text:
|Publication number
|Publication type
|Application number
|Publication date
|Apr 12, 1988
|Filing date
|May 29, 1986
|Priority date
|May 30, 1985
|Fee status
|Also published as
|Publication number
|Tomohiro Maruo, Toshitugu Inoue, Akiho Hirahata, Akiyoshi Nakada, Yoshiaki Makizawa
|Original Assignee
|Matsushita Electric Industrial Co., Ltd.
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (1), Referenced by (22), Classifications (27), Legal Events (5)
|External Links: USPTO, USPTO Assignment, Espacenet
The present invention relates generally to industrial robots, and more particularly to an industrial robot which allows its arms to be manipulated with a minimum of effort and precision.
A prior art industrial robot, as shown and described in Japanese Utility Model No. 59-41033, has a hydraulically operated, vertically swingable arm with a spray gun attached to it to perform paint spray operations in accordance with instructions stored in a memory. The instructions are initially taught by manipulating the robot arm so that the spray gun is located exactly in positions where paint is applied and translating the robot arm into position data for storage into the memory. In playback, the memory is addressed to successively read the stored position data to modulate the hydraulic pressure to move the robot arm along the intended path.
Another prior art industrial robot, which is a more recent and general type of industrial robot, employs an electric motor which directly drives the robot arm and a serve-control system which controls the motor in accordance with a difference which exists between a target position and the actual position of the arm. However, in this prior art, the servo-control system is designed to operate at all times and therefore it causes the robot arm to present a substantial amount of resistance to manual effort when it is desired to move it to a teaching position. As a result, it is difficult to achieve precision teaching control.
It is therefore an object of the present invention to provide an industrial robot of the type having at least one arm which is directly driven by a motor in a closed loop, wherein the robot arm can be easily manipulated with precision during teaching modes.
This object is attained by reducing the servo-control output to an appropriate value during teaching modes and increasing the servo-control output during playback modes.
Specifically, the industrial robot of the invention comprises a position encoder for generating a position signal representative of the position of the arm with respect to a reference position, a memory and a manually controlled position entry device operable during a teaching mode for generating a position entry command when the arm is manually moved to a desired position. A memory controller is responsive for storing the position signal into the memory and reading the stored signal during a playback mode. A servo-control system responds to the position signal from the encoder and the position signal from the memory by controlling the motor so that the arm approaches the desired position during the playback mode. The output of the servo-control system is decreased during the teaching mode to render the arm manually movable to the desired position and is increased during the playback mode. Alternatively, the servo-control system is disabled during the teaching mode to render the arm manually movable to the desired position without difficulty.
The present invention will be described in further detail with reference to the accompanying drawings, in which:
FIG. 1 is a perspective view of an industrial robot of the present invention;
FIG. 2 is a block diagram of a control unit of the industrial robot;
FIG. 3 is a perspective view of the teaching device of FIG. 1;
FIGS. 4-10 are block diagrams of the control unit of FIG. 2;
FIG. 11 is an illustration of various teaching modes in relation to operation of various teaching commands; and
FIG. 12 a perspective view of a modified teaching device of the invention.
Referring to FIGS. 1 to 3, an industrial robot according to a first preferred embodiment of the invention comprises an upper motor 2a mounted on an arm portion of a stand A and a lower motor 2b on the base of the stand. Motor 2a has a rotary cylinder 2c connected to it for rotation therewith and motor 2b has a rotary cylinder 2d connected thereto for rotation therewith in coaxial relationship with the upper cylinder. An arm 1a extends horizontally from the upper cylinder 2c and is articulated with an arm 1b by means of a roller bearing 1e, the arm 1b being jointed to an arm 1c with a roller bearing 1f. Arm 1c is in turn articulated by a bearing 1g with an arm 1d which extends from the lower cylinder 2d. It is seen that arms 1a, 1b, 1c and 1d form a pantograph. At the free end of arm 1b is mounted a robot hand 1h which is vertically movable by means of a linear motor 1i.
