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Lunaire® St. Barts Striped Floral Seamless Under-Wire-27011
$17.99 Original Price $30.00
Savings: $12.01 (40%)
This molded seamless underwire is rendered in a playful striped hosiery lace with soft floral details. Made with an inside sling for added shaping and support, and lined with smooth coral micro fabric for a pop of color.
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Shipping your purchase is easy on belk.com. Depending on the destination of your package, you can expect it to arrive within 4-7 business days. Shipping Information
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This item is also part of the collection:
Lunaire St. Barts Seamless Underwire - 27011 & St. Barts Boy-Short with Lace-27032
Lunaire St. Barts Seamless Underwire - 27011 & St. Barts Boy-Short with Lace-27032


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Bruce Sellery is a personal finance expert, best-selling author, and TV host.
He is the founder of Moolala, a personal finance training company with a mission to inspire people to get a handle on their money so they can live the life they want. His company develops customized financial education programs – live and online - for clients across North America.
Bruce is the author of two bestselling books - "The Moolala Guide to Rockin' Your RRSP" and "Moolala: Why smart people do dumb things with their money (and what you can do about it)". He is a columnist for Moneysense Magazine and a contributor to CBC Television's "Lang & O'Leary Exchange".
Bruce is a sought after public speaker and commentator and has toured from coast to coast delivering keynotes and appearing on media outlets such as CNN, MSNBC, CTV's Canada AM, Citytv's Breakfast Television and Cityline, as well as print publications such as the Globe and Mail, Financial Post, and Maclean's. He was also the host of "Million Dollar Neighbourhood", a reality TV show that aired on the Oprah Winfrey Network.
Prior to Moolala, Bruce was an anchor at CTV's Business News Network (BNN). He was one of the founding journalists there and over a ten year period he anchored thousands of hours of live programming and interviewed thousands of CEO's, economists and analysts on the day's top business stories. Bruce also spent three years as BNN's Bureau Chief in New York City where he covered the U.S. markets, the economy and corporate crime, including the trials of both Martha Stewart and former Worldcom CEO Bernie Ebbers.
Before moving into journalism, Bruce worked at Procter & Gamble, leading cross-functional teams in both sales and brand management. Taking on a leadership role in corporate training, Bruce headed up the design and rollout of P&G's highly successful Diversity Training programs to 2,000 employees across the country.
He is a Commerce graduate from the Queen's School of Business in Kingston, Ontario, is a professional member of the Canadian Association of Professional Speakers, and was a member of the Governor General's Leadership Conference in 2008.
When Bruce isn't on the air or on the podium, he is a proud parent, a dedicated cottager, long distance runner and a devout Toronto Film Festival attendee. He has traveled extensively, throughout Central and South America, Central and Eastern Europe, Asia, Australia and New Zealand. He is based in Toronto, Canada.

subset: commoncrawl


text:
Simply Andalucia - Searchable Google Map
Spanish Fincas - Traditional Village Houses - Country Villas - Cortijos - Inland Homes
Type in the name of the town or village of interest and view its location. For drive times to and from anywhere in Andalucia use the "Directions" Tab.
To View our full Portfolio of property For Sale use the "Interactive Property Search" where you can Narrow Your search To Suit Your Requirements


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Director George H. Cohen
George H. Cohen was sworn in as the 17th Director of the Federal Mediation and Conciliation Service on October 8, 2009.
During his tenure, Mr. Cohen has personally mediated a number of high-profile disputes including those between Major League Soccer and the Major League Soccer Players Union, the Metropolitan Opera and its orchestra musicians represented by American Federation of Musicians Local 802, the National Football League and the National Football League Players Association, the Federal Aviation Administration and the National Air Traffic Controllers Association, the American Red Cross and a national coalition of labor unions, and the NBA and the NBA Players Association.
Apart from those disputes, Director Cohen has proactively pursued a program of encouraging the labor-management community to establish ongoing, cooperative committees devoted to problem solving as the most effective means for addressing complex and controversial issues that confront employers and their unions in today's difficult economic environment. In particular, this program has been directed at health care-related issues and the need for public education reform through labor-management collaboration to advance student achievement.
Prior to becoming Director, Mr. Cohen had an extensive and distinguished career as a labor lawyer, negotiator, and mediator. During the period 1966-2005, he was a senior partner at Bredhoff & Kaiser, a Washington, D.C. law firm with a national practice, specializing in representing private and public sector labor organizations in collective bargaining involving a wide variety of industries (including sports, entertainment, steel, airline, and rail) and government entities employing teachers, police, and firefighters. In addition, Mr. Cohen is an experienced advocate having argued five landmark labor cases before the United States Supreme Court and more than 100 appellate and federal district court cases.
From 2005 until he was appointed Director, Mr. Cohen engaged in a solo practice as a mediator successfully assisting the parties in resolving high-profile private and public sector disputes and serving as a pro bono member of the prestigious Mediation Panel for the United States Circuit Court of Appeals for the District of Columbia circuit.
Director Cohen is a graduate of Cornell University and its Law School and has a LLM degree from Georgetown University Law School. Prior to entering into private practice, Mr. Cohen served as an appellate court attorney with the National Labor Relations Board. From the mid 1970's thru 2005, Mr. Cohen was an Adjunct Professor at Georgetown Law School where he taught the Art of Collective Bargaining, Labor Law and Professional Sports and The Law of Occupational Safety and Health.
Among his achievements, Mr. Cohen was listed in Best Lawyers in America for 25 consecutive years and has been named a Legend of the DC Bar.


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IMAGE: Chemistry
Academic Resources
Inquiries: Andrew Burns, Ph.D.
email@example.com | 330-244-3444
Chemistry at Kent State StarkThe Department of Chemistry offers a Bachelor of Science with three concentrations or a Bachelor of Arts degree in chemistry. Many of undergraduate students pursue graduate education in chemistry or biochemistry; others complete professional training in medicine, dentistry, or pharmacy.
Partial Degree Completion at Kent State StarkStudents can complete 2-3 years of study at Kent State Stark before transitioning to the Kent Campus to complete their chemistry degrees.
In addition, we offer a course for individuals with no chemistry background to satisfy the Kent Core Requirements.
IMAGE: Minors


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Views: 1172
Atheism is not a belief nor can it be proven. Religion will die out once people get educated and learn to think critically for themselves.
Once again, I offer Neil Degrasse Tyson:
"God is an ever-receding pocket of scientific ignorance, that gets smaller and smaller as time goes on."
Scientology was "discovered" by a science fiction author, so it isn't just space malarkey. Its space malarkey from a guy whose job was creating space malarkey! That has to make it the looniest religion ever made.
You don't get rich writing science fiction. If you want to get rich, you start a religion.L. Ron Hubbard
Well the title is "Who Is More Insane" not "Which Belief Is More Insane"
Plenty of Christians don't live it very consistently and either don't know what's in the Babble or do, but for whatever reason think that many of the ridiculous parts can be disregarded. (Ridiculous in their own judgement, which is why peoples' religions generally conform to their prejudices--funny how doG invariably agrees with the exact bigotry of one of his followers!)
A scientologist is squandering far more of his money on something he probably was *not* inculcated with from birth; he found that nuttiness and embraced it without youthful brainwashing.
The average scientologist, to me, is nuttier than the average Xian. The hard-core doctrines are probably about the same level of nuttiness; they are certainly both wrong.
L. Ron Hubbard wrote the following letter-- which was discovered by the FBI during its raid on Scientology headquarters-- indicating his motives for making Scientology into a 'religion'. Hubbard, in other words, knew he was a con artist. He had a profit motive and religion was simply an 'angle' to achieve that end.
Let's assume Jesus existed, claimed to be the son of God, and was tortured to death as a result. So he was either a complete loon who actually believed in his own divinity (which seems more probable) or a cynic who used the claim to manipulate his followers into believing in his teachings.
I'd say if Jesus was the former-- a loon who believed he was God-- then Jesus was far more crazy than Hubbard. Hubbard was twisted and crazy as well, but more crazy like a fox.
- - -
The arrangements that have been made seem a good temporary measure. On a longer look, however, something more equitable will have to be organized. I am not quite sure what we would call the place - probably not a clinic - but I am sure that it ought to be a company, independent of the HAS [the Hubbard Association of Scientologists] but fed by the HAS. We don't want a clinic. We want one in operation but not in name. Perhaps we could call it a Spiritual Guidance Center. Think up its name, will you. And we could put in nice desks and our boys in neat blue with diplomas on the walls and 1. knock psychotherapy into history and 2. make enough money to shine up my operating scope and 3. keep the HAS solvent. It is a problem of practical business. I await your reaction on the religion angle. In my opinion, we couldn't get worse public opinion than we have had or have less customers with what we've got to sell. A religious charter would be necessary in Pennsylvania or NJ to make it stick. But I sure could make it stick. We're treating the present time beingness, psychotherapy treats the past and the brain. And brother, that's religion, not mental science.
Best Regards,
I didn't understand why they were so hostile to psychotherapy/psychiatry until reading this.
And I'm sure you also know what name they eventually came up with. In case you don't, here is a hint. They did not-- as Hubbard urged-- form their organization in 1954 under the name:
'The Clinic of Scientology'
You know what I'm like - I just had to go Googling to find out more. Gallup, there's a blindingly interesting wiki entry for L.Ron Hubbard, that's just had me riveted for the past half hour. You have to take a look! Absolutely unbelievable.
Take a look at the Wikipedia entry for psychopathy and note especially the checklist section. Hubbard didn't have all of the symptoms but the part about telling effortless, grandiose lies-- which often are based on grains of truth-- seem especially applicable.
Bloody hell, I'm a psychopath!
Nah, kidding. But I read your wiki article and I raise you this 18 minute TED talk by Jon Ronson on that very subject and list - it's really entertaining as well, but I am sure you expect no less :)


