text:
|Publication number
|Publication type
|Application number
|Publication date
|Feb 15, 2005
|Filing date
|May 25, 2001
|Priority date
|Aug 17, 2000
|Fee status
|Also published as
|Publication number
|Brian Fox
|Original Assignee
|Xilinx, Inc.
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (6), Referenced by (15), Classifications (6), Legal Events (4)
|External Links: USPTO, USPTO Assignment, Espacenet
This application claims benefit of Provisional Appl 60/226,460 filed Aug. 17, 2000.
The present invention relates to a system on chip, and more specifically, to built-in self-testing for a system on chip.
System on a chip is an integrated circuit that includes a processor, a bus, and other elements on a single monolithic substrate. A system on a chip may include a configurable logic unit. The configurable logic unit includes a processor, interface, and a programmable logic on the same substrate.
Generally, systems on a chip are tested using external test gear. However, this is inconvenient, as it requires expensive test equipment, and eliminates the possibility of testing in the field.
One prior art method of solving the problem of testing for a non-configurable system on a chip is using a built-in-self-test (BIST) mechanism. However, a configurable system on a chip, one that includes configurable logic, is not compatible with the self-testing systems that currently exist. Therefore, alterations to the system-on-chip are needed, to simplify self-testing and to make self-testing more comprehensive.
A method and apparatus for providing a system-on-a-chip comprising a processor and a configurable system logic (CSL) including a plurality of banks arranged in an array coupled to the processor. The system on a chip further includes a built-in self test (BIST) mechanism coupled to the CSL to perform tests on the CSL to verify that the banks and interconnections between the banks are functioning properly.
The present invention is illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar elements and in which:
A method and apparatus for simplifying self-testing of a configurable system on a chip is described. The present system is designed to reduce the complexity and cost of test equipment required to test a configurable system on a chip. A built-in self test (BIST) mechanism is adapted to hook into the configurable part of the configurable system on a chip, which permits the testing of the configurable portion of the system on a chip.
A configurable system on a chip (CSOC) integrates a CPU, an internal system bus, programmable logic also referred to as configurable system logic (CSL), and various system resources all interconnected and communicating via the internal system bus on a single substrate. For one embodiment, the substrate may be silicon. However, alternative substrate materials may be used. For one embodiment, one of the system resources provides a dedicated external memory interface function. For one embodiment, the CSOC structures described in copending application Ser. No. 09/172,918, entitled "PROCESSOR, PROGRAMMABLE LOGIC, AND BUS ON A SINGLE INTEGRATED CIRCUIT," filed Oct. 14, 1998 may be used. That application is hereby incorporated in its entirety.
A block diagram of the CSOC 100 identifying one embodiment of the system resources is shown in FIG. 1. Those system resources that reside on the internal system bus are shown to the left of the bus and arbiter block 125 if they are masters, and to the right if they are slaves, in typical application. Note, however, that each of the devices on the left may be a slave in some applications, and some of the devices on the right may be masters in some configurations.
The CPU 120, CSL 110, PIOs 115, and memory interface 160 are shown. The CPU 120 is a processor, while the CSL 110 is a configurable logic such as a programmable logic array (PLA), programmable array logic (PAL), field programmable gate array (FPGA), or another type of configurable logic. One embodiment of the configuration of the CSL 110 is shown in FIG. 2. The PIO 115 is the input/output system, which is interfaced to the CSL 110. The PIO 115 is used to communicate with devices outside the CSOC 100. For one embodiment, the CSL 110 may be further coupled to a BIST (built-in self test) engine 190, which controls testing. The functions of the BIST engine 190 will be described in more detail below. The BIST engine 190 may be used for testing all devices, by sending signals through the bus 125, or being directly coupled to certain elements, without use of the bus 125. For example,
The various system resources may also include internal random access memory (RAM) 155, a small internal ROM 150 containing fixed initialization code, a controller for performing direct memory access (DMA) 130, a JTAG interface 140 (Joint Test Action Group) with bus master extensions, and an internal bus monitor and breakpoint unit 145. The power and reset control 175 section generally does not have a bus interface. Clock signals may be coupled to the bus from clock control 180. There is also a group of control registers that are not shown in the diagram. For one embodiment, these control registers determine the operating characteristics of each of the system resources. This is discussed in more detail below. The memory bits that determine the configuration of the CSL 110 are assigned to an addressable region on the internal system bus 125. The CSL 110 also has the slave side of the internal system bus 125 distributed throughout along with many programmable bus interface decoders and pipeline registers that may then be used by the user programmable logic within the CSL 110.
To achieve satisfactory system-level integration of a homogeneous CSL 210, some of the system-level circuitry co-resides with the programmable resources in the interior of the CSL 210. The CSL 210 establishes a hierarchical distribution of system-level circuitry with the programmable resources in a homogeneous CSL 210, in such a way as to gain the benefits of hierarchical organization while retaining the benefits of a homogeneous array.
A homogeneous CSL consists of a more or less regular array of similar units of programmable logic resources. These units are called tiles, because they correspond to design units of physical layout, which are then tiled to form an array.
In a homogeneous CSL, the tiling is almost completely regular. Slight variations may exist from tile to tile to achieve different interconnect recombination. More substantial variations occur at the edges of the array, typically to optimize the connections of the CSL to bonding pads at the perimeter of the chip.
In addition, homogeneous arrays may have one or more columns or rows of special tiles in interior of the array dedicated to distribution of power, ground, or clock signals. The presence and organization of these special tiles is irrelevant to the functional and topological organization of the programmable resources in the CSL.
This method organizes the tiles of the CSL into a semi-homogeneous array. The array is divided into multiple sub-arrays, called banks 210, where each bank is divided from the other banks in the CSL 210 by a row or column of special breaker tiles 220, 230, 240. The division between banks is not absolute. The breaker tiles 220, 230, 240 are designed such that the fabric of programmable interconnect is topologically continuous from each bank to its neighbor. For one embodiment, interconnect long lines, which span the entire width or height of a bank do not cross the breaker tiles. Instead, each long line is confined to a single bank.
The breaker tiles 220, 230, 240 contain programmable connections between long lines in adjacent banks. Long lines in adjacent banks are electrically connected through a programmable connection in the breaker tiles 220, 230, 240. Together with the unbroken fabric of other programmable interconnects across bank boundaries, the breaker tiles 220, 230, 240 allow the same degree of homogeneity as existing programmable logic architectures. The breaker tiles 220, 230, 240 also contain system-level circuitry such as system data, address, and control signals, pipelining registers, buffering, and miscellaneous logic for integrating the CSL 210 with system-level components such as the CPU. The breaker tile 220, 230, 240 contains programmable connections between this system-level circuitry and the programmable interconnect in adjacent banks. The breaker tiles 220, 230, 240 are joined together to act as a hierarchical network for distribution and collection of system-level signals such as address and data. The breaker tiles may also contain structures for distributing power, ground, and clock signals to the CSL.
Pipeline registers at each bank boundary exist for common timing for different sized die to simplify system level timing.
This method retains the benefits of a homogeneous organization, and allows the application of well-understood placement and routing algorithms.