A position encoder 3 is connected to the motor 2a to detect the angular position of arm 1b. On the arm 1b is mounted a teaching device 16 which is connected by a cable 17 to control unit 6 for entry of instruction data thereinto. Teaching device 16 includes plural controls including servo-unlock switch 9, position registration key 10, output signal registration command 11, external mode select command entry device 12, external mode registration command key 13, and timer control knob 14. Teaching device 16 further includes a servo-output control switch 15 through which a voltage is supplied to control unit 6. Control unit 6 processes the input command data and stores its results into a memory 5 and controls motors 2a, 2b in accordance with the stored data. As will be described later, the voltage supplied to motors 2a, 2b is controlled at high or low voltage depending on the operation of the servo-control switch 15. External devices 18 and 19 are connected to the control unit 6 to receive command signals therefrom. Device 18 is of an interactive type which supplies a signal to the control unit indicating its operating mode, whereas device 19 provides no mode signal.
A playback controller 30 is coupled to the control unit 6 to cause it to operate the robot in a playback mode in which the arm 1 is moved along instructed paths in accordance with a stored program in a manner well known in the art.
As shown in FIG. 3, the teaching device 16 is of a generally L-shaped construction with a hand-grip portion 23 on which the servo-unlock switch 9 is located for ease of manipulation. All the command controls except command switch 9 are arranged on top of the device 16 within the reach of an operator's finger while holding the grip-portion 23. This permits the robot arms to be moved by a single hand while holding the teaching device with the other hand, giving a freedom to teaching operation. Teaching device 16 is detachably mounted by a pair of couplers 20 to the arm 1. Cable 17 is detachably connected by a connector 21 on the arm 1 to the control unit 6. Connector 21 serves the function of on-off command 15. Indicator lamps 22 are provided for indicating the operating conditions of mode select knobs 12a and 12b. Teaching device 16 is dismantled from the robot before it is played back in accordance with registered information to reduce the load on the robot arms and prevents unauthorized personnel from entering false information into the teachig device.
FIGS. 4 to 10 are illustrations of the internal structure of the control unit 6. In FIG. 4, control unit 6 includes a servo control circuit 6a which receives inputs from memory 5 and position encoder 3 and controls the motors 2a and 2b in accordance with the difference between the actual position of arm 1b and a target position represented by the data read out of memory 5 through a closed servo-control loop. The servo-control loop is disabled in response to an output from the servo-unlock switch 9 to deactivate the motors 2a and 2b. This allows the operator to manipulate the robot arms with a minimum of effort. A position signal registration circuit 6b is enabled in response to a position entry command generated by the position signal registration key 10 to discriminate the output of the servo-unlock switch 9 and characterizes the position signal from encoder 3 depending on whether the servo-unlock switch 9 is operated or not in a manner as will be detailed later. The characterized position signal is stored into memory 5.
During the time the servo-control system is unlocked, various control data can be advantageously stored into memory 5 as follows.
In FIG. 5, an output signal registration circuit 6d is responsive to the output signal registration key 11 to store control data neccesary for the operation of external device 18. During a playback mode, the command data is retrieved from memory 5 into an external device controller 6e which in turn supplies a control signal on lead 18a to external device 18 for the execution of a specified function. External device 18 returns a response on lead 18b to the external device controller 6e, whereupon it proceeds to retrieve the control signal for the execution of the next function.
In FIG. 6, the control unit 6 includes an external mode registration circuit 6f connected to the external mode registration key 13 and an external device controller 6g connected to the outputs of external mode select knobs 12a and 12b. When one of the external mode select knob 12a and 12b is operated, external device controller 6g causes the external device 19 to change operating positions according to the selected external mode. External mode registration circuit 6f responds to the operation of external mode registration key 13 by transferring the same mode control data as supplied to the external device 19 to memory 5. In playback, the mode control data is retrieved from memory 5 into the external device controller 6g which controls the device 19 in accordance with the retrieved data.
In FIG. 7, a timer registration circuit 6g measures the length of time during which the timer knob 14 is depressed and stores the measured time length signal into memory 5. This teaching operation is effected so that on playback there is a time delay between specified operations.