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Integrated into the university's liberal arts curriculum, the GCU Dance program focuses on training the dancer technically, while also helping each student cultivate creativity and a unique artistic vision. We strive to teach the art of dance in a way that is motivating, genuine, and unadorned. Dance students are encouraged to bring their own choreographic works and artistic pieces to the stage throughout the program.
Georgian Court University offers two avenues to pursue in Dance. Students can choose a major in dance and receive a B.A. GCU also offers a minor in the program.
Dance majors study ballet, modern, and jazz dance forms, as well as improvisation and choreography. Course work includes dance history, kinesiology and anatomy, Laban movement analysis, and dance production, music, and lighting. Program graduates will be prepared to perform with dance companies or theater groups, teach dance, or to pursue graduate study. Students pursuing non-performance career paths in areas such as dance criticism, arts administration, dance therapy, or entrepreneurship, combine the dance major with a second major or a minor in Art, Music, Exercise Science, Communications, Psychology, or Business.
Tuesday, Jul 28Transfer Instant Decision Day (pm)
Tuesday, Jul 28Georgian Court University Summer Institute--Criminal Justice
Tuesday, Aug 4Graduate Information Sessions
Wednesday, Aug 19Summer Visit Days
Monday – Friday and selected Saturdays throughout the year
Campus Tours


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Adrian Fenty wins over group of seniors with talk of government reform
- Mayor Fenty talking to a group of seniors at Ingleside Apartments in Ward 4 (Photo: TBD Staff)
Adrian Fenty appeared to win over a gathering of seniors Friday, describing in an energetic speech and question-and-answer session what he considers the accomplishments of his term as mayor of the District.
Fenty, who's been struggling in recent polls against Council Chairman Vincent Gray leading up to the Sept. 14 Democratic primary, talked about education, public safety, and the resistance he's encountered trying to reform the D.C. bureaucracy, particularly from the city's employee unions, among other issues.
He portrayed himself as someone willing to take quick action when he encounters problems, citing his move to dismiss government social workers after four girls were found dead of apparent child abuse in 2007, an action he acknowledged triggered push back from the personnel in question. (Three workers appealed their firings and an arbitrator ruled in their favor, though the city has yet to re-hire them.)
Fenty also highlighted the work of Police Chief Cathy Lanier. Murmured words of praise could be heard throughout the room, and there were audible gasps when he said that the police union has called for her to be fired. "No!", one woman said, seemingly horrified.
The mayor spoke from a lectern set up in the front of a large ground-floor meeting room inside the upscale Ingleside at Rock Creek complex, along Military Road in Ward 4. Most seats were taken, and a few people listened from the hallway outside.
Judging from comments offered after Fenty spoke, this audience liked what it heard.
"You look awfully good," said a man in a seersucker jacket as he and others filed into an adjoining room for a wine-and-cheese reception.
"I can't imagine someone who's seen you and heard you not voting for you," another man said.
"You're getting such bad press," a woman admirer lamented.
"I know. We'll overcome," the mayor replied.
During and after the mayor's presentation, Fenty volunteers with clipboards and rolls of big green stickers gathered names. Fenty, who encouraged the Democrats in the room to take advantage of the city's new early voting system, even arranged for a campaign van to ferry people to a nearby polling place on Saturday.
"Let's say 3 o'clock," he offered.


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Food in Jars Canning Class at Blooming Glen Farm 2013
Marisa McClellan
Sunday, May 19, 2013 from 10:00 AM to 12:00 PM (EDT)
Event Details
Join local food blogger and cookbook author Marisa McClellan at Blooming Glen Farm on Saturday, May 19 for a canning class. In this two hour class, Marisa will demonstrate the basics of boiling water bath canning while making a batch of Strawberry Vanilla Jam. It's the perfect class for beginner and intermediate canners as there will be plenty of time to have all your food preservation questions answered.
If you have questions, email email@example.com.
Have questions about Food in Jars Canning Class at Blooming Glen Farm 2013? Contact Marisa McClellan
When & Where
Blooming Glen Farm
98 Moyer Road
Sunday, May 19, 2013 from 10:00 AM to 12:00 PM (EDT)
Add to my calendar
Marisa McClellan
Marisa McClellan is the author of Food in Jars (both the blog and the cookbook).


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Martin Kevorkian, Chair CAL 226, Mailcode B5000, Austin, TX 78712 • Admin: 512-471-4991 & Advising: 512-471-5736
The English Department congratulates the winners of the Fall 2006 writing contests!
Entrants competed in four categories: fiction, poetry, critical essay, and personal essay.
Posted: December 4, 2006
Poetry: First Place, Miriam Greenberg, Graduate Student, Creative Writing, After Richard Hugo's 'Degrees of Gray in Phillipsburg' and Seasons Changing, Unanswered Questions; Second Place, Samantha Adams, Senior, English, Charles Whitman's Insides: A Collection; Third Place: Irina Popescu, Junior, English/Philosophy, Remembering; Honorable Mentions: Chiyuma Elliott, Graduate Student, American Studies, Beginning Plant Identification; Michael Alvarez, Graduate Student, Law, Billy the Kid and Rimbaud; Abraham Burickson, Graduate Student, Creative Writing, Raising a Beam
Personal Essay: Shao Wei, Graduate Student, Creative Writing, Singing of the Heart
Critical Essay: Jackie Dana, Graduate Student, History, The Strange Conversion of Thomas Gage