This structure brings system-level circuitry in close topological proximity to programmable logic throughout the CSL. The maximum physical distance between pipelining registers and any given programmable resource is limited by the size of the bank 210. By choosing an appropriate bank size, different cost/performance tradeoffs are possible. This structure increases the predictability of the timing of system-level signal paths in the CSL, which simplifies software algorithms and typically increases the overall system performance for designs implemented in the CSL. This structure scales very well with different array sizes. The average distance between system-level circuitry and programmable resources stays constant as array size grows. This method enables the programmable separation of the banks into relatively isolated resource pools that can be operated on independently by placement, routing, and other algorithms. This divides what is typically a large and difficult problem into several smaller and simpler problems. As a result, algorithm run times are significantly reduced.
This method reduces the burden that the tiles 210 in the bank bear for supporting integration of system-level signals. By concentrating the system-level connections in the breaker tiles, the other tiles in the bank are relieved of the need to support high-performance integration with circuitry that is physically or topologically remote. This simplifies the design of the other tiles.
One embodiment of the actual layout of a CSL 210 is shown in FIG. 2. The logic banks 210 are bordered by a vertical breaker tile 220 above and below, a horizontal breaker 230 tile on both sides, and corner breaker tiles 240 in all four corners. The logic banks 210 are connected to adjacent logic banks 210, and to the external world through these breaker tiles 220, 230, 240. This pattern of logic tiles 210 and breakers 220, 230, 240 repeats through the entire structure of the system. On one side, on the top as shown in
The specific elements described herein are parts of the CSL. An explanation will be given how they fit into the block diagram shown in FIG. 2. However, it is to be noted that these changes may be made to a system that is structurally different from the one illustrated in
The process starts at block 310, when a testing procedure is initialized.
At block 320, the configuration memory is tested. A Cyclic Redundancy Check (CRC) is calculated of read back data on a per nibble per breaker tile basis. The CRC determines whether there was data corruption in the memory.
At block 330, the process tests the input MUXes. The new sense circuitry, described below in more detail, is used to isolate inputs to the iMUXes. Transistors at the output of the iMUX drive the signal backward through the iMUX. New sense circuitry is used to verify that the iMUX is operating properly.
At block 340, the process tests the ZIP switch boxes. The ZIP buffer is gated with a new signal, to enable driving the interconnect high and low, to determine whether the driving signal is correctly reflected at the buffers before the LBT iMUXes.
At block 350, the process tests the Logic.
At block 360, the process tests the Selector/Vertical Breaker Tile. Capture cells capture the match lines of the address decode in each Vertical Breaker Tile. This is used to simplify testing of the address decoders.
At block 370, the process tests the Horizontal Breaker Tile. Logics are inserted at the bank boundary using drivers that control the interconnect lines in the horizontal and vertical breaker tiles. This is used to run array size independent tests.
At block 380, the process tests the Input Output/sideband signals.
At block 390, the testing process ends. Note that additional tests may be added, for example to test various other memory elements, etc. Further, note that certain of these test elements may be deleted as well. In general, to perform a built-in self-test (BIST), all of the above tests are performed. However, this is not necessarily in every instance. Thus, a subset of the above tests may be performed, based on the elements of the CSOC, and the circumstances of the test.
A new signal "testiso," 415 or test isolation, is used to isolate input MUXes of one LBT channel, for example iMUX 400A, from the switch box and zip drivers. This eliminates contention, and permits the individual testing of each iMUX. For one embodiment, transistors 420 are used to isolate the input signal lines. Testiso disables the output of the buffers and level shifters that provide the local copies of signals for the tile. Testiso 415 further isolates the selector output signals, and the supply inputs to the iMUX. A new logical AND gate 430 is added to AND all routing resources. A capture configuration memory cell 435 is used to observe the output of the AND. For one embodiment, a latch gate 433 is interposed between AND 430 and memory cell 435, to capture the output of the AND 430.
Similarly, a logical OR gate 440 is added to OR all routing resources. The capture configuration memory cell 445 is used to observe the output of the OR. Again, a latch gate 443 may be interposed. The latches 433, 443 use encap signal to capture the outputs of the OR gate and AND gate at the correct time.
Using this structure adds the buffers, transistors, and metal for the lines to the structure of the iMUX. The overhead is approximately an additional 5% increase in size. The capture memory cells 435, 445 are identical to other memory cells used within the CSL, thus the layouts of the memory cells may be reused throughout the system. This reduces the design complexity of the system.
At block 455, all of the memory cells of the iMUX are programmed to 1. All other memory cells associated with other iMUXes in the same routing channel, i.e. that may affect outputs, are programmed to zero.
At block 460, a "1" is driven on all nodes of the iMUX. For one embodiment, the EnzipN line is used to drive the "1".
At block 465, the configuration memory is read, to verify that both the AND and OR gate outputs are 1, reflecting that the signal was successfully driven. If one or the other configuration memory is not a 1, the process continues to block 470. At block 470, an error flag is raised, indicating that an error was found. For one embodiment, a "1" or "0" is written into a predetermined memory location, to indicate an error. For one embodiment, the error may be iMUX dependent, such that by reading out the error log, the actual location of the iMUX may be determined. For another embodiment, all test results are written to a single location, and the error flag simply informs the user that an error exists. If the configuration memories were "1's" as expected, the process continues to block 475.
At block 475, the testlo signal is used to drive "0's" on all nodes of the iMUX. At block 480, the configuration memory is read to verify that both the AND and the OR capture cells are "0". If one of the outputs is not a zero, the process continues to block 470, where an error flag is raised. For one embodiment, this may be a different error flag than the flag raised if writing a "1" was unsuccessful.
At block 485, the process determines whether there are any remaining iMUXes in the routing channel. If there are no remaining iMUXes, the process continues to block 490 and ends. Otherwise, the process returns to block 450, and the next iMUX is selected for testing.
This test and the accompanying circuitry add, for one embodiment, 10-15% to the delay through the iMUX, and increase the area of the CSL by 5%. However, it provides the ability to perform a complete self-test of the iMUXes using testers with limited vector memory.
At block 472, all addresses are written to AA (hex). The hex value AA is patterned as 1010.1010. This is a checkerboard pattern, that writes alternating ones and zeroes. Again, at block 474, the addresses are read, and pipelined directly to the CRC.
Subsequently, at block 476, all addresses are written to 55 (hex). The hex value 55 is patterned as 0101.0101, the other half of the checkerboard pattern. Again, the results are pipelined to the CRC, at block 478.
The addresses are then written to FF (hex) at block 480, which is a pattern of all ones. This is read out at 482, and pipelined to the CRC. These outputs become part of the ending CRC output. For one embodiment, separate error flags may be associated with each reading. For one embodiment, the particular memory bank with which the error is associated may also be identified in the error flag. The above writing patterns are merely exemplary. Alternative patterns may, of course, be used. For another embodiment, portions of the patterns may be skipped, such that each memory is written to zero and one once, only.
At block 492, testisoN=0 (removing isolation), enzip=0, testlo=1 (pulling the signal to a zero.) Again, at block 494, the configuration memory is read, to observe the testA and testO signals.