In FIG. 8, a coincidence detector 6i is responsive to the position signal registration key 10 and to the output signal registration command 11 to determine whether these command controls are operated individually or simultaneously. If these commands are simultaneously operated, the coincidence detector 6i directs a position signal registration circuit 6j to characterize the output of position encoder 3 in a manner as described in connection with FIG. 4 and store the characterized position signal into memory 5. Immediately after the registration of the characterized position signal, detector 6i directs an output signal registration circuit 6k to store an external device control data into a storage location of memory 5 which is adjacent the location into which the characterized position signal has been registered. If the position signal registration key 10 is operated exclusively, detector 6i directs the position signal registration circuit 6j exclusively to store characterized position signal into memory 5, and if the output signal registration key 11 is operated exclusively, detector 6i exclusively directs the output signal registration circuit 6k to store the external device control data into memory 5.
The embodiment of FIG. 8 is modified as shown in FIG. 9 in which a coincidence detector 6l is responsive to the position signal registration command 10 and the mode signal registration key 13 to determine if these commands are operated individually or simultaneously. As in the FIG. 8 embodiment, simultaneous entry of commands from keys 10 and 13 causes the detector 6l to sequentially direct the position signal registration circuit 6j to store its output into memory 5 and enables an external mode registration circuit 6m for registration of an external mode into memory 5. During the registration of the external mode, an external device controller 6n detects the indication given by one of the mode select knobs 12a and 12b which is operated and directs the external mode registration circuit 6m to store the information given by selector 12 into memory 5. As in the previous embodiment, individual operation of keys 10 and 13 causes the detector 6l to respectively directs the associated registration circuits.
In FIG. 10, the control unit 6 includes a servo-voltage controller 6o which is connected to voltage source via on-off switch 15, or connector 21, to detect whether the teaching device 16 is connected to the control unit 6 by connector 21. If the connector 21 is connected, the voltage at the input of controller 6o is high and controller 6o directs the servo-control system 6a to operate the motors 2a, 2b at a low voltage. This allows the robot arms to be moved smoothly by the operator's hand. The robot can thus be taught with precision without the possibility of hazard to the operator. If the connector 21 is removed from the robot, the input of controller 6o is low and the latter directs the servo-control system 6a to switch the operating voltage of motors 2a, 2b to normal, high voltage level for playback operations.
Detailed description of the operation of the teaching device will be given as follows with reference to FIG. 11 which illustrates the relations between combinations of commands and their associated operating modes.
Teaching mode A is initiated by operation of servo-unlock switch 9 (see FIG. 4). Motors 2a, 2b are unlocked from the servo-control system and robot arms 1a-1d are manually moved until the robot hand 1h comes precisely to a desired point. With the robot arms being moved to the desired position, restoration of servo-unlock switch 9 will cause the teaching mode to switch to mode B during which the servo-control system 6a is again rendered active, so that motors 2a, 2b are energized with high voltage to keep the robot hand in the desired point.
When the position signal entry key 10 is operated with the operation of servo-unlock switch 9, a teaching mode C is initiated in which the position signal registration circuit 6b reads the output of position encoder 3 and for purposes of storage into memory 5 it characterizes the position signal with a signifying code which indicates that the point given by the position signal is a point located on a path traced by the robot hand.
If the position registration key 10 is operated with the servo-unlock switch 9 being deactivated, a teaching mode D is effected. During the mode D, the position signal registration circuit 6b interprets the output of encoder 3 that the position it indicates is a point at which the robot hand is to be stopped and characterizes it with an appropriate signifying code for storage into memory 5. As a result of the characterization, the amount of positional information stored in memory 5 can be reduced advantageously for efficient use of memory 5. The reduction of such information also results in the reduction of time for processing the positional information during playback. A further advantage of the characterization is that it allows the positional information to be readily classified advantageously for editing purposes.
Operation of output signal registration key 11 initiates a teaching mode E in which the output signal registration circuit 6d, FIG. 5, responds to the output of output-signal registration key 11 by generating data for controlling external device 18 and storing it into memory 5. Such output-signal registration key and their associated registration circuits may be provided as many as desired for operating a plurality of external devices. With the servo-control system 6a being unlocked, such registration commands 11 can selectively be operated for instant registration of external device control data while manipulating the robot arms for registration of positional data using position registration command 10.