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The invention relates to a navigation system for a vehicle, in particular for a land vehicle, having at least one single-axis gyro for the vehicle vertical axis (z axis), having two accelerometers in the horizontal vehicle plane (x axis, y axis), and having a vehicle-axis velocity measurement device, for example, a distance-travelled sensor. In addition, supporting signal devices, in particular a satellite receiver and/or a map, are available as well as a controller, which uses a suitable Kalman filter to determine the vehicle position and/or the direction of travel from the measured and stored signals. The Kalman filter is assigned at least one partial filter, of which a first partial filter is used for dynamic levelling and/or a second partial filter is designed as a position filter which provides track calibration, position calibration and sensor calibration.
1. In a navigation system for a vehicle of the type having at least one single-axis gyro for the vehicle vertical axis z, and x and y axis accelerometers in the horizontal vehicle plane, a vehicle-fixed velocity measurement device and an augmentation device, especially at least one of satellite navigation receiver or a map device, for augmenting position or velocity of the vehicle or both and a controller for correcting at least one of the calculated vehicle position and direction of travel via a suitable Kalman filter using measured signals supplied from said augmentation device comprising, in combination:
a) a Kalman filter partitioned into at least a first partial filter for dynamic levelling; and
b) and a second partial filter designated as a position filter for providing track calibration, position calibration and sensor calibration.
2. A navigation system as recited in claim 1 further characterized in that:
a) said partial filter for dynamic levelling being arranged to carry out rotation rate estimation in the vehicle-fixed horizontal plane; and
b) said estimated values obtained being fed back almost continuously to said navigation system.
3. A navigation system as recited in claim 2 further including means for providing that said estimated values are fed back with a suitable bandwidth for a predetermined application.
4. A navigation system as recited in claim 2 further including means for providing that estimated values equivalent to the rotation rate estimated values are fed back.
5. A navigation system as recited in claim 4 further including means for providing that estimated values of the discrete angular increments in said horizontal vehicle x and y agues are fed back.
6. A navigation system as recited in claim 2 wherein the order of the partial filter matches a definition of the error states.
8. A navigation system as recited in claim 1 characterized in that:
a) said partial filter for dynamic levelling comprises two stationary third order Kalman filters; and
b) couplings between said third order partial filters comprise deterministic input signals.
9. A navigation system as recited in claim 8 characterized in that said partial filter for dynamic levelling is integrated in said Kalman filter.
10. A navigation system as recited in claim 1 characterized in that the stochastic model in the Kalman filter is adaptive, having frequency-band-selective assessment of the translational disturbances in the acceleration measurements.
11. A navigation system as recited in claim 1 further including:
a) means for checking the probability of supporting positions used in said second partial filter, designed as a position filter; and
b) means for resetting said position filter to a defined status using stored and verified sensor calibration values if the augmentation positions are not probable.
12. A navigation system as recited in claim 11 further including means for setting the position filter to default status when said position filter is first switched on.
13. A navigation system as recited in claim 11 further including means for azimuth monitoring.
14. A navigation system as recited in claim 13 further including:
a) means for performing statistical error assessment steps for said plausibility check and said azimuth monitoring; and
b) said statistical error assessment means employs said covariance information calculated in said Kalman filter for said filter estimated parameters as self diagnosis.
15. A navigation system as recited in claim 11 further including:
a) means for carrying out an unaided control navigation calculation in addition to said aided navigation calculation; and
b) means for matching said unaided control navigation calculation to said aided navigation calculation at each control point; and
c) means for using said stored and verified sensor calibration values from the last control navigation calculation that did not lead to said resetting of said position filter.
16. A navigation system as recited in claim 11 further including:
a) means for performing a position filter changeover when an algorithm detects said vehicle is stationary; and
b) said last-named means includes means for connecting a measured value from a z gyro as observations to said Kalman filter.
The present invention relates to navigation systems for vehicles. More particularly, the present invention pertains to navigation systems for land vehicles.
It is known to equip vehicles with navigation systems that allow position and direction to be determined. So-called strapdown inertial systems, equipped with vehicle-fixed inertial sensors, have been employed for this purpose. Accelerometers and gyros dedicated to the axes of a vehicle-fixed Cartesian coordinate system are normally employed as the sensors. The coordinate system axes in such cases are defined so that an x axis and a y axis lie in the horizontal vehicle plane, while a z axis coincides with the vertical axis of the vehicle. Typical applications of such inertial systems are found in integrated navigation systems, inertial navigation systems and track/attitude reference systems. In a commonly-employed track/attitude calculation, track/attitude information relating to the vehicle is determined (e.g. a direction cosine matrix) by means of the gyros assigned to the individual coordinate system axes. A dead reckoning navigation can be calculated in a known manner by associating the direction cosine matrix to measured vehicle-fixed velocity. The vehicle-fixed velocity measurement in such case is also employed as an augmenting measurement for determining vehicle attitude. The vehicle track and position determined in such a way are interpreted with augmenting information that may only be available to a limited extent. For this purpose, the vehicle may be equipped with receivers for satellite navigation systems (e.g. GPS) that make velocity and/or position measurements available. Alternatively, position coordinates from maps can also be used for augmentation as it is irrelevant for such applications whether the position information is obtained from a digital map or from a paper map. Employing such augmenting information, position and velocity measurements can be compared with the signals derived from autonomous on-board measurements and the difference signals supplied as observations to a Kalman filter that contains a linearized model of the algorithms for calculating the navigation data for the navigation system. The Kalman filter is employed to estimate corrections for the navigation parameters and for calibration of the navigation system sensors.
As a result of the non-linearity of the track/attitude calculation of the navigation system on the one hand and the linear approximation in the model equations of the Kalman filter on the other hand, estimates may be subject to errors when the filter is operated beyond the permissible linear operating range.
The present invention addresses the foregoing and other disadvantages of the prior art by providing an improvement in a navigation system for a vehicle. The navigation system is of the type having at least one single-axis gyro for the vehicle vertical axis, x and y axis accelerometers in the horizontal vehicle plane, a vehicle-fixed velocity measurement device and an augmentation device, especially a satellite navigation receiver and/or a map device supporting position and/or velocity of the vehicle, and a controller employing a suitable Kalman filter to connect the calculated vehicle position and/or direction of travel from measured signals. The measured signals are supplied from the augmentation device and stored.
The improvement provided by the invention includes at least one partial filter assigned to the Kalman filter. Such partial filter comprises a first partial filter for dynamic levelling and a second partial filter which, as a position filter, provides track calibration, position calibration and sensor calibration.
The advantage of this filter structure is the reduction of systematic errors implied by the reduced sensor computation (i.e. the lack of x and y gyros in the horizontal plane.
The preceding and other features and advantages of this invention will become further apparent from the detailed description that follows. Such description is accompanied by a set of drawing figures. In the drawing figures numerals, corresponding to numerals of the written description, indicate features of the invention with like numerals referring to like features throughout both the written description and the drawing figures.
FIG. 1 is a block diagram of a signal processing structure for a navigation system having a sensor configuration according to the invention;
FIG. 2 illustrates one possible state of a vehicle;
FIG. 3 is a block diagram of an alternative embodiment of a signal processing structure for a navigation system in accordance with the invention;
FIG. 4 is a model of the arrangement of a position filter for an error estimation equation;
FIG. 5 is an overall error model for horizontal navigation;
FIG. 6 is a block diagram of a signal processing structure for a navigation system in accordance with a further exemplary embodiment of the invention; and
FIG. 7 is a model of the arrangement of a position filter for an error estimation equation for a position filter according to FIG. 6.
FIG. 1 is a block diagram of a signal processing structure for a navigation system, designated generally by the numeral 10, for a vehicle (not shown).
Exemplary embodiments which follow assume a land vehicle (e.g. a motor vehicle). The navigation system 10 possesses autonomous on-board vehicle-axis measurement devices, illustrated to the left in FIG. 1, and measurement devices, illustrated to the right, for providing measurement signals in a time-constrained manner. Vehicle-axis measurement devices include a distance-travelled sensor 12, a single-axis gyro 14 assigned to the vertical vehicle axis ("z axis") and accelerometers 16, assigned to the x and y axes respectively of the horizontal vehicle plane. The distance-travelled sensor 12, the gyro 14 and the accelerometers 16 supply signals dependent upon the respective vehicle state that are fed, in a manner to be explained, to an integrated navigation calculation device 18, a track/attitude calculation device 20 and a velocity calculation device 22. The track/attitude calculation device 20 employs the signals from the z gyro 14 to input a direction cosine matrix CR B. Due to the absence of x and y gyros, the rotation rates, supplied by a Kalman filter 24 as estimated values, of such axes are provided in a manner explained below.
The accelerometers 16 supply the velocity calculation device 22 with acceleration signals occurring in the x and y directions. Such acceleration signals have been subjected to a Coriolis correction device 26 (in vehicle-axis coordinates) and adjusted to take account of Coriolis accelerations caused by direction of motion and, thus, of acceleration, that do not coincide precisely with the x, y and z axes. In the exemplary embodiment, it is assumed that Coriolis accelerations induced by the earth's rotation are negligible. The Coriolis correction device 26 in such case processes signals made available by the distance-travelled sensor 12 and the z gyro 14. Since the absence of the x gyro and y gyro means that they cannot provide any signals, the vehicle Coriolis correction is calculated using the matrix shown below:
The lack of an x or y gyro means that the matrix for calculating the Coriolis correction for the vehicle x and y axes is simplified as follows:
The velocity calculation device 22 employs the accelerometer signals corrected in this way to calculate the inertial velocity VINS of the vehicle. The inertial velocity value is fed to a subtraction element 28 which is, at the same time, supplied with the distance-travelled sensor velocity provided by the distance travelled sensor 12. The resultant difference from the distance-travelled sensor velocity is supplied to the Kalman filter 24 for monitoring. Such monitoring is employed as attitude support for the navigation calculation.
Instead of the inertial velocity and the monitoring resulting from it being calculated as explained herein in vehicle axes, an exemplary embodiment (not illustrated) also allows earth-axis attitude supporting information to be determined and provided. However, in that case the calculation is complicated by the compensation with earth-axis coordinate points. The velocity calculation device 22 is then supplemented with the direction cosine matrix CR B and an estimated value of the velocity supplied from the Kalman filter 24.
In the illustrated configuration of vehicle-axis measurement devices, the Kalman filter 24 performs inter alia, the tasks of supplying estimated values for the missing rotation rate measurements in the vehicle-axis horizontal plane, (i.e. the x and y directions) and feeding such estimated values back virtually continuously with suitable bandwidth to the track/attitude calculation device 20 and the velocity calculation device 22. The virtually-continuous feedback of estimated values to the calculation process of the navigation algorithm guarantees a link to the dynamics of the estimated values of horizontal rotation rate. Instead of the virtually-continuous provision of dynamic estimated values of the rotation rates, an equivalent estimated value (e.g., the angular increments of the horizontal vehicle axes), may likewise be used.
The integrated navigation calculation device 18 is supplied with signals from the distance-travelled sensor 12 as well as the direction cosine matrix from the track-attitude calculation device 20. The device 18 employs the available signals to calculate the position signal P and the velocity signal V. The position signal P supplied by the integrated navigation calculation device 18 and the direction cosine matrix CR B supplied by the track/attitude calculation device 20 provide the uncorrected navigation data (i.e. position, track and attitude of the vehicle) of the overall navigation system 10.
The track and position are supported by supporting information provided, for example, via a GPS receiver 30 and/or stored map positions 32. The GPS receiver 30 comprises part of a global satellite navigation system the provides position and velocity signals. The map 32 similarly allows one to determine a position signal. Depending upon the method, supporting information is available solely in a time-constrained manner as GPS reception may be subject to interference by, for example, shadowing. Map points may be used for support only when they can be identified in the terrain.
The position and velocity signals supplied by the GPS receiver 30 and/or the map 32 are compared via subtraction elements 34 and 36, respectively, with the vehicle-axis position and velocity signals supplied by the integrated navigation device 18. The difference between them is fed to the Kalman filter 24 for monitoring.
The Kalman filter 24 is based on a linearized model of the algorithms in the navigation system 10 and performs the task of estimating corrections for the output parameters of the navigation system 10 and for calibration of the measurement devices of the navigation system 10.
The missing rotation rate measurements in the vehicle-axis horizontal plane can be estimated by means of a modification (i.e. a definition or arrangement of the required error states) to the Kalman filter 24. In a preferred application, the Kalman filter 24 is modified so that the error states of attitude error (direction cosine matrix parameter), angular increment error and velocity error each has its origin in the x and y axes located on the vehicle-axis horizontal vehicle plane. The six error states form a partial filter of the Kalman filter 24 that provides dynamic levelling as the basis for estimating the horizontal rotation rates about the x and y axes. In this case, the error states are defined as two attitude parameterizing errors σc31, σc32, two angular incremental errors σθx,y and two velocity errors σvx,y. The attitude parameter errors are additive, relating to the associated direction cosine matrix elements c31=−sin θ, c32=sin φ cos θ, defined by φ and θ as the roll and pitch angles.
The following describes a discrete error model for the partial filter of the Kalman filter 24 for dynamic levelling as a sixth order error model with a discrete-time formulation.
As already mentioned, the difference between the vehicle-axis inertial velocity (from the velocity calculation device 22) and the distance-travelled sensor velocity (from the distance-travelled sensor 12) is defined as the monitor ΔVx,y:
With regard to the design and integration of the partial filter for dynamic levelling within the Kalman filter 24, the stochastic model must carefully modulate those measurement disturbances capable of being interpreted as dynamic disturbances with respect to the attitude information of the acceleration signal. It is necessary to take the availability of the distance-travelled sensor velocity into account as the information medium for translation movement.
The filter estimated values from the partial filter for dynamic levelling are fed back virtually continuously to the track/attitude calculation device 20 of the navigation system 10. In the illustrated example, the estimated error values are provided, as an angular increment correction ΔΘx,yas rotation rate estimates for the x and y gyros missing from the instrumentation. However, other algorithm implementations are also feasible for applying corrections to the track-attitude calculation device 20. The following illustrates the correction equation as an angular increment estimate for process feedback based on the estimated values from the partial filter for dynamic levelling of the Kalman filter 24.
The following text explains in greater detail the necessity for rotation rate estimation on the vehicle-axis horizontal plane and the method of operation in conjunction with the non-linear track/attitude calculation device based on a specific vehicle maneuver. FIG. 2 illustrates a possible state of a vehicle 38 turning on a schematically indicated camber . In FIG. 2, xB, yB and zB designate the vehicle x, y and z axes respectively. The roll angle φ between the horizontal and the y axis is assumed constant. The pitch angle φ in the x axis is zero, while the angular velocity Ψ in the z axis of the vehicle 38 is assumed constant. Thus, in the maneuver illustrated in FIG. 2, steady rotation rates ωy,z occur in the vehicle y and z axes, and the overall rotation rate vector ω can be represented as follows:
The magnitude of any azimuth error is important for vehicle navigation. The following describes azimuth error equations for various measurement devices, particularly rotation rate measurement devices, fitted to the vehicle 38. For the situation in which a rotation rate measurement is envisioned about the horizontal y axis of the vehicle 38, the error model equation is as follows:
the typical error budget, described further below, is:
For a second case, it is assumed that there is no rotation rate measurement about the y axis and, thus, no rotation rate estimation about the y axis. This results in the following error model equation:
the typical error budget being