This process is repeated, as shown in block 496 to test various nibble array configurations. Note that the specific sequence and array descriptions used here are merely exemplary. Alternative tests may be performed. What is tested is whether the iMUXes are successfully configurable in various ways. For one embodiment, only a subset of configurations may be tested. For one embodiment, only those configurations that are not tested by other tests may be used. Thus, there may be unusual configurations that are not tested in other BIST based tests.
Similarly, a driver 520 may be inserted into a Data Out (do) line, such as Data Out East (doe) shown here. Furthermore, an isolation transistor 535 is inserted, to isolate the circuit from other inputs when driver 520 is driving a signal. For one embodiment, the isolation transistor 525 is driven by the enzip signal. The output of the doe line is captured by a capture configuration memory cell in each LBT. As described above, an error flag may be raised if the data in the capture memory cell does not correspond to the data being driven by driver 520.
Similarly, for long lines, driver 530 may be used to drive a signal. The long lines include the transistor controlled by enzipN signal, thus only a single transistor is added. The new transistor is controlled by testhiN. An isolation memory 535 is used to control a transistor 538 to isolate the long line from other inputs. Note that the isolation memory 535 and isolation transistor 538 are existing elements of long lines.
The interconnect drivers permit the other tests to be run array size independently. Furthermore, in conjunction with the isolation elements discussed above, this permits the simultaneous testing of all banks. This increases throughput, decreases delays, and decreases the additional elements needed for array size control for testing.
The switch box is programmed to have the zip box driving the single lines. One tile per row/column drives the long lines. The signal testiso is driven in all of the tiles, so that the AND and OR gates see a buffered version of the zip output.
At block 640, the current nibble array is selected for testing using the breaker tiles, I/O tiles, and edges. For one embodiment, this is updated using vectors by using a broadcast write. A single master copy is written in the BIST engine, and reproduced into the tiles by the process. In effect, slave copies of the master copy are written across the entire CSL. This reduces the writing time significantly, since each line need not be activated independently.
Nibble arrays are tested diagonally. For example, a nibble array will be tested from South East to North West and North East to South West.
The testiso signal, or inverted signal testisoN, is set to 1 (to isolate external signals. The enzip and testlo signals are both set to zero.
The configuration memory is then read at block 650 to observer testAND and testOR, the outputs of the AND and OR logics, to verify that both the AND and OR are zero. If either is not a zero, the process continues to block 660, and an error flag is raised. Again, the error flag may simply be a memory to which data is written indicating that an error was found. If no error is found, the process continues to block 665.
At block 665, the inputs are changed to have testlo=1, while enzip and testiso remain at zero. The test process is then repeated, driving a 1 through the system.
At block 670, the configuration memories are read to observe testAND and testOR. If they are incorrect, the process continues to block 660, and the error flag is raised. Otherwise, the process continues to block 675.
At block 675, the process determines whether the complete nibble array has been tested through the current direction. The first direction may be diagonally SouthEast to NorthWest. If the nibble array test has not been completed, the process continues to block 645, and the next nibble array is selected.
If the complete nibble array has been tested in the current direction, the process continues to block 680. At block 680, the process determines whether all testing directions have been completed. If not, at block 685, the next testing direction is selected, and the process continues to block 645 to select the first nibble array in the new testing direction. If all testing directions have been completed, the process ends at block 690.
At block 740, the address is set to a value for evaluation. For one embodiment, that value is 55,555,555 in hexadecimal. At block 745, the configuration memory is read to determine whether the data captured by the SRAM capture cells matches the data input to the address. If the data does not match, the process determines that there is an error. An error flag may be raised. Alternatively, the erroneous data captured by capture cells is used as the data flag.
At block 750, the address is set to another value, for one embodiment AAAAAAAA, in hexadecimal. Again, the capture cells are read, to determine whether the data successfully propagated through the address decoders. Again, the error flag may be raised if the captured data does not match the decoded input data.
The process then returns to update the nibble array, at block 757 and repeat the test. For one embodiment, the test is repeated for selectors set from 0000 to XXXX. For one embodiment, the selectors are programmed sequentially to XXX0, XXX1, XXXF, XX0X, XX1X, XXFX, X0XX, X1XX, XFXX, 0XXX, 1XXX, FXXX and XXXX. After this portion of the testing is completed, the process continues to block 760, for the second portion of the testing. For one embodiment, for this portion of the testing, the CSL remains configured to address AAAAAAAA.
At block 760, the 20�5 nibble arrays are written to all LBT, edges, and IOBs. As discussed above, this data is updated by vectors, reducing the requirements on the tester.
At block 770, the 20�5 nibble arrays are written to the north and west IOBs (i.e. exterior IOBs) as well as to the south and east edges. Again, for one embodiment, vectors are used for updating this data.
At block 775, the signals are set to run a first test. For one embodiment, the signals are set to: testisoN=1 (isolating the circuit to be tested), enzip=0, testlo=0 (pulling the signal to a one.) Note that this specific configuration of signal is merely exemplary. One skilled in the art would know that the described tests set signals to initially drive 1's and then drive 0's through the memory being tested. The present signal description is merely designed to provide an example of such a methodology.
At block 780, the configuration memory is read, to observe the outputs testa and testo, and verify that the expected outputs have been received. This test is used to verify that the outputs of the address decoder can drive interconnect to the LBT iMUXes. This data is stored, and compared to expected results by the tester. Again, flags may be raised if the results do not match the expected results.
At block 790, the signals are reset, to testisoN=1 (continuing isolation), enzip=0, and testlo=1. This drives a zero through the circuit.
Again, at block 795, the configuration memory is read to observe the outputs testa and testo, and verify that that the expected outputs have been received.
At block 799, the nibble array is updated, and the test is repeated. Note that the nibble array update writes different data to the address decoders being tested. For one embodiment, the update occurs three additional times, to test in all directions. For one embodiment, the directions are ns-ew, ne-sw, and nw-se.
By adding the address decode test (adectst) signal, to select one of two signals in MUXes 830, the system can switch between a testing mode and a normal operation. In testing mode the tied-together signals 830 are selected, thus only CSEL[0] needs to be written to, to program all four columns, as shown in this example. In normal operation, the normal signals are selected, and each CSEL signal is individually activated. Note that although four columns are shown here, actual implementation may vary in the number of rows and columns per bank. The above-described strategy may apply to a memory bank of any size. The CRC logic 810 determines whether the data read from the signals, on each column, reflect the data written in. For one embodiment, capture cells, not shown in
The output of the LFSR is unique based on the input data. For one embodiment, a 16-bit CRC is used. Using a larger CRC value improves the odds of detecting a failure, but requires more space. Thus, an arbitrary CRC size may be used, but the size and effectiveness trade-offs are kept in mind. The CRC is enabled, when test mode is initiated, at block 910. For one embodiment, the CRC has a separate enable and reset.
The data from all observation nodes is fed into the LFSR, as various tests are performed, at block 920. The process determines whether all tests are done, at block 930. If not, the CRC results are updated, and the process continues to block 920, to continue performing tests. As is known in the art, in order to produce the CRC signature, data is continuously fed into the system, for one embodiment. For another embodiment, all data is collected at the same time. If the testing process is finished, the process continues to block 940.