Switching operation of external mode selector 12 initiates a teaching mode F in which the external device controller 6g, FIG. 6, selects one of operating positions of the external device 19 in accordance with the switched position of selector 12 and supplies it with a selected operating signal to cause it to change operating states. By doing so, it is possible for the operator to test to see if the operating position of the selected external device 19 is optimum for the robot arms. If the operating position of the external device 19 is not optimum for the robot arms, the selector 12 is switched to the next operating position to seek an optimum operating position. The operating signal is also applied to external mode registration circuit 6f for storing the selected position signal into memory 5 in response to operation of registration command 13 when the optimum position is finally determined (mode G). In playback, the stored external mode signal is read from memory 5 into external device 19 through controller 19. The external mode teaching operation can therefore be performed simultaneously with ease while the robot arms are manipulated in a manner described above.
Operation of the timer knob 14 initiates a teaching mode H in which the timer registration circuit 6h, FIG. 7, measures the length of time the timer command 14 is manually pressed down and registers a time-length code into memory 5. Teaching mode H is advantageously performed between successive command operations during teaching modes E, F and G, so that, in playback, external device 18 or 19 is taught to perform operations with delays between successive movements.
Simultaneous operation of position signal registration key 10 and output signal registration command 11 initiates a teaching mode I in which the coincidence detector 6i, FIG. 8, sequentially controls the position signal registration circuit 6j and output signal registration circuit 6k to store the respective outputs into memory 5. In playback, the robot arms are moved to the position specified by the position registration signal 10, whereupon the output signal registration circuit 6k reads the stored output signal from memory 5 into external device 18 to cause it to perform the specified operation. Robot arms may or may not continue to move after reaching the specified position. In a preferred embodiment, an extra command switch may be provided on the teaching device 16 to simultaneously operate command keys 10 and 11. Teaching mode I can also be performed simultaneously with the manipulation of robot arms.
Simultaneous operation of keys 10 and 13 initiates a teaching mode J in which the coincidence detector 6l, FIG. 9, sequentially directs the position signal registration circuit 6j and external mode registration circuit 6m to sequentially store the respective outputs into memory 5. Teaching mode J can also be performed simultaneously with the manipulation of the robot arms. In playback, the robot arms are moved in accordance with the stored position data to a specified position, whereupon the external device 19 is set in motion to perform the stored function.
When the connector 21 is disconnected from the socket of arm 1b, a teaching mode K is initiated in which the servo-voltage controller 6o directs the servo-control system 6a to supply a high voltage to motors 2a, 2b. When the connector 21 is inserted to the socket for teaching the robot, the controller 6o directs the servo-control system 6a to supply a low voltage to the motors. This ensures easy movement of the robot arms and safety against possible erratic movements of the robot arms beyond calculated bounds which might occur during teaching modes. To enhance the safety measure, plural power cut-off switches may be provided in parallel with each other, so that the motors are operated with high voltage only when these switches are open at the same time.
FIG. 12 is an illustration of a modified form of the teaching device 16 in which parts corresponding to those in FIG. 3 are marked with the same numerals as used in FIG. 3. In this modification, a horizontal extension plate 24 extends from a side wall of robot arm 1b. Teaching device 16 has its hand-grip portion 23 coupled by a joint 27 to plate 24 to permit it to rotate about the vertical axis of the grip portion 23. A connector mount 28 is attached to a side wall of the extension plate 24 to temporarily hold the connector 21 when it is disconnected from the socket 21a. Rotary joint 27 advantageously allows the controls of teaching device 16 to orient toward the operator at all times while the orientation of the arm 1b is changed to teach the robot.
|Cited Patent
|Filing date
|Publication date
|Oct 12, 1979
|Aug 11, 1981
|Nordson Corporation
|Manually programmable robot with power-assisted motion during programming
|Citing Patent
|Filing date
|Publication date
|Sep 14, 1988
|Jun 5, 1990
|Fanuc Ltd
|Industrial robot control apparatus
|Mar 27, 1990
|Sep 24, 1991
|Mitsubishi Jukogyo Kabushiki Kaisha
|Direct teaching type robot
|May 11, 1990
|Feb 4, 1992
|The United States Of America As Represented The The Administrator Of The National Aeronautics And Space Administration
|Bilevel shared control for teleoperators
|Oct 4, 1990
|Mar 31, 1992
|Repperger Daniel W
|Military robotic controller with majorizing function and nonlinear torque capability
|Feb 19, 1991
|Apr 7, 1992
|Mitsubishi Jukogyo Kabushiki Kaisha
|Direct teaching type robot
|Dec 11, 1990
|May 18, 1993
|Fanuc Ltd.