In a third case, related to the invention, there is no rotation rate measurement in the vehicle-axis y direction, but the rotation rate in the y axis is estimated, yielding the following error model equation:
the typical error budget being
For the typical error budget, the assumed individual errors are: δSFy,z (scale factor error of the y and z gyros) 1000 ppm, by (bias of the y accelerometer) 10 mg and φ (roll angle) 0.1 rad.
A comparison of the error model equations shows that, for single-axis gyro instrumentation with rotation rate estimation, the error dependent on the accelerometer bias is admittedly twice that of three-axis rotation rate measurement. However, the dominant error, dependent upon the square of the roll angle, disappears in the case of single-axis rotation rate measurement without rotation rate estimation. The use of rotation rate estimation in accordance with the invention for the numerical example of a typical error budget, as set forth above, results in a reduction of the azimuth error by a factor of about 5 for a single-axis rotation rate measurement, while the azimuth error for the turn on a camber shown in FIG. 2 increases only slightly in comparison to the three-axis rotation rate measurement.
The maneuver of turning on a camber serves only as an example. When, for example, the vehicle 38 is driven in a typical manner of off-road contours with pitch and roll angles that vary simultaneously this produces maneuvers for which the non-linear characteristic of the track-attitude calculation device 20 is important. For such maneuvers, the use of the dynamic levelling filter of the invention as a partial filter within the Kalman filter 24 with rotation rate estimate yields comparable improvements in error estimation. Overall, feeding back the error estimate to the track/attitude calculation device 20 thus provides the capability of avoiding, or reducing, in particular those errors caused by the non-linear character of the track/attitude calculation device 20 despite limited vehicle instrumentation (e.g. with equipment comprising only a z gyro and accelerometers on the vehicle horizontal axes). Use of the dynamic leveling filter allows the rotation rate components on the vehicle-axis horizontal plane to be estimated with a bandwidth matched to the respective application.
Consequently, the example is based on dynamic levelling using a partial filter within the Kalman filter 24 based on the sixth order discrete error model. Variations in this error model with respect to modified quantization approximations are possible. The calculation of estimated values of the discrete angular increments in the vehicle x and y axes may be used in conjunction with gyro measurement in the z direction as an input signal for the track/attitude calculation device 20. Alternative forms of processing of the estimated values from the Kalman filter 24 (i.e. from the partial filter for dynamic levelling) are feasible in the track/attitude calculation device 20. Furthermore, the stochastic model for the Kalman filter 24 may be adaptively designed. One preferred application is frequency-band-selective assessment of the translational disturbances in the acceleration measurements.
The error state of the described error model may be alternatively defined. For example, the order may be reduced to a fourth order partial filter by ignoring the error states of the angular increment errors, or through transformation of the attitude errors, rotation rate errors and velocity errors into other presentation forms.
The partial filter for dynamic levelling may also be included within the overall Kalman filter 24 so that, overall, the Kalman filter 24 can retain its function in the navigation system 10. It is also possible to split the partial filter for dynamic levelling into two partial filters related to two orthogonal axes. In this case, the couplings between the two partial filters can be ignored for filter design, although such couplings must be taken into account, as deterministic input signals, in the implementation of the estimated error equations. With regard to the disclosed error model, ignoring the couplings results in the possibility of designing two third order partial filters, for example, as pitch angle and roll angle filters, as steady-state Kalman filters since the associated third order error modules are virtually constant over time. However, it is important to take into account the δΘz in the implementation of the estimation equations.
The following is based upon a second partial filter in the Kalman filter 24, used for position and azimuth correction as well as for sensor calibration. The second partial filter relates to the error states of position error, azimuth error, z gyro error (drift, scale factor error) and the scale factor error from the distance-travelled sensor. The second partial filter thus represents a sixth order filter and provides track calibration, position correction calibration and sensor calibration. The second partial filter (which is referred to as the position filter) in the Kalman filter 24 may be important outside the permissible operating range of its linear model for initial commissioning or for vehicle transportation with the navigation system 10 switched off. Monitoring the linear operating range of the position filter allows automatic initialization of the position filter with the associated error states requiring initialization. In this case, it is necessary to distinguish between the operating states of the position filter (i.e. the operating states when the vehicle is in motion and stationary). The vehicle state can be detected by a monitoring algorithm in the individual measurement devices of the navigation system 10. (The detection of the vehicle state is not described in any greater detail.)
The error analysis according to the invention is based on a transformed form of the error model of the position filter (i.e. of the second partial filter in the Kalman filter 24) with the following modified error states.
The position errors are transformed from an earth-axis representation, δφ and δλ, into a vehicle-axis representation δρx,y projected onto the horizontal plane.
FIG. 3 is a block diagram of a signal processing structure for a navigation system in accordance with an alternative embodiment of the invention. This figure shows a further design variant of the navigation system 10 with identical parts having the same reference symbols as in FIG. 1. The design variant shown in FIG. 1 also has a transformation element 40 which transforms the position ΔP and velocity Δv observations supplied to the Kalman filter 24, via a matrix, into a vehicle-axis coordinate system, so that the error states that have already been transformed to the vehicle-axis system within the position filter can likewise employ observations transformed into the vehicle-axis system. This makes it possible to simplify the error model further.
The embodiment of FIG. 3 allows the error state of the position filter to be split into its along-track error, the along-track position error and the distance-travelled sensor scale factor error δSFDT, and its cross-track error, the cross-track position error δPy, the azimuth error εD and the z gyro error, the drift error Dz and the scale factor error δSFGZ.
FIG. 4 is a model of the arrangement of a position filter for an error estimation equation. The figure shows the estimated error equation for the position filter in continuous form, that is, in the form with an error state transformed into a vehicle-axis representation. Since the error state of the scale factor error of the z gyro can be ignored in the following error analysis, this is not considered any further to simplify the description.
FIG. 5 is an overall error model for horizontal navigation using supported integrated navigation. The error model of FIG. 5 thus comprises the non-linear navigation algorithms in conjunction with the position filter. It is based upon a linear model, as a partial filter in the Kalman filter 24, with feedback of the estimated filter values to correct the navigation algorithms.
The differences between the error models illustrated in FIGS. 4 and 5 may be described as follows. In the case of the error model show n in FIG. 4, the estimated error values are illustrated, while the error states illustrated in FIG. 5 describe the total error in the calculated navigation parameters in comparison to actual navigation parameters. The error model of FIG. 5 contains non-linear blocks of the azimuth error δΨ with the characteristic that, for small azimuth errors δΨ, the estimated error equation according to FIG. 5 is equivalent to the structure of the estimated error equation according to FIG. 4.
The analysis of the overall error model according to FIG. 5 indicates that the navigation system 10 malfunctions whenever the azimuth error δΨ assumes large values. On the one hand, the error model may become unstable for large values of the azimuth error δΨ greater than 90� while, on the other hand, the distance-travelled sensor scale factor may be decalibrated for large azimuth errors δΨ via the additional coupling to the along-track partial filter in the position filter. An azimuth error δΨ may be caused by a large initial error δΨ(0) or by support with a very large position error. Both error causes occur, for example, as a result of incorrect inputs or after the vehicle has been transported with the navigation system 10 switched off with possible automatic GPS support after being switched on again, since the navigation result from before it was last switched off is always stored for normal operating states.
In order to avoid decalibration of the position filter and, thus, the overall navigation system 10, the position filter is monitored while the vehicle is in the operating state (characterized by motion) within its linear operating range. In this situation, every supporting position supplied to the position filter, as shown in FIGS. 4 and 5, is checked for plausibility. Only if the plausibility conditions are satisfied is the position support implemented. If the plausibility conditions are not satisfied, the navigation system 10 is initialized using the supporting position, and the position filter is set to a predetermined status (default status).
Once the navigation system 10 has been switched on, the initial position support is employed for initialization and the position filter is set to the default status. In principle, unless an azimuth input is made or a correction is applied by azimuth monitoring, the azimuth is retained in this case.
Azimuth monitoring may be carried out so that, in addition to the supported navigation calculation, an unsupported control navigation calculation is carried out that is matched to the supported navigation calculation at each control point. The unsupported control navigation calculation is compared to an independently-determined rough azimuth. The rough azimuth may be determined, for example, by triangulation using two reference points provided, for example, via the GPS receiver 30 and/or map points 32, or may be read out directly as a GPS azimuth, and/or may be determined from the GPS velocity.
If the determined azimuth error is sufficiently small, the navigation calculation can continue. If not, the calculation is initialized to the rough azimuth using the reference position and the position filter is set to the defined default status. The control navigation calculation is restarted, after each control point, after comparison to the supported navigation calculation. The position filter default status, mentioned above, results in all the sensor calibration values being reset to specific, stored values that have previously been checked for correctness. Very advantageously, these may be sensor calibration values determined using the last control navigation calculation carried out which did not lead to the position filter being reset to the default status. For the position filter to achieve an adequate learning capability, the covariance matrix of the position filter is diagonalized and filled with suitable default values of the main diagonal.
Statistical error assessment methods, which use the covariance information calculated in the Kalman filter 24 for the estimated filter parameters for self-diagnosis, may be used in a highly advantageous manner for plausibility checking of the supporting positions and azimuth monitoring.
If monitoring of the linear operating range of the position filter has been based so far on a vehicle operating state characterized by driving, the position filter can also be modified so that monitoring of the linear operating range can also be accomplished when the vehicle is in an operating state indicating that it is stationary. The vehicle motion state which indicates that it is stationary can be identified and monitored by means of an algorithm triggered by evaluation of the navigation system sensors. When the stationary state is detected, the position is constant, the velocity is equal to zero, and the azimuth is likewise constant.
FIG. 6 is a block diagram of a modified signal processing structure for the supported integrated navigation calculation which is matched to the state that indicates that the vehicle is stationary. Parts identical to those of the preceding figures are once again given like reference symbols.
On the basis of the above definition of the stationary state, the integrated track is constant. The measurement signals provided from the z gyro 14 are thus no longer supplied, interpreted as an error signal, to the track/attitude calculation 20 but only directly as a monitor to the Kalman filter 24. Furthermore, the velocity measurement provided by the GPS receiver 30 per se is no longer available when the vehicle is stationary. For equipment configurations which (optionally) include a North-seeking gyro as an additional assembly, the azimuth provided from the integrated navigation calculation device 18 can be compared, when stationary, with that from the North-seeking gyro 42 so that an azimuth correction can be determined from the integrated track and the measured value supplied from the North-seeking gyro 42 and passed as an observation to the Kalman filter 24.
FIG. 7 is a model of the stationary vehicle state and of the modification of the navigation algorithm shown in FIG. 6 to the estimated error equations in the position filter. In this case, the following differences become clear in comparison to the estimated error equations according to FIGS. 4 and 5. As a result of the fact that the vehicle is stationary, a continuous measured value is available from the z gyro 14 as a filter monitor, so that gyro drift can be estimated continuously when the vehicle is stationary. If position and/or azimuth measurements are available, these may also result in an improvement in the other estimate variables in addition to an improvement in the associated estimated variables by averaging, since cross-correlations can be set up between the individual error states from an unsupported period of driving prior to the vehicle being stationary.
Furthermore, by continuing monitoring of position and azimuth support, as was carried out during the signal processing in the vehicle state indicating motion, it is possible to ensure that the position filter is not operated outside the permissible linear operating range. In contrast to the driving operating state, however, in the operating state when the vehicle is stationary there is no need to include the drift state and associated correlation in the resetting of the position filter to the default status.
Thus, overall, since the signals supplied from the z gyro 14 are passed as a direct observation to the Kalman filter 24 when the vehicle is stationary, it is possible to carry out a continuous estimate of gyro drift when the vehicle is stationary. At the same time, the maintenance of the structure of the position filter, as shown in FIG. 7, ensures that position and/or azimuth support may result in corrections for all error states providing appropriate cross-correlations have been set up, for example, in a previous period of unsupported driving.
Continuing the position and azimuth monitoring even during the stationary state avoids decalibration of the position filter. In this case, the definition of the already-explained default status of the position filter must take into account that decalibration of the drift estimate is impossible, and, therefore, the drift state with the associated covariance must be excluded from resetting to default status when the vehicle is stationary.
The navigation system of the invention makes it possible to reduce errors caused by the non-linear character of the track/attitude calculation and the linear approximation of the error model in the Kalman filter. In particular, in the case of vehicles having a limited attitude angle range (e.g. land vehicles), a navigation system instrumentation with only one gyro, assigned to the vehicle vertical axis, is possible. As a result of the fact that the Kalman filter is assigned at least one partial filter, of which a first partial filter is used for dynamic levelling and/or a second partial filter is designed as a position filter, it is possible to carry out methods that reduce errors caused by the absence of gyros assigned to the horizontal vehicle plane. It is furthermore possible to monitor the calibration state, in particular the azimuth alignment related to a system decalibration caused by non-linear effects (i.e. track decalibration, position decalibration and sensor decalibration), making it possible to identify and overcome decalibration. Furthermore, the linear error model can be retained in such case in a highly advantageous manner as the basis of the Kalman filter to avoid the increased numerical and analytical complexity for implementation of a Kalman filter using a non-linear model.
While this invention has been described with reference to its presently-preferred embodiment, it is not limited thereto. Rather, the invention is limited only insofar as it is defined by the following set of patent claims and includes within its scope all equivalents thereof.
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Friars Faces
Submitted by Fun at Foster on February 8, 2013 - 5:20pm
From the Ventura City Hall Brochure:
From the Ventura City Hall Brochure:
"Between the first and second floor windows of City Hall are 24 faces. Made of terra cotta, they depict mendicant priests called brothers or friars. These happy friars, a popular detail of the era, add a bit of whimsy to the serious neoclassical facade and are also an historical reminder that the City of San Buenaventura was one of the nine original Mission towns founded by Father Junipero Serra and Franciscan friars in 1782."
Find more information on the fascinating history of Ventura here.
Resident Photographer Aleta Rodriguez
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Three different design approaches to make your resume stand out and make hiring managers take notice.
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Hold down Control (PC) or Command (Mac) key + mouseclick to select more than one option
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Posted by Gris, N on 09/11/2013
I should start by saying that I am of Latino heritage and a very big fan of our food. I am very critical of the restaurants that I go to. Bolivars was spot on in absolutely everything. The waiters are excellent, the service is great and the food is to die for. My friends and I went on a trip to Miami and stumbled upon Bolivar's after searching for a decent menu. After our first encounter with Bolivars- we went four more times to try different things on the menu. Everything we tried was AMAZING and we tried eeeeverything on that menu. The waiters are all great but there was one in particular- Alfonso- he was aaawesome. He gave us a background of every dish, told us what country they were from and he told us about the restaurant. I encourage everyone to come to this spot. You will not be dissapointed.
Posted by Linda P on 02/25/2013
very good mix of many south american specialities, friendly and comfortable atmosphere and tasty food would go again when in south beach, live in stuart, fl area