At block 940, the unique signature (CRC signature) that results from the tests is calculated. At block 950, the final signature is evaluated to determine whether it matches the known content that should have been received from the observation nodes. If the final signature is identical to the expected signature, the device is passed at block 960. This indicates that the device has been successfully tested. Otherwise, the error indicated by the CRC is identified, at block 970. For one embodiment, the error may be identified by column and bank within the configurable logic. This may enable someone reviewing these results to either bypass the bank with the problem, or to potentially fix the problem.
Both the DMA and the JTAG have CRC engines. For one embodiment, the results described above are read through the last engine. The results are passed from CRC to CRC, resulting in a final result being output from the last engine in the chain. This final signature is written to a pass file, which is used to determine whether the device has passed the tests.
For one embodiment, the output of the LFSR is read back from the configuration plane without disturbing the CRC content. This is done using a CRC enable signal. For one embodiment, the CRC enable signal is driven by the BIST engine. For one embodiment, using RSEL and CSEL duplication, or the gating method discussed above, all CSL bank columns are read simultaneously. This produces an aggregate result in minimal time, which indicates if there are any problems with any banks. Note that this test identifies a bank and specific column, but does not actually identify which tile of the column in the bank has the problem. However, if a problem is in fact found, more detailed and time-consuming tests may be performed, such as the tests described above, to pinpoint the point of failure. A fast CRC check, described here, may simply verify that the system is good.
In the foregoing specification, the invention has been described with reference to specific exemplary embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention as set forth in the appended claims. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
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|Method and apparatus for providing fault tolerance to memory
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|U.S. Classification
|714/733, 714/736, 714/732
|International Classification
|Cooperative Classification
|European Classification
|Sep 26, 2001
Owner name: TRISCEND CORPORATION, CALIFORNIA
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|May 14, 2004
Owner name: XILINX, INC., CALIFORNIA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:TRISCEND CORPORATION;REEL/FRAME:014634/0065
Effective date: 20040305
|Aug 7, 2008
|Fee payment
Year of fee payment: 4
|Aug 15, 2012
|Fee payment
Year of fee payment: 8


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Milwaukee 2101-22
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This Milwaukee item can also be referenced by the following color/finish specific model #:
- Milwaukee 2101-22
*Discontinued model or finish
More Than Just a Store - Your Reasons to Shop
Discover the best online deals for the Milwaukee 2101-22 and everything else for your home from the leading online home improvement store.
We're committed to providing you with the best assortment of Milwaukee products with over 400 warehouses across the country.
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Jacksons Restaurant and GuesthouseMarket Square, Roscommon
Situated in Roscommon, this inn is within a 15-minute walk of Roscommon Castle and Dr. Hyde Park. Roscommon Golf Club is 1. …
Gleeson's Townhouse & RestaurantMarket Square, Roscommon Town, Roscommon Ireland 3.0 out of 5
Situated in Roscommon, this guesthouse is within a 15-minute walk of Roscommon Castle and Dr. Hyde Park. Roscommon Golf Clu …
Ross House B&B2 Quarry View, Roscommon 3.0 out of 5
Situated in Roscommon, this bed & breakfast is 1.1 mi (1.8 km) from Roscommon Castle and within 3 mi (5 km) of Dr. Hyde Par …
Armcashel B&BKnock Rd, Castlerea 3.0 out of 5
Situated in Castlerea, this bed & breakfast is within 12 mi (20 km) of Douglas Hyde Intepretive Centre, Augustinian Friary, …
White House HotelWallace Court, Ballinlough
Situated in Ballinlough, this hotel is 5.7 mi (9.2 km) from Augustinian Friary and 5.8 mi (9.3 km) from St Patrick's Church …
Forest Park HouseCarrick On Shannon Road N4, Boyle
Situated in the historical district, this bed & breakfast is within 3 mi (5 km) of Lough Key Forest Park, Boyle Abbey, and …
Cesh CorranAbbey Terrace, Sligo Road, Boyle
Situated in Boyle, this hotel is within a 5-minute walk of Boyle Abbey and King House. Boyle Golf Course is 2.4 mi (3.9 km) away.
Kilronan Castle Estate & SpaBallyfarnon, Ballyfarnon 0000 4.0 out of 5
Situated in the historical district, this spa hotel is within 9 mi (15 km) of Arigna Mining Experience, Sliabh an Iarainn …
The GlasshouseSwan Point, Sligo 4.0 out of 5
Situated on a river, this hotel is steps from Yeats Memorial Building, OConnell Street, and Sligo County Museum. Quayside …
Sligo Park Hotel & Leisure ClubPearse Road, Sligo F91 Y762 4.0 out of 5
This family-friendly Sligo hotel is located in the suburbs, within 1 mi (2 km) of Hawks Well Theatre and Sligo Abbey. OConnel …
Recently Booked in Roscommon
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Register now for free, or sign in with any of these services:
Status: Open
Know more about this business than we do? Cool! Please submit any corrections or missing details you may have.Help us make it right
Krispy Krunchy Foods offers a quick-serve restaurant concept with more than 1700 retail locations in 35 states. Established in 1989 in Lafayette, LA, we have over 70 combined years of experience in the c-store/ foodservice industry. We feature Cajun-style chicken (bone-in and tenders) which is always fresh never frozen and fried in zero trans fat oil. The menu also includes signature dishes of...
Be the first MLive.com user to add photos or videos of Boomers Party Store & Pizza
I've been a loyal customer for years, and not only is this a great place to grab a pizza or beer, the folks who work here are friendly and helpful. Both of the owners put a lot of time and hard work into their business, and it really shows in the quality of both merchandise and service. They recognize customer loyalty, too -- I live outside of their standard delivery zone, yet they still deliver to my house.
Great Pizza! The funny this is people from Ann Arbor told me about the pizza, when I moved to Ore Lake. This isn't just a local fluke, this pizza is good and people know good when they get it. The staff there is great too...
Boomers Party Store & Pizza is located at 8999 Hamburg Rd, Brighton, MI. This business specializes in Event Planners and Events & Occasions. Boomers Party Store & Pizza is open Mon, 9am-12am; Tue, 9am-12am; Wed, 9am-12am; Thu, 9am-12am; Fri, 9am-12am; Sat, Closed; Sun, 12pm-12am and accepts Cash, Discover, Mastercard and Visa.
Boomers Party Store & Pizza can be found at Hamburg Rd 8999. The following is offered: Party Supplies. The entry is present with us since Sep 7, 2010 and was last updated on Nov 12, 2013. In Brighton there are 5 other Party Supplies. An overview can be found here.


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Huntley Supermarkets
1. StephNCo.com
Serving the Huntley Area.
2. Liquid HCG Drops - HCG Weight Management
Its almost been a week and Im loving the drops! Im not as hungry, and i stay hungry! They are working wonders, and I can already feel myself getting…
3. Supervalu
Billings, MT 59102
4. Project Merc Food Farm
Worden, MT 59088
5. BeenefitsMOVED
Serving the Huntley Area.
best of the best , the best propolis ever , propolis a day keeps doctor away - best customer service , thank you so much for being here for us .
6. Project Merc Food Farm
Ballantine, MT 59006
7. Acme Limited Partnership
107 N 28th StBillings, MT 59101
8. Good Earth Market
friendly knowledgeable staff (just found out I'm gluten free :S, sucky) I was approached by an employee who showed me around the store and gave me a…
9. Walmart Supercenter
great service, friendly people, not crowded!