|Robot emergency stop circuit
|Apr 1, 1992
|Mar 8, 1994
|Martinsound Technologies, Inc.
|Automated fader system
|Sep 25, 1992
|May 24, 1994
|Toshiba Kikai Kabushiki Kaisha
|Numerical control apparatus having a teaching function and a method of teaching a machining program thereby
|Aug 4, 1993
|Jun 13, 1995
|Canon Kabushiki Kaisha
|Robot apparatus with an electrical driver for controlling a detachable rotor hand
|May 12, 1994
|Dec 3, 1996
|Fanuc Ltd.
|Flexible servo control method
|Jun 23, 1994
|Dec 24, 1996
|Fanuc Ltd.
|Flexible servo control method capable of specifying flexibility on working coordinates
|Jul 14, 1995
|Jul 6, 1999
|Fanuc Ltd
|Robot teaching method
|Nov 19, 1999
|Apr 24, 2001
|Eshed Robotec
|Method and apparatus for the direct teaching of automatic machines
|Oct 13, 2009
|Jun 19, 2012
|Hrl Laboratories, Llc
|Planning approach for obstacle avoidance in complex environment using articulated redundant robot arm
|Feb 14, 2012
|Nov 27, 2012
|Abb Technology Ltd.
|Industrial robot and a method for adjusting a robot program
|Apr 19, 2002
|Aug 10, 2006
|Hansrued Frueh
|Buckling arm robot
|Jan 30, 2006
|Aug 2, 2007
|Dgi Creations, Llc
|Alternative communications paths for data sent over power line carrier
|Jan 23, 2009
|Jul 29, 2010
|Derek Young
|Trainable Robot and Method of Training
|Dec 19, 2014
|Feb 9, 2016
|Hon Hai Precision Industry Co., Ltd.
|Aug 14, 2009
|Sep 9, 2015
|Feb 6, 2009
|Aug 12, 2010
|Abb Technology Ab
|Method for programming an industrial robot by lead-through
|Aug 14, 2009
|Feb 17, 2011
|Abb Technology Ab
|An industrial robot and a method for adjusting a robot program
|U.S. Classification
|318/568.13, 700/900, 318/568.14, 700/264
|International Classification
|Cooperative Classification
|European Classification
|May 29, 1986
Owner name: MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD., 1006 OAZ
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNORS:MARUO, TOMOHIRO;INOUE, TOSHITUGU;HIRAHATA, AKIHO;AND OTHERS;REEL/FRAME:004565/0083
Effective date: 19860526
|Oct 4, 1991
|Fee payment
Year of fee payment: 4
|Nov 21, 1995
|Maintenance fee reminder mailed
|Apr 14, 1996
|Lapse for failure to pay maintenance fees
|Jun 25, 1996
|Expired due to failure to pay maintenance fee
Effective date: 19960417


text:
Al Qaeda beheads French hostage in Mali
London: Al Qaeda has said that it has beheaded a French hostage in response to the country`s military intervention in Mali.
A French foreign office spokesman said they were trying to verify the report of the killing of Philippe Verdon.
According to Mauritania`s news agency, a spokesman for the group`s North African arm said Verdon had been beheaded on March 10.
The AQIM commander described Verdon as a French spy and said France`s President Francois Hollande `bore the responsibility for the remaining hostages," Sky News reports.
Verdon and another French man, Serge Lazarevic, were kidnapped from their hotel room on November 24, 2011, in the northern Mali town of Hombori, the report said.
Their families denied that the two men were mercenaries or secret service agents, it added.
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subset: commoncrawl


text:
Now as we preview yet another version of the LeBron Soldier 10, implementing the Dunkman theme, one thing is worth noting… we finally get the original Dunkman style back. The gun-metal grey is there. The mean green is also present.
The Soldier 10 onslaught continues and there are many nice looking colorways to choose from. Do you consider buying any of them? Which one is your favorite thus far?
Source: NikeTalk.]]>
However, his shoes are still ready to go. Adding to the "Olympic Gold" LeBron 13 Low as well as the recently unveiled USAB LeBron Soldier 10 is the regular version of the Nike LeBron 13.