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Nice Board
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Comments about Burton Social Snowboard - Blem - Women's 2014:
Pretty much as described. Blemish, whatever it was, not noticeable.
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Wasn't this supposed to be a tough stretch of the Hornets' schedule?
On Friday, the Hornets played in Atlanta, a team that was 14-6 at home and had won six of their last seven games. But New Orleans went in and delivered a historic beating to the Hawks, holding Atlanta to the lowest total in team history with a 100-59 win. The Hornets followed that up by trouncing the Spurs at home, 96-72, San Antonio's worst loss of the season. That was the Hornets' eighth win in a row heading into Monday's game against the Thunder.
While Chris Paul is the guy who holds things together in New Orleans, give some credit to big man Emeka Okafor, who has been an anchor in the middle for one of the best defensive teams in the league. Coach Monty Williams points out that he does not call plays for Okafor—he'd be scoring more if he did—but Okafor has been invaluable nonetheless. "He's huge for our defense," Williams said. "And he gets us possessions with his rebounding."
Okafor has had double-digit rebounds for 10 straight games, and had 12 offensive rebounds in a win over Toronto. The more he boards, the better the Hornets are. New Orleans is 22-9 when Okafor has at least nine rebounds, and just 7-7 when he does not.
Eight straight wins are enough to get Okafor and the Hornets up to No. 7 in this week's power poll.
1. Spurs (1). They will get in one last home game against Houston on Saturday, then it's off for the nine-game, 17-day rodeo road trip.
2. Celtics (2). C Shaquille O'Neal sat with a hip injury, and coach Doc Rivers says O'Neal is always day-to-day. Why? "Because he's old as hell," Rivers explained.
3. Lakers (3). Their very generous stretch of home games continues, as they play their next five in the comfort of the Staples Center.
4. Magic (4). C Dwight Howard got a visit in Houston from a guy who was a pretty good big man himself—C Hakeem Olajuwon, who worked with Howard this summer.
5. Bulls (7). In a big step toward getting him back on the court, C Joakim Noah will have the pin removed from his injured hand on Tuesday.
6. Heat (5). There may be some benefit to the injuries and headaches that Dwyane Wade has had—Mike Miller was finally able to have a breakout game, with 32 points in a win over Toronto.
7. Hornets (11). The Hornets used a 24-2 run in the third quarter to put the Spurs away, one of the best stretches they've played all season.
8. Thunder (6). There's been talk of a change to the starting five in Oklahoma City—replacing Jeff Green, Thabo Sefolosha or Nenad Krstic—but coach Scott Brooks is standing pat.
9. Hawks (9). Tough to move them up in a week in which they suffered the worst loss in franchise history. But they did win three of their four games last week.
10. Blazers (14). There are not many Blazers left who are not injured, so when PG Andre Miller became ill during a game against the Pacers, things didn't look good. But Portland still won.
11. Nuggets (13). Still no deal involving SF Carmelo Anthony, and now other players in the locker room are getting annoyed with the situation.
12. Mavericks (10). SF Peja Stojakovic is safe and sound in Dallas, now expected to sign a contract for the remainder of the season. But can he still shoot?
13. Jazz (8). They've lost four straight on a disastrous road trip, and things don't get any easier—they close the trip on Tuesday against the Lakers.
14. Grizzlies (15). With 24 points and 16 rebounds in a win over Milwaukee on Saturday, C Marc Gasol started resembling his old self.
15. Knicks (12). Road woes are catching up to the Knicks lately. They're 12-12 on the road this season, but they have lost five of their last six away from MSG.
16. Suns (16). They wrap up their five-game road trip Monday in Philadelphia, and now get a stretch of 10 home games in their next 12.
17. Sixers (17). Once upon a time, it seemed near certain that G/F Andre Iguodala would be dealt, but now that the playoffs are in reach, that might not happen.
18. Rockets (18). The Rockets have had such a hard time drumming up some defense that coach Rick Adelman has been tinkering with a zone.
19. Warriors (20). G Stephen Curry finally appears to be healthy, which is good because his backcourt mate, Monta Ellis, is nursing a sprained ankle.
20. Clippers (21). C Chris Kaman injured his ankle back in November, and he reinjured it in December. He probably won't hit the court again until February.
21. Bobcats (19). Now things get tough for Paul Silas, who has gone 8-6 with the Bobcats. On Tuesday, the team starts a six-game road trip, then comes home to play Boston, Dallas and Miami.
22. Pistons (23). Even with the team playing better lately, things continue to go badly for coach John Kuester—he apparently offended benched G Rip Hamilton in trying to mend fences.
23. Bucks (24). Injuries have made this a rough season for coach Scott Skiles, who has already used 13 different starting lineups this season.
24. Pacers (22). Coach Jim O'Brien says that, should G Brandon Rush's "sporadic" play continue, he'll move rookie G Paul George into the starting five.
25. Wizards (26). No one has benefitted from the Gilbert Arenas trade as much as G Nick Young. He is averaging 20.3 points and shooting 44.4 percent from the 3-point line as a starter.
26. Nets (27). They won their first two games after dropping their Anthony pursuit, and nearly made it three straight with a one-point loss to Dallas.
27. Raptors (25). They were 0-5 on their five-game road trip, and hit rock bottom with a 40-point loss to Orlando on Friday.
28. Timberwolves (28). PG Jonny Flynn admits that since coming back from a hip injury, he has yet to start playing like himself.
29. Kings (29). It's not just that they have the worst record in the West, it's how they got there that is frustrating—blowing fourth-quarter leads and compiling an 0-4 overtime record.
30. Cavaliers (30). With Gs Mo Williams and Ramon Sessions out, the Cavs are looking at PG Daniel Gibson and undrafted rookie G Manny Harris at point guard.