10. Renegade Marketing
2817 2nd Ave N # 205Billings, MT 59101
11. Blue Basket Markets
3000 7th Ave N # 300Billings, MT 59101
12. Mr Thrifty Foods
201 N 14th StBillings, MT 59101
13. Jewel-Osco
611 N 27th StBillings, MT 59101
14. 4th Avenue Meat Market
117 N 25th StBillings, MT 59101
From Business: 4th Ave Meats has been serving Billings and Eastern Montana with quality cut meats since 1985. Now with a 2nd location in Red Lodge! We are local experts in cured m…
15. Lockwood IGA
1960 Old Hardin RdBillings, MT 59101
If you're in the area it's a good store to shop, good produce meats and people
16. Albertsons
670 Main StBillings, MT 59105
17. Project Merc Food Farm
2416 3rd StWorden, MT 59088
18. Pioneer Water Svc Inc
2605 US Highway 87 NBillings, MT 59105
19. Oblander ChiropracticProducts
Dr. Oblander truly has healing hands. In addition to his great care, He and his staff always listen to me and treat me like their best friends.
20. Bonanza Health Foods
923 Grand AveBillings, MT 59102
From Business: We are your Billings owned health food market since 1976. Bonanza Health Food has been serving Billings and Eastern MT and since we ship any where in the world, we …
21. Sam's Club
4420 King Ave EBillings, MT 59101
From Business: Visit your Billings Sam's Club. Members enjoy exceptional warehouse club values on superior products and services, including groceries, pharmacy, optical, home furn…
22. Poly Food Basket
Great little grocery store with a small town feel, and very friendly staff!
23. Montana Granola
1201 Yale AveBillings, MT 59102
24. Reliable Water Service
29 Orchard LnBillings, MT 59101
25. Gas N Go
800 Jackson StBillings, MT 59101
Showing1-25 of 25results


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Good Advice
I Want to Go Deeper Than My Youth Group
I am attending a youth group that, more and more, just frustrates me. What do I do?
Born Gay?
I have a friend who's gay and says it's not wrong because he was born that way.
Acne Ruins My Life
This struggle has really messed with my ability to like myself—or trust God.
She's Happy Without God
My friend told me yesterday she isn't a Christian anymore.
Has God Really Changed Me?
I asked God into my heart, but I don't feel any different.
My Family's Falling Apart
I'm scared and need help. What can I do?
My Friend's an Atheist
Is there any way I can bring him back around?
My Friend Is Smoking Pot
I can't force him to change or get help. What can I do?
My Youth Group Has a Clique Problem
What can I do to make our youth group more welcoming?
Is Swearing Really So Bad?
They're just words, so why is it wrong to say them?


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Take one soon to be released, hot ticket tech item - Ableton Push - the new pad/controller instrument for use with Live, add a large quantity of talent in the form of Jeremy Ellis - known for his amazing finger drumming, sample pad playing and being part of the supergroup I AM ROBOT. Now switch it on and have Push expert Dennis DeSantis explain how it works to Mr Ellis and film it.
hmmmm… Well, Mr. Ellis is actually a very skilled musician in traditional instruments (I believe he's a pianist), however for those kids out there WHO ARE NOT skilled in traditional instruments, and '…don't have the time to invest in learning a new and awesome instrument' providing discipline and many, many other transferable life skills and efficacies, I think Ableton JUST created a BIG CHANCE and YOUR BEST OPPORTUNITY to sound competent.. ..one step closer to the "Make Music" Button, located on the DAW. ..could be the future for many curious music enthusiasts
18-Feb-13 10:29 PM
Hmmm.... Looks like Native Instruments just lost a sponsorship. LONG LIVE LIVE!!!
23-Feb-13 05:20 PM
Handled automatic tuner gets you in key and keeps an eye on yr strings
A look at the Electro Harmonix collaboration modules


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Phoenix Suns
Suns' Babby: Team not ready to decide on Lindsey Hunter's future
Back when the Phoenix Suns decided to part ways with head coach Alvin Gentry, president of basketball operations Lon Babby said his replacement was assured of being the team's coach for the rest of the season — and nothing more.
"It will be an interim coach," Babby said.
At that point the Phoenix Suns were 13-28, giving the team's choice half a season to prove his worth.
That ended up being Lindsey Hunter, who has guided the team to a 10-20 mark as the head coach. Of those 10 wins some have been against the league's best (Atlanta, San Antonio, Memphis), whereas some of the 20 losses have been to the worst the NBA has to offer (Washington twice, Minnesota, Sacramento).
A guest of Arizona Sports 620's Doug and Wolf Wednesday, Babby was asked if the team is evaluating the coach and if he's doing what they were hoping.
"There are two parts to your question," Babby said. "The first part is have we been evaluating him and do we have a pretty good sense of where we are, and the answer to that is yes.
"Then the question is am I going to give him an interim report now, and the answer is no."
Babby said the organization will address Hunter's possible future with the team when the season comes to a close.
However, he did take offense to the idea that Hunter has had issues with handling the media and sideline demeanor, explaining he thinks the coach has done well in those areas despite being in a difficult situation.
"I think he's accomplished a lot," Babby said, noting the goal was to bring more accountability and better execution to the roster. "And before (Marcin) Gortat got hurt we were 8-11.
"Obviously since he's been out, and with (Jermaine) O'Neal out at the same time, it's been challenging."
Babby noted it would be unfair to judge Hunter solely on wins and losses due to the circumstances, but said he has seen positives as well as things that could be improved on.
But is there enough good to lead to Hunter returning to the bench next season, minus the "interim" tag?
"I wouldn't reach any conclusions," Babby said. "We've got three weeks left in the season, let's see how it plays out."
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- Anonymous
- England, Couple, 18-24
- Avid Traveller
- 10 reviews
We had to change rooms during our stay, so experienced a room on the first and second floors. The first floor is really loud, and the curtains don't do anything. Air con is good on both floors. There is a microwave available and hot water, but it would be nice to have a small kitchen. Showers are hot and work well, though the one on the second floor doesn't lock. Reception is 24 hours and staff are very helpful and accommodating. Location is absolutely fantastic. Near to night life and subway.
- Anonymous
- USA, Couple, 18-24
- Novice Nomad
- 1 review
One of the nicest hostels we've stayed at in Seoul thus far. It was very clean and quiet, and the 24 hour reception desk was very friendly. The location is great, it's right in the middle of Itaewon and within short walking distance of popular bars.
- Anonymous
- USA, Female, 18-24
- Novice Nomad
- 4 reviews
Limited bathroom space for many people, but it was clean and mostly quiet! The location is excellent with quick access to many bars and restaurants.
Hostelworld Mobile Apps
Book on the go with the new Hostelworld mobile apps.


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Considering a solar pool heating system? We're giving away a free onePosted on May 02, 2016
An almost endless swimming season is the dream for pool owners everywhere, especially those in the Sacramento region. Solar heating is the most cost-effective way to heat the water in your pool to a comfortable temperature spring, summer and fall.


