1135
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Note: May be sold as MCS 31305 or Saflin HSB1135
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