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It could be another day or two before authorities can positively identify a man whose body was found floating in the Wabash River near Patton Monday night. An autopsy was completed Wednesday in Vincennes, IN. Authorities say the man could be an individual who went into the river from a bridge in Vincennes on February 8. Until dental records and other tests are completed, the man's identity cannot be confirmed.
New Hope Kindergarten teacher Debbie Webb has been named the Fairfield Lions Club Teacher of the Year. Mrs. Webb was honored Tuesday night during the club's annual Star Student Program.
White County Sheriff Doug Maier reports that burglars have been busy this week in his county. Thieves made off with a 9.9 HP boat motor from property owned by Mark Cox of Newburgh, IN. Thieves also stole a loaded .22 pistol from the Darrin R. Vines residence in White County.
Authorities say they do not suspect foul play in the death of a man whose body was found in a burning car outside a bowling alley in Herrin last Saturday. 33-year-old Shawn Saltzman of rural Simpson died of smoke inhalation. The blaze caught two other vehicles on fire.
The Wayne County Retired Teachers' Association is offering a $500 scholarship to a graduate of a Wayne County high school that has declared a major in education and has accumulated at least 80 semester hours toward that degree. More information is available from Michael Simpson at 842-7004.


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Thursday, December 10, 2009
© Copyright 2015 Newton Citizen
COVINGTON -- Four men have been charged in connection with the murder of a Newton County man whose body was found on the outskirts of Social Circle on Sunday afternoon by a deer hunter, according to the Newton County Sheriff's Office.
The dead man has been identified as Robert Andrew "Drew" Nichols, 38, an individual Newton County authorities believe most recently lived in Covington.
Charged with murder in connection with his death are Michael Scott West, 31, Robert Vincent Lambert, 35, Sam Dumas Dawkins, 45, all of Newton County, and Chad Ashley Allen, 31, of Walton County. Mug shots and addresses of the suspects are being withheld by the NCSO.
Further charges may be pending, according to NCSO spokesman Lt. Tyrone Oliver.
Oliver said the men are all at the Newton County Detention Center. West was arrested Monday and the other three suspects were taken into custody Wednesday by the Covington/Newton County SWAT Team.
Nichols' body was found in a wooded area off Clegg Farm Road and Walton County authorities first began investigating the death. Oliver said during the course of the investigation, it was determined that Nichols was killed in Newton County and his body was dumped at the Walton County site.
"At first, Walton County took the lead in the investigation and we assisted them, and now we've taken over the lead and they are assisting us," Oliver said.
No details are being released concerning the murder. Oliver would not give the cause of death or what the motive might have been except to say the investigation so far has not indicated that drugs were a motive.
He said investigators have a time frame of when the murder was committed, but because of weather and other factors, they are still meeting with experts to make exact determinations.
Oliver said additional arrests could follow and asks that anyone with any information regarding this case call the NCSO at 678-625-1400 or tips can be given to the NCSO anonymously at 678-625-5007 or through their Web site at www.newtonsheriffga.org by clicking on "anonymous tips." Those who want a response from NCSO personnel should leave contact information.
More like this story
- 4 arrested in connection with murder ( December 10, 2009 )
- YEAR IN REVIEW: Six murders in 2009 kept NCSO busy ( December 30, 2009 )
- Newton County resident sentenced to life for 2011 murder ( July 1, 2013 )
- Men enter guilty pleas in 2011 murder; Newton man's trial set for June in Walton County ( April 30, 2013 )
- Three charged in arson ( January 5, 2010 )


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I watch. The trail is empty. The leaves are falling. The wind is playing, and her ponytails are bouncing, and I am still and I watch.
The Durham Committee on the Affairs of Black People on Saturday released its slate of endorsements for the upcoming primary election.
The Durham People's Alliance wants some new faces in the school board, but favored incumbents in other contested races in the upcoming May primary election.


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New "Red Dawn" stills & promos
November 17th 2012 • by Jess • No Comments • Gallery Update, Red Dawn
I've just come across some new stills and promotional photos from Red Dawn, and added them to our Gallery. The first still has also been replaced with a HQ one. And I've made screencaptures from the new clip and 'Lady Wolverines' featurette posted earlier this week.
Red Dawn hits US screens next Wednesday, November 21st.
• Red Dawn > Stills x3 more
• Red Dawn > Promotional Photos x2 more
• Red Dawn > Clip Screencaptures – 'Toni' x11
• Red Dawn > Featurette Screencaptures – 'Lady Wolverines' x24


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English, , 1,246kb
This summative evaluation of the Malawi Program had three main objectives, a summative review of the Malawi Program investments, an assessment of the performance of the various delivery mechanisms and a forward looking analysis of findings and lessons to inform future programming.
The 2010 African Economic Outlook finds the continent reeling from the effects of the world's deepest and most widespread recession in half a century. Just how hard was the region hit? What are the prospects for recovery? This edition features an in-depth study of Taxation and Aid in Africa.
The Development Centre's award-winning website keeping its finger on the economic pulse of Africa.
English, , 1,006kb
This paper analyses the differences in Official Development Assistance (ODA) data recorded in the OECD's Creditor Reporting System (CRS) versus aid data captured at the country level in Burkina Faso and Malawi. The CRS contains ODA statistics reported by the members of the OECD's Development Assistance Committee (DAC) and some multilateral organisations. It has been tracking this information since 1967, making it the most
English, , 221kb
Malawi provides valuable experience on the advantages of a holistic approach when attempting reforms, and on how to manage longer reform programmes. Since 1995, the budget process has been based on the principles of the Medium-term Expenditure Framework. This article presents the findings of a comprehensive review of the MTEF in 1999/2000 which examined its strengths and weaknesses, the possible causes and the proposed reforms
The Aid for Trade at a Glance 2009: Maintaining Momentum report presents the results of the second monitoring exercise of the Aid for Trade Initiative and documents its success so far.
English, , 4,263kb
The evaluation report gives an overview of the support from 2000 to 2008, with a closer look at three countries - Ethiopia, Malawi and Nepal. The report shows that 60 cultural heritage projects were supported during this periode.
The 2009 African Economic Outlook focuses on Innovations in Information and Communication technologies. It also presents a comprehensive analysis of the economic, social and political developments on the continent.
The 2008 African Economic Outlook focuses on Technical Skills Development. It also presents a comprehensive analysis of the economic, social and political developments on the continent.
Aid for Trade at a Glance 2007: The OECD Creditor Reporting System (CRS) database is used to track ODA flows from Development Assistance Committee (DAC) member countries.