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Shah Rukh Khan and Ranveer Singh to share the screen for Shimi...First Motion Poster Of Shah Rukh Khan's Fan Is Out! Shah Rukh Khan Fulfils Wishes Of FANs! Check Out Stills Shah Rukh Khan Promotes Fan On Sets Of Comedy Nights Bachao Shah Rukh Khan To Be The First Guest At The Kapil Sharma Show The director ... Bollywoodlife.com, 4 weeks ago
Shah Rukh Khan: When Raees fights, he is going to win! - Bollywoodlife.com, 6 days ago
SRK Tells Us All We Need to Know About Don 3 and His Future Projects - Pink Villa, 6 days ago
More from: The Statesman, Mid Day...and 9 other sources
I am Only Doing Half Girlfriend, Shimit Amin's Film Never Came to Me - Arjun Kapoor
It has been almost 14 months since we saw Arjun Kapoor on the big screen. His last release was Tevar that came out in January 2015. Now Arjun is gearing up for Ki and Ka opposite Kareena Kapoor Khan. The movie releases on April 1, post which Arjun ...Pink Villa, 1 month ago Arjun Kapoor gives it back to haters in the most epic way Times of India, 1 week ago
Shah Rukh Khan to Reunite With Chak De! India Director Shimit Amin
MUMBAI — Shah Rukh Khan , at the time of Dilwale, had admitted that he once again wanted to be busier and do three films or more at one time. Now that Fan (with a double role) is about to release and Raees (in which he portrays a Gujarati don) is ...India-West, 3 weeks ago Maneesh Sharma on working with Shah Rukh Khan: He is the biggest risk taker India Today, 2 weeks ago At the point when Shah Rukh Khan supplanted Salman Khan in Chak De India Can India News, 3 weeks ago When Shah Rukh Khan replaced 'Sultan' actor Salman Khan in 'Chak De India' International Business Times India, 3 weeks ago
Chak de, Alia!
Alia in a still from Udta Punjab; the actress with the real hockey players (inset) The actress talks about hockey games with real players Mirror (April 4) spilled the beans on Alia Bhatt's fiercely guarded character in Abhishek Chaubey's ...Pune Mirror, 5 days ago
Chak de, Alia!
Mirror (April 4) spilled the beans on Alia Bhatt's fiercely guarded character in Abhishek Chaubey's drug-drama, Udta Punjab, informing that she portrays a hockey player. The 23-year-old actress recently shot for a song sequence with real-life hockey ...AhmedabadMirror.com, 5 days ago Udta Punjab: Alia Bhatt shoots with real-life hockey players Times of India, 6 days ago
'Raees', 'Ra.One' sequel and more: Shah Rukh Khan on life after 'Fan'
Shah Rukh Khan's Fan has just released and his next, Raees is ready. So what will he shoot for next? There are reports that he has given a nod to atleast five films. So which one will take off first? SRK talks about the films on his platter and why ...DNA India, 6 days ago These are the 5 films Shah Rukh Khan will be seen in over the next 2 years International Business Times India, 6 days ago Bajirao Ranveer Takes Around 50 Selfies a Day New Indian Express, 3 weeks ago Is Ranveer Singh Doing a Film With Shah Rukh Khan? Find Out Here NDTV, 3 weeks ago
Ram Gopal Varma speaks on his Bollywood comeback and his kind of cinema
Ram Gopal Varma, who created memorable characters in Bollywood, is back with his upcoming project, Veerappan. Fearless as ever, he takes in changes as they come even if they do not seem to work in his favour. Admittedly impulsive and arrogant, the ...Times of India, 1 week ago I take sex very seriously: Ram Gopal Varma Hindustan Times, 1 week ago
'Piku is the most joyful film of my life'
Irrfan Khan recently furthered his support to Ariel's new #ShareTheLoad pack, in which he carries an 'Odd-Even' laundry calendar. During the launch, he encouraged men to do laundry on odd days and women on even days, Khan said that ...Deccan Herald, 1 week ago
Kher says folk music has great future in films
KOLKATA: Popular Bollywood singer Kailash Kher feels that folk and sufi music have a great future in Hindi films since the music is in tune with the taste of the masses in the sub-continent. Kher says that music rooted to the earth is witnessing a ...The Gulf Today, 1 week ago Folk, sufi music have a bright future in films, says Kailash Kher Hindustan Times, 2 weeks ago Folk, sufi music have great future in Hindi films: Kher Press Trust of India, 2 weeks ago
Celebrating the legacy of Roger Corman, Hollywood's Ram Gopal Varma
"If you do a good job on this film, you'll never have to work for me again. is the last thing you'd expect a well-meaning producer to tell a director working for him. But filmmakerRoger Corman was one of a kind. How could the man who gave first ...Firstpost.com, 2 weeks ago
Realtime News
on your WebpageAdd Widget >Get your members hooked!


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Native Plants
Q. Who is Mr. Smarty Plants?
A: There are those who suspect Wildflower Center volunteers are the culpable and capable culprits. Yet, others think staff members play some, albeit small, role. You can torture us with your plant questions, but we will never reveal the Green Guru's secret identity.
Did you know you can access the Native Plant Information Network with your web-enabled smartphone?
Ask Mr. Smarty Plants is a free service provided by the staff and volunteers at the Lady Bird Johnson Wildflower Center.
rate this answer
Wednesday - July 31, 2013
From: Buffalo, NY
Region: Northeast
Topic: Plant Identification
Title: Identification of shrub with pink catalpa-like flowers
Answered by: Nan Hampton
QUESTION:Ironically, this plant is growing on a hill behind a nursery. We are all curious what it could be..I've done internet searches for 2 days. My best guess is that it's in the catalpa family, but it's more of a shrub, and the flowers are pink, not white. The owner of the garden center shared it on another site, they are stumped as well! Thank you so much for your assistance!
Since the catalpas are members of the Family Bignoniaceae (Trumpet Creeper Family), we will look there first. The native ones that occur in New York are:
Catalpa bignonioides (Southern catalpa)
Campsis radicans (Trumpet creeper)
Catalpa speciosa (Northern catalpa)
There is also an introduced species from China, Catalpa ovata (Chinese catalpa), reported as occurring in New York. Here are more photos and information from Shelmerdine Winnipeg Garden Center.
Another Bignoniaceae that sounds a bit like your mystery plant but doesn't naturally occur any where near New York is Chilopsis linearis (Desert willow), Here is a distribution map from the USDA Plants Database. Since the Plant Hardiness Zone for the desert willow is 7 and Buffalo's Plant Hardiness Zone is 6a, it is very unlikely that this plant could survive there.
We can do a COMBINATION SEARCH in our Native Plant Database, choosing "New York" in the Select State or Province slot, "Shrub" from Habit (general appearance) and "Pink" from Bloom Color and look through the resulting list of 58 plants. We can also do the same search but substitute "Herb" for "Shrub". This list will have 193 plants to scroll through.
Here are a few from the "Herb" lists that you should take a look at:
Agalinis fasciculata (Beach false foxglove)
Agalinis paupercula var. borealis (Smallflower false foxglove) and Agalinis paupercula var. paupercula (Smallflower false foxglove) here are more photos and information from Go Botany.