The "USA Basketball" LeBron XIII features a Red upper with a white-to-red faded midsole and blue-to-navy faded outsole. The USA logo on the heel makes all the difference here. Take a closer look below.
Source: @SoleCollector]]>
The Think Pink initiative has been present from the very beginning… one way or another. Nowadays it's up to the Soldiers to carry the tradition. Check out this brand new predominantly Pink colorway of the Soldier X that features the Kay Yow logo on the back and on the outsole.
Btw… we're up to 14 different colorways.]]>
This also includes this brand new Cool Grey colorway that's popped up at Jimmy Jazz earlier today and will make it to other Nike Basketball retailers soon.]]>
This time we give you the very first look at the Camo version, which is a regular thing for the Soldier line, obviously. The theme is very similar to the last year's Camo Soldier 9 with the Dark khaki look and Black trim. It's definitely one of the upcoming LeBron Soldier 10 styles. Keep your eyes peeled.]]>
The presented Black / Iridescent pair is considered to be the launch colorway and is very similar to one of LeBron's 4 different Finals PEs. The GR pair comes with a White midsole and the iridescent effect on the Swoosh.
There's no exact release date available just yet, but don't expect Nike to announce every colorway for the Soldier series. Keep checking back, though, we're usually on top of things.]]>
Here's one of the newly discovered styles to go along with the the Black and Gum version that dropped yesterday. This is the opposite with the White upper and the same Gum outsole. The presented pair sports a XDR outsole, but it's possible there are two variants… usually XDR's drop in Asia and regular models in other markets. Stay tuned for more updates on all LeBron Soldier 10 news.]]>
Again it's hard to find them online, but according to Footlocker's Launch Locator there are plenty to go around. Footaction got some pairs too. A wider release will probably hit other retailers soon.
844378-009 Black/Multi Color-Dark Grey-Gum Yellow]]>
The presented Olympic colorway, as well as the Blackout version, came out yesterday… that's the official date. You can find them at Footlocker, but again they're not available online for some reason. However, the Launch Locator shows plenty locations carrying these so it's an easy cop for those who can get near one of their local stores. Oh, the Blackout version is at finishline.com too.
Check out the updated releases page. Now we have 7 different Nike LeBron XIII Low colorways to choose from… if you can find them.]]>
As a result new colorways are dropping left and right. One of the newly discovered styles is this new Black and Gum colorway. This version sports a XDR outsole that should be durable enough to withstand the outdoor courts compared to the softer rubber compound on the regular model.
All in all, in a very short time, we've been exposed to 8 different colorways of the Nike Soldier X… quite a lot for a shoe that appeared out of nowhere the net just two weeks ago. Check out the complete Soldier 10 List and stay tuned for more updates.]]>


text:
Music Lyrics
Bass and Guitar Tabs
and More...
words and music by: Billy Idol/Mark Younger-Smith,1993
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Strike that gong
We can live forever
In shangrila om
A piece of a dream
The color of green
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In shangrila
Color of love
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I feel the sacred healing chants
I feel the moment
Of my death
I feel the higher learning
I feel the realization of forgiveness
Compassion and loving kindness
Click here to return to my Billy Idol lyrics page
The lyrics are Copyright their respective owners.
Website © 2000-2014 mattsmusicpage.com. All rights reserved.
Legal & DMCA: Matt's Music Page has been providing lyrics and tabs in a legal way, paying royalties each year to a few organizations. Then, all lyrics and tabs were removed from the site. Now, there's a new owner to the site, which purchased it August 26, 2014, and he is in negotiation to obtain licensing from BMI at the moment. If you have a specific DMCA request -- please do not hesitate to contact me via the contact button on top. I will do my very best to keep this site fully legal.
Vintage 1985 Mick Jagger of the Rolling Stones Black & White Postcard
The Rolling Stones Cigarette Rolling Papers - Bridges Tour
The Rolling Stones Cigarette Rolling Papers King Size
ERIC CLAPTON Vintage PHOTO Original Candid guitar KEITH RICHARDS Rolling Stones
Vintage Stoned Again 1981 Pin Button Pinback Rolling Stones ?


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Exhibit and sale of artwork at Art Monaco 2013 to benefit The Prince Alireza Pahlavi Fund for Ancient Iran Scholarship at Harvard University.