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Microsoft has recently released the RTM version of Internet Explorer 9. Today at MIX 11, the Redmond company showed Internet Explorer 10 Platform Preview 1.The build string of this platform preview is 10.0.1000.16394. Here is what the official blog says about Internet Explorer 10-
We're about three weeks into development of IE10, and based on the progress we've made, we want to start engaging the development community now. At the MIX conference today, we showed the new browsing engine along with several new browser test drives that anyone on the Web can try out. You can run these at www.ietestdrive.com to see emerging standards like CSS3 Multi-column Layout (link), CSS3 Grid Layout (link) and CSS3 Flexible Box Layout (link), CSS3 Gradients (link), and ES5 Strict Mode in action. We also demonstrated additional standards support (like CSS3 Transitions (link) and CSS3 3D Transforms (link)) that will be available in subsequent platform previews of IE10, which we will update every 8-12 weeks.
You can download the Internet Explorer 10 platform preview 1 from here


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Black Metal is the second album by the English band Venom. It was released in November 1982 and is considered a major influence on the thrash metal, death metal and black metal scenes that emerged in the 1980s and early 1990s.Kahn-Harris, Keith. Extreme Metal: Music and Culture on the Edge. Oxford: Berg (2007). ISBN 1845203992 Although lending its name to the latter genre, today the album is often regarded as thrash metal rather than black metal.Dome, Michael (2007). . Rockworld TV. The All Music Guide described it as "proto-thrash". Nevertheless, its lyrics and imagery were a major influence on the Early Norwegian black metal scene.
The original cover art was made by the band's bassist and singer, Conrad "Cronos" Lant.
It has been listed as one of the 1001 Albums You Must Hear Before You Die.
*Cronos – bass guitar, vocals
*Mantas – guitar
*Abaddon – drums
*Alchemist covered "Black Metal" for a tribute album.
*Blitzkrieg covered "Countess Bathory" on the album Unholy Trinity.
*Cradle of Filth did a cover of "Black Metal."
*Dark Forest, a black metal band from Brazil, covered the song "Black Metal" on their demo Sodomized By Depraved Goat from 2003.
*Dimmu Borgir covered the song "Black Metal", as the Japanese version bonus track on their album, In Sorte Diaboli.
*Hypocrisy did a cover of the song "Black Metal" on the album Osculum Obscenum.
*Isegrim made a cover album called "A Tribute to Venom"
*Machetazo covered "Black Metal"; it appears on the compilation Ultratumba.
*Mayhem, whose guitarist and bandleader Euronymous hailed Venom as an important black metal band, covered the title track on releases and live in their early years.
*Messiah Marcolin did a cover of "Countess Bathory."
*Necrodeath made a cover of "Countess Bathory" on their album Draculea released in 2007
*Obituary covered "Buried Alive" for their greatest hits compilation, entitled Anthology.
*Sigh covered multiple songs off of this album (as well as other Venom albums) on To Hell and Back: Sigh's Tribute to Venom in 1995, and on A Tribute to Venom in 2008, along with other EPs and splits.
*Unleashed covered "Countess Bathory" on Shadows in the Deep from 1992.
*Vader covered "Black Metal" on their album Necropolis.
*Vital Remains covered "Countess Bathory" for their album Into Cold Darkness.
*In 2005 it was voted the 68th best British album of all time by Kerrang! readers.
*The song "Black Metal" was featured on the soundtrack to Tony Hawk's American Wasteland.
*The cover from the album ...Just A Few More Hits from Exit-13 parodies the cover art work from Black Metal.
Category:Venom albums
Category:1982 albums
Category:New Wave of British heavy metal albums
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Venom are an English heavy metal bandExtreme metal according to that formed in 1979 in Newcastle upon Tyne. Coming to prominence towards the end of the New Wave of British Heavy Metal, Venom's first two albums—Welcome to Hell (1981) and Black Metal (1982)—are considered a major influence on thrash metal and extreme metal in general.Kahn-Harris, Keith, Extreme Metal: Music and Culture on the Edge, Oxford: Berg, 2007, ISBN 1845203992 Venom's second album proved influential enough that its title was used as the name of an extreme metal subgenre: black metal.
Early years (1978–1981)
Venom's original personnel came from three different bands: Guillotine, Oberon and DwarfStar. The original Guillotine featured Jeffrey Dunn and Dave Rutherford on guitars, Dean Hewitt on bass guitar, Dave Blackman on vocals and Chris Mercaters on drums. Blackman and Mercater were replaced by drummer Anthony Bray (b. 17 September 1957 in Newcastle) and vocalist Clive Archer of Oberon and soon after, Dean Hewitt was replaced by Alan Winston on bass. Around the summer of 1979, Conrad Lant from the bands DwarfStar and Album Graecum replaced Rutherford. Around this time, the band adopted the Venom moniker.
Prime influences of the formative band were Black Sabbath, Judas Priest, Motörhead and Kiss. Other bands cited by Venom as an inspiration are Queen, The Who, Deep Purple, Sex Pistols, Van Halen, The Tubes and Rolling Stones.
A few days before a show at a local church hall, Winston left the band. To fill in, Lant borrowed a bass guitar from Steve Thompson (later to become Venom's first producer). Playing the show with the borrowed bass plugged into his Marshall guitar amp and effects pedals, he created an unnerving racket and the 'Bulldozer Bass' was born.
Venom's lyrics often featured Satanic references, and the band members took on new stage names. Archer became 'Jesus Christ', Lant 'Mr. Cronos', Bray 'Tony Abaddon', and Dunn 'Jeff Mantas'.
In April 1980, the band recorded a three song disc, featuring "Angel Dust", "Raise the Dead", and "Red Light Fever". Soon afterward, six more tracks were recorded for just £50, with Lant taking vocal duties on the song "Live Like an Angel". Archer soon left the band, and Venom's line-up became a trio.
Classic lineup (1981–1986)
Venom's recording debut was the 1981 single "In League with Satan"/"Live Like an Angel" which was released by Neat Records. Later that year they released their full-length debut, Welcome to Hell.
Venom cronos live hole in the sky bergen norway 27 august 2010.jpg210pxthumbrightCronos of Venom performing at Hole in the Sky in August 2010
Though crudely recorded with sometimes dubious musicianship, Welcome to Hell was still a remarkable tour de force for the era. Venom's music was faster and harsher than most heavy metal contemporaries and while Satanism and other dark topics had been featured in metal before, the subject had rarely been more prominent. Lant was quoted as saying that this celebration of evil subjects was inspired by the perceived need to out-do musicians like Ozzy Osbourne of Black Sabbath, who would 'sing about evil things and dark figures, and then spoil it all by going "Oh No, No Please God help me!"', reviewed by James Christopher Monger for Allmusic.com
Their second album, 1982's Black Metal is cited as perhaps the most important influence in the development of black metal, thrash metal, death metal, and other related styles that are often grouped under the extreme metal umbrella.Khan-Harris, 2007 Many defining elements of these genres are first found in the lyrics and song titles created by Lant and his unique singing style as well as the guitar work and solos performed by Dunn. Though they would later be cited as important, neither of Venom's first two albums sold well upon their original release. And while many of their British metal peers had found measures of popular success or critical acclaim (or, like Def Leppard, were moving away from metal towards hard rock), Venom were still regarded by critics as "a trio of buffoons".
In an attempt to prove their status as serious musicians, Venom recorded At War with Satan in 1983. The epic 20-minute title track, with substantial progressive rock influences, took up the first side of the LP. The B-side was focused on the rapid-fire, three-minute "scorchers" Venom were known for. In 1985, Venom released their fourth album, Possessed, which was not as successful as previous albums. Dunn then left the band to pursue a solo career.
Lineup changes and departure of Lant (1987–1996)
Two guitarists, Mike Hickey and Jim Clare, were hired to replace Dunn. Their fifth album, 1987's Calm Before the Storm, moved away from Satanic themes in favor of Tolkien-esque "Sword and Sorcery" material., reviewed by Steve Huey for Allmusic.com This was even less successful than Possessed, and Lant, Clare and Hickey all left Venom after subsequent touring to form Lant's eponymous solo band Cronos.
Bray was left as the only group member, but he was able to convince Music for Nations for a deal to release a new Venom album on the Under One Flag label, using Deadline demo tracks which were recorded with previous line-ups but never released. In 1988, Bray offered a vocals/bass role to Tony Dolan from Atomkraft. Bray and Dolan wrote new material prior to Dunn's rejoining the band along with rhythm guitarist Al Barnes. Together they recorded Prime Evil (1989), Tear Your Soul Apart (1990) and Temples of Ice (1991). Barnes then left the band, and Steve White from Atomkraft was hired as his replacement. They released The Waste Lands in 1992, also without success. Music for Nations refused to release any more Venom albums, so Dolan and Dunn quit, effectively disbanding Venom. Bray continued to release compilation and live albums up to 1995.
Reunion of classic lineup (1995–1999)
In 1995, Lant, Dunn and Bray reunited the "classic" line-up, beginning by headlining the Waldrock Festival on 24 June 1995. They recorded and self-released the Venom '96 EP with four re-recorded and one new song, resulting in a record deal with the SPV label. An album, Cast in Stone, was next released in 1997, split between new material and re-recordings of popular early-'80s songs.
Recent work (1999–present)
Bray left Venom in 1999 and was replaced by Lant's brother Anthony "Antton" Lant. This lineup released Resurrection in 2000 on SPV. However, in 2002 Dunn again left the group and was replaced by a returning Hickey. In late 2005, Venom released a career-spanning 4-disc box set MMV, which includes an exclusive mini-poster of the band's seven-date tour of Europe with Metallica and a 60 page picture book, with interviews and pictures. The set includes all their best-known songs, along with rarities like live tracks, demos and outtakes. This lineup of the band released the Metal Black album.
Hickey left the group 2007, with a guitarist calling himself Rage serving as his replacement. This lineup released the record Hell in 2008. Anthony Lant has since left the group and has been replaced by drummer Danny "Dante" Needham.
In January 2011, Venom announced that they would begin writing new material for the upcoming 15th album, with plans to enter the recording studio in the months that followed.
As Venom were one of the first incarnations of extreme metal, influencing many thrash metal, black metal, death metal and other extreme metal bands,
their exact genre has been a topic of debate. Venom has been labeled various genres by members of the press. Most prominent genres are black metal,Black metal according to (1) Venom page, (2) Venom page, (3) Black Metal review, (4) Venom page thrash metal,Thrash metal according to (1) , (2) Yyrkoon - Unhealthy Opera review and speed metal.Speed metal according to Venom page
Welcome To Hell influenced "literally thousands" of bands. Venom's music helped shape the development of many thrash metal bands, specifically the Big Four of Thrash (who in turn were highly influential): Metallica, Slayer, Anthrax and Megadeth (Metallica opened for Venom on an early 1980s tour and Slayer played with them on the Combat Tour in 1985). Venom would also be of extreme importance to the black metal and even the early death metal scene, with numerous bands copying styles, themes and imagery from the band, such as the Swiss band Hellhammer which also helped pioneer the genres.
Venom often used Satanic and other 'evil' themes in their lyrics, but critic Bradley Torreano declared that the band had "their tongues planted firmly in their cheeks", with a sense of humor and irony that was sometimes lost on their fans and other musicians. Torreano adds that Venom " the attention of both metalheads and punks, the band was emulated by the former and turned into camp icons by the latter." reviewed by Bradley Torreano for Allmusic.com
When asked about the criminal actions or violent behaviour of some later black metal bands (notably, there were a string of arsons and a few murders in the Norwegian black metal community in the 1990s), Venom's members reportedly expressed disapproval, stating the point of Venom is to make controversial music, and "How can you make albums and tour if you are in jail?".
Although they didn't make it to MTV's top 10 heavy metal bands list, they were given an "honorable mention."
While many fans and musicians see Venom as an important band, their music has nonetheless been the subject of debate and criticism. Critic Eduardo Rivadavia of Allmusic writes that though Welcome to Hell influenced "literally thousands" of bands, Venom was "critically reviled" and composed of "incompetent musicians." However, critic James Christopher Monger declares that the members of Venom 'grew as musicians' as their careers progressed. Ethnographer Keith Kahn-Harris argues that Venom's limited technical skill, particularly early in their career, was a profound, though inadvertent factor in Venom's influence: being unable to mimic more technically proficient metal of their predecessors or peers, Venom instead opted to focus on sheer speed, creating music that was inspired by earlier metal, yet simultaneously blazed new trails.
In his Black Flag tour diary, singer Henry Rollins wrote about a 1986 performance when Black Flag opened for Venom. He opines that Venom was hilarious, with mediocre playing and a stage performance focused on appearances rather than music; Rollins asserted that the musicians used portable fans to keep their hair flowing while on stage. Rollins wrote, "It was like seeing Spinal Tap ... I expected them to go into 'Sex Farm' at any second."Rollins, Henry Get In The Van: On The Road With Black Flag, 2.13.61 Publications, 1994 Rollins writes that he and some tourmates drew magic marker pentagrams on their hands to flash at Venom and offer "Hail Satan" salutes. For their final number, Venom asked the audience to chant what Rollins thought was "Black Funky Metal", which briefly made Rollins suspect that he had overlooked Venom's sense of humor, until he realized Venom was actually saying "Black Fucking Metal." Venom reportedly laughed off Rollins' comments saying "Henry didn't have the balls to speak to us back then, he hid backstage, but now he mouths off behind our backs. His band was useless and that's why he writes books now. He even got the date of the show wrong. Go write some more books and we'll keep making music."
Venom's members were apparently well aware that their musical skills were questioned, especially by other bands. During a concert at the Hammersmith Odeon in 1984, guitarist Mantas was doing a between-song rant when he remarked rather loudly: "A lot of bands are out there tonight, waiting for Venom to make a mistake. Well, we are the fucking mistake!" Taken from audio track of: "The 7th date of Hell: Live at the Hammersmith Odeon" copyright 1984 Neat Records and Music (D.W.E. Ltd.)
Current members
* Conrad "Cronos" Lant – bass guitar, vocals (1979–1987, 1995–present)
* La Rage – guitar (2007–present)
* Danny "Dante" Needham – drums (2009–present)
Former members
* Jeffrey "Mantas" Dunn – guitar (1979–1986, 1989–2002)
* Anthony "Abaddon" Bray – drums (1979–1999)
* Clive "Jesus Christ" Archer – vocals (1979–1980)
* Mike "Mykvs" Hickey – guitar (1986–1987, 2005–2007)
* Jim Clare – guitar (1986–1987)
* Tony "Demolition Man" Dolan – vocals, bass guitar (1989–1992)
* Alastair "Big Al" Barnes – guitar (1989–1991)
* Steve "War Maniac" White – guitar (1992)
* Antony "Antton" Lant – drums (2000–2009)
Studio albums and EPs
* Welcome to Hell (1981)
* Black Metal (1982)
* At War with Satan (1983) (Chart Position #64 UK),(#48 SE)
* Possessed (1985) (Chart Position #99 UK)
* Calm Before the Storm (1987)
* Prime Evil (1989)
* Tear Your Soul Apart (EP) (1990)
* Temples of Ice (1991)
* The Waste Lands (1992)
* Venom '96 (EP) (1996)
* Cast in Stone (1997)
* Resurrection (2000)
* Metal Black (2006)
* Hell (2008)
Live albums
* Eine Kleine Nachtmusik (1986)
Compilation albums
* The Singles 1980-1986 (1986)
* The Book of Armageddon (Best of) (1992)
* Skeletons In The Closet (1993)
* Kissing the Beast (1993)
* New, Live and Rare (1998)
* Old New Borrowed & Blue (1999)
* MMV (Box set) (2005)