Agalinis setacea (Threadleaf false foxglove)
Agalinis tenuifolia (Slenderleaf false foxglove)
Here are more photographs of several different species of Agalinis from North Carolina Wildflowers, Shrubs, & Trees.
Apocynum androsaemifolium (Spreading dogbane) and here are more photos and information from Connecticut Wildflower.
Proboscidea louisianica (Devil's claw) and here are more photos and information from Go Botany.
An introduced relative of Proboscidea louisianica—Sesemum orientale (Sesame)—also occurs in New York. Here are more photos from Southwest Environmental Information Network.
If none of these are the plant you saw, you should do the two searches described above and look through the photos of the plants to see if I have missed any likely suspects.
If you do that and you find nothing that looks like your plant and you have photos, please visit our Plant Identification to find links to several plant identification forums that will accept photos of plants for identification.
From the Image Gallery
More Plant Identification Questions
Identity of tree in South Carolina
August 18, 2015 - I don't know if this is native as I'm new to South Carolina. This is a tree about 40' tall. The leaves are trilobal, 10" to a foot across/long and are trilobal, not glossy and have big veins. T...
view the full question and answer
Rash resulting from cutting trees in NC.
May 08, 2012 - My boyfriend was cutting some trees yesterday. He had thorns in his hands after he was done, and today he has a rash on his legs, a fever and he feels like throwing up. Can you tell me if its symptoms...
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Plant identfication
December 06, 2009 - I found a shrub I like because of the black fruit that birds like to eat but I don't know what it is. It looks similar to a blackhaw but the edges of the leaves are smooth not jagged. The fruit is a...
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Correct photos of Cynoglossum virginianum
April 30, 2008 - I recently found some "wild comfrey" (Cynoglossum virginianum) growing in woodlands in Atlanta,GA. When I used the photos on Wildflower Center website to ID this plant, I found what appears to be t...
view the full question and answer
ID for Caribbean mystery plants.
January 13, 2016 - I AM TRYING TO FIND THE COMMON NAME FOR TWO FLOWERS I TOOK PICTURES OF ON A CARIBBEAN CRUISE. I TOOK ONE IN HONDURAS AND ONE IN GRAND CAYMAN. DO YOU HAVE ANY IDEA WHERE I CAN GO TO TO GET HELP IN ID...
view the full question and answer
|Support the Wildflower Center by Donating Online or Becoming a Member today.


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It's Wanted Wednesday and here are four men on the run from the cops. Can you help Lewisham police catch them?
These suspects are wanted over offences including robbery, assault, theft and 'malicious communications'.
Anyone with information is advised not to approach them, but to call Lewisham police's fugitive unit on 020 8284 8394 or Crimestoppers, anonymously, on 0800 555 111.
Lajeurne Sinclair, 23, is wanted by police in connection with a robbery on March 22 in Carlton Terrace, Sydenham.
Adam Michael Baker, 30, is wanted by police in connection with an incident of theft on March 16 in Battersby Road, Bellingham.
Imran Aziz, 22, is wanted by police in connection with an assault on March 8 in Hindleys Place, Forest Hill.
Nathan Roy Coote, 32, is wanted by police in connection with an offence of malicious communications on March 16.
- 'Watch over us': Lewisham murder victim named as friends pay tribute
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|Name: _________________________
|Period: ___________________
This test consists of 5 multiple choice questions and 5 short answer questions.
Multiple Choice Questions
1. Who is guiding the boat with Brown and his men on board as the men make their way towards their ship?
(a) Jim.
(b) Tamb' Itam.
(c) Cornelius.
(d) Dain Waris.
2. By what other name do the chief men in the town call Jim's home?
(a) Jim's island.
(b) Jim's abode.
(c) Jim's fort.
(d) Jim's hideout.
3. As Jim is returning to Patusan, what does Cornelius say regarding Jim to Gentleman Brown?
(a) Jim is aftraid of everything.
(b) Jim is a coward.
(c) Jim isn't afraid of anything.
(d) Jim isn't a coward.
4. When the girl asserts that Jim is false while she is visiting Stein's home with Tamb' Itam, who rallies to Jim's defense?
(a) Stein.
(b) Marlow.
(c) Tamb' Itam.
(d) Kassim.
5. How many months before meeting the man that fills in some of the blanks for Marlow on Jim's life does this man meet Jewel at Stein's home?
(a) Two.
(b) Five.
(c) Eight.
(d) Ten.
Short Answer Questions
1. Who is the author of the old, yellow letter?
2. At the time in which Jim relates the story of the attempted assassination to Marlow, how long has Jim been in Patusan?
3. How is Cornelius' reaction characterized when Marlow tells Cornelius that Jim will never leave Patusan?
4. On her deathbed, who does Jewel's mother try to prevent from entering her room?
5. Who gives the order to attack the invaders that are attempting to land at Batu Kring?
This section contains 245 words
(approx. 1 page at 300 words per page)


text: The Johnson family has been running and operating the Oak Creek Terrace Resort for 28 years. None of those years would not have been made possible if it weren't for our amazing and wonderful guests that stay with us. Over the years the resort has gone through many renovations to keep our guests happy while making the rooms feel like a second home. Full – more... creek access, koi pond, & fishing, are just a few examples of on site features we offer. We sincerely hope you choose the Oak Creek Terrace Resort as your home away from home. – less–ZoomInfo


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Scientists are people, they have emotions and they interact with their peers, their students, their professors….and indeed the public. Sometimes, however, scientists are represented as interacting with little more than glassware or white lab coats. We can be perceived as living in a hermetically sealed bubble of our own construction occasionally ch Continue reading
Our Blogs
- Adventures in Wonderland by Richard Wintle
- Athene Donald's Blog by Athene Donald
- Blogging the PhD and Beyond by Erika Cule
- City Limits by KristiV
- Confessions by Richard P. Grant
- Deep Thoughts and Silliness by Bob O'Hara
- Girl Interrupting by Sylvia McLain
- Mind the Gap by Jenny Rohn
- No Comment by Steve Caplan
- Not ranting – honestly by Austin Elliott
- Reciprocal Space by Stephen Curry
- Science behind the Scenes by Steffi Suhr
- Trading Knowledge by Frank Norman
- VWXYNot? by Cath Ennis
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I had a huge UFO experience and need to hear from others if they have seen same...
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the sound was like crickets chirping, only no chirp, just constant almost like fax machine but not as squealy and no interruption in the tone, one constant drone which felt like static in the air in a way. I think the projected image was a cloaking device of some sort, we were not meant to see what was behind it. My exhusband can remember it but goes emotionless and doesn't want to talk about it. Knowing him, it was too much for him and he minimalized it and doesn't want it in his thoughts. And when I pushed him to talk about it, he got angry raising his voice which he never raised his voice with me.
Salt & Light
Funny, but I have been hearing that "sound" for the past 3-4 days. Usually at night when I first get into bed. I think the sound is with me longer than that, but I don't pick up on it until all is quiet.
OP, I think I might post on your "dreams" post. My experience was real, not a dream, but relates to the apocalypse.
I often go back and forth with sharing this info, we'll see. :-)
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Welcome to the the Arizona Counseling Association (AzCA) website. AzCA is one of the state branches of the American Counseling Association and we have 2 divisions (AzACES & AzALGBTIC) and 2 regional chapters (Southeastern & Northern Arizona).
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Honda's U3-X at the 2011 Tokyo Motor Show
The UNI-CUB β
The UNI-CUB β and the UNI-CUB
The original U3-X was perceived as not just stand-alone personal mobility, but as a vehicle-with-vehicle that could be kept charged and ready within a larger EV
Honda's array of mobility devices at the 2011 Tokyo Motor Show
Honda's U3-X of 2009
The Honda Omni Traction Drive System
The UNI-CUB β and the UNI-CUB. The family was first seen four years ago at the Tokyo Motor Show as the U3-X. The U3-X was significantly developed to become the UNI-CUB (pictured right) in May 2012 featuring the same balance control technology and Honda Omni Traction Drive System which originated from Honda's three-decade-old research into humanoid robots. The UNI-CUB β (left) is the third generation.
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Welcome to SPARK Test centre. At SPARK success, comfortable and efficient candidate's Computer Based Eams certifications are our aim in all we do.
The SPARK computer lab/tutoring centre, has over 50 computers and 15 laptops, open over 65 hours per week, combines one-to-one tutoring and technology to allow students to work at their own pace and receive instant feedback and encouragement regarding their work
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CARSON, CA – July 7, 2012: Chivas USA defender James Riley (7) during the Chivas USA vs Vancouver Whitecaps FC match at the Home Depot Center in Carson, California. Final score Vancouver Whitecaps FC 0, Chivas USA 0.
Campbell nets first pro goal in Fire, D.C. United draw
D.C. United tied the Chicago Fire, 1-1, as Patrick Nyarko canceled out Jonathan Campbell's first professional goal.
Rapids earn tie despite two Impact golazos
Didier Drogba and Maxim Tissot each scored sensational goals for the Montreal Impact, but the Colorado Rapids did just enough to earn a 2-2 tie at Stade Saputo.
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Sometimes it takes a village to teach a robot.
University of Washington computer scientists have shown that crowdsourcing can be a quick and effective way to teach a robot how to complete tasks. Instead of learning from just one human, robots could one day query the larger online community, asking for instructions or input on the best way to set the table or water the garden.
The research team presented its results at the 2014 Institute of Electrical and Electronics Engineers International Conference on Robotics and Automation in Hong Kong in early June.
"We're trying to create a method for a robot to seek help from the whole world when it's puzzled by something," said Rajesh Rao, an associate professor of computer science and engineering and director of the Center for Sensorimotor Neural Engineering at the UW. "This is a way to go beyond just one-on-one interaction between a human and a robot by also learning from other humans around the world."
Learning by imitating a human is a proven approach to teach a robot to perform tasks, but it can take a lot of time. Imagine having to teach a robot how to load the dishwasher – it might take many repetitious lessons for the robot to learn how to hold different types of cookware and cutlery and how to most efficiently fill the machine.
But if the robot could learn a task's basic steps, then ask the online community for additional input, it could collect more data on how to complete this task efficiently and correctly.
"Because our robots use machine-learning techniques, they require a lot of data to build accurate models of the task. The more data they have, the better model they can build. Our solution is to get that data from crowdsourcing," said Maya Cakmak, a UW assistant professor of computer science and engineering.
The research team, led by professors Rao and Cakmak, also includes UW computer science and engineering graduate student Michael Jae-Yoon Chung and undergraduate Maxwell Forbes. The team designed a study that taps into the online crowdsourcing community to teach a robot a model-building task. To begin, study participants built a simple model – a car, tree, turtle and snake, among others – out of colored Lego blocks. Then, they asked the robot to build a similar object. But based on the few examples provided by the participants, the robot was unable to build complete models.
To gather more input about building the objects, the robots turned to the crowd. They hired people on Amazon Mechanical Turk, a crowdsourcing site, to build similar models of a car, tree, turtle, snake and others. From more than 100 crowd-generated models of each shape, the robot searched for the best models to build based on difficulty to construct, similarity to the original and the online community's ratings of the models.
The robot then built the best models of each participant's shape.
This type of learning is called "goal-based imitation," and it leverages the growing ability of robots to infer what their human operators want, relying on the robot to come up with the best possible way of achieving the goal when considering factors such as time and difficulty. For example, a robot might "watch" a human building a turtle model, infer the important qualities to carry over, then build a model that resembles the original, but is perhaps simpler so it's easier for the robot to construct.
"The end result is still a turtle, but it's something that is manageable for the robot and similar enough to the original model, so it achieves the same goal," Cakmak explained.
Study participants generally preferred crowdsourced versions that looked the most like their original designs. In general, the robot's final models were simpler than the starting designs – and it was able to successfully build these models, which wasn't always the case when starting with the study participants' initial designs.
The team applied the same idea to learning manipulation actions on a two-armed robot. This time, users physically demonstrated new actions to the robot. Then, the robot imagined new scenarios in which it did not know how to perform those actions. Using abstract, interactive visualizations of the action, it asked the crowd to provide new ways of performing actions in those new scenarios. This work will be presented at the Conference on Human Computation and Crowdsourcing in November.
Other research teams at Brown University, Worcester Polytechnic Institute and Cornell University are working on similar ideas for developing robots that have the ability to learn new capabilities through crowdsourcing.
The UW team is now looking at using crowdsourcing and community-sourcing to teach robots more complex tasks such as finding and fetching items in a multi-floor building. The researchers envision a future in which our personal robots will engage increasingly with humans online, learning new skills and tasks to better assist us in everyday life.
This research was funded by the U.S. Office of Naval Research and the National Science Foundation.
For more information, contact Cakmak at firstname.lastname@example.com or 206-685-5643 and Rao at email@example.com or 206-914-4719.
Michelle Ma | Eurek Alert!
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Fisher Investments- Camas, WA
new B2B division of a $60 billion money manager, helping thousands retire comfortably ... be challenged to help build up the program. In this inside-business-development role...11 days ago from Fisher Investments
Retail General Manager (Waukegan)NEW
Armco, Llc Dba Aaron's- Waukegan, IL
P&L of the store. General Manager candidates must be successful in various facets ... and an annual National Manager Meetings for our General Managers, as well as,...2 days ago from ARMCO, LLC dba Aaron's
Physical Therapy Clinic Manager (PT)NEW
Health Career Services- Vancouver, WA
Physical Therapy Clinic Manager (PT) Performs relevant patient evaluations ... Benefits: Physical Therapy Clinic Manager (PT) Compensation commensurate with...1 day ago from Health Career Services
Director of Education - Kindred Hospital Seattle First Hill
Kindred Healthcare- Seattle, WA
seeks personal challenge and professional rewards. Kindred Healthcare offers a unique ... that fosters individual growth and rewards performance. The staff is close-knit...21 days ago from Kindred Healthcare
LPN Med Care Manager- Sunrise of Claremont Job Fair - Wednesday, June 1, 2016 (10:00 am to 2:00 pm)NEW
Sunrise Senior Living- Claremont, CA
At Sunrise, our LPN Medication Care Manager is responsible for providing the highest ... each other, and offer programs, rewards, and benefits to help you live your best. Ignite...6 hours ago from Sunrise Senior Living