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CHURCH HILL -- Kyle Wilson led off with a home run and the hits kept coming for Science Hill in a 16-1 blowout victory over Tennessee High in the District 1-AAA baseball tournament at Volunteer High School.
After Science Hill pitcher Reed Hayes struck out the side in the top of the first, Wilson took advantage of a Saturday morning wind at his back to send a long home run over straight-away center field. Easily clearing the 380-mark, it was Wilson's third home run of the season.
"I just tried to get something going offensively," said Wilson, who finished 3-for-4 with two RBIs. "He got me a good pitch up and I got a good swing at it. The wind was blowing out and it probably helped a little bit. It got us started."
It certainly did.
Wilson's teammates followed with six more hits as the Hilltoppers (27-6-1) went through their lineup and beyond. By the time they were done with the first inning, the 'Toppers held a 10-0 lead.
With two runs in the third and four more in the fourth, the game ended in just five innings.
"I liked the way we came out," Science Hill coach Ryan Edwards said. "We got them up early and made them hit the field early. We got there together and took b.p. like normal at 7:30 in the morning. You never know what's going to happen in an early game, but we've had some success in it."
The early morning work paid off on both ends as Will Craig and Tucker McPherson each finished 2-for-3.
Hayes went 1-for-4 with four RBIs at the plate, and had six strikeouts on the mound to pick up the win. He gave up just four hits, all in the fourth inning. He admitted, however, it was much easier throwing with a big lead.
"Once you score that many runs in the first inning, you just relax," Hayes said. "You're not tight anymore. In the postseason, some people will tighten up and get nervous about the season ending."
It will take at least two losses and an extra day for that to happen for Science Hill. With the tournament's new format of double-elimination throughout, the Hilltoppers get to take today off to rest their arms and legs.
The Vikings (13-12) scored their only run in the fourth inning when they strung together four straight singles. Devin Turner suffered the loss.
It didn't help Tennessee High's cause that Science Hill remembered the teams' last meeting, a 4-3 Viking victory on April 23 with Turner on the mound.
"We owed them one, owed them a big one from their place when they beat us," Wilson said. "We had that in us and played with a little extra fire."