What does Pahl stand for?
Pahl stands for Pahlavi (linguistics)
This definition appears very rarely and is found in the following Acronym Finder categories:
- Science, medicine, engineering, etc.
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- Pediatric Asthma Health Outcome Measure (asthma study)
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The nuclear option was originally proposed to the Pahlavi monarchy by the US for the same reasons.
Ayatollah Khamenei also hailed the Iranian nation's high turnout in the rallies held across the country to mark the 34th anniversary of the victory of the 1979 Islamic Revolution, which put an end to the monarchy of the US-backed Pahlavi regime in the country.
As a more remote parallel to this recently emerged archive one can mention the Pahlavi papyri, which stem from the time of the Sasanian occupation of Egypt in the early seventh century A.
It is a story as much about how President Jimmy Carter and members of his administration, at least in the opinion of such luminaries as Henry Kissinger, David Rockefeller and others, believed then and presumably still believe now that America treated Pahlavi poorly.
United in grief, the men and women openly wept on Sunday as they watched a photo montage of Pahlavi as a baby, a young boy in Iran, at his graduation from Princeton University and playing with one of his nieces.
The death of 44-year-old Alireza Pahlavi of a gunshot wound at his home in Boston brought home the personal tragedies of many who fled Iran more than three decades ago, and symbolized another lost link to the era of the Western-backed dynasty's Peacock Throne.
Alireza was born in Tehran 1n 1966 andwas the younger son of Shah Mohammad Reza Pahlavi and his third wife, Empress Farah Diba.


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...Dr. Peter offers algebra, pre-calculus, SAT, AP calculus, college calculus 1, 2 and 3, GMAT and GRE. His hourly fee is negotiable.
Richboro, PAView Tutor
...Finally, I've tutored the subject for decades and have unique approaches that make it far more palatable to students. My PhD is in Physics where extensive use of linear algebra occurs. I have pear reviewed published papers in theoretical quantum mechanics where the overlying structure relies on linear algebra.
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...Give yourself the one-on-one attention you deserve for a guaranteed success in one or all of the following key subjects:ACT Math, Algebra 1, Algebra 2, Elementary Math, Geometry, Pre-algebra, Pre-calculus, Probability, SAT Math, Trigonometry and French. I tutor college, high school and middle sc...
Burlington, NJView Tutor
...DanI'm a high school math teacher and I teach algebra 1 & 2, geometry, and pre-calculus. I'm a high school teacher and I have taught algebra through pre-calculus. I am a teacher of geometry in a high school.
Trenton, NJView Tutor
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SCARF offers diploma in mental healthcareThe Schizophrenia Research Foundation, an NGO working in mental healthcare, has announced the launch of a diploma in mental healthcare and counselling for medical and allied health professionals.Accor... The Hindu, 1 month ago
12 images for ngo research foundation of india
International SOS Foundation Announces Winners Of 2016 Duty Of Care Awards
Honouring leadership, foresight and creativity in protecting the globally mobile workforce Alcoa, Dow Chemical Company, OCBC Bank, SAP SE and Thomson Reuters receive top awards The winners of the 2016 Duty of Care Awards were announced ...Businessworld India, 1 day ago International SOS : Foundation Announces Winners Of 2016 Duty Of Care Awards 4 Traders, 4 days ago Over 300 Financial Leaders and Executives to Convene at the Sohn Conference Hong Kong to Fight Cancer AndhraNews.net, 1 month ago
Environment Ministry to sustain cleanliness campaign in National Parks, Wildlife Sanctuaries and Zoos throughout the year
Previous story: Foundation of Advanced Technology Research Centre Laid in Kolkata Next story: President meets scholars of IITs, IISc-Bangalore & IISERs attending In-Residence programme at Rashtrapati Bhavan New Delhi; As part of the effort of ...APN News, 1 day ago
Digital Empowerment Foundation to rent used phones to rural citizens
Digital Empowerment Foundation , an NGO based in Delhi has launched an initiative called Merabytethat collects functional second-hand phones, tablets, pen drives, SD cards, laptops, cameras, and other gadgets as donations to distribute it to ...Media Nama, 3 weeks ago
What failing the crash test means for cars, carmakers andconsumers
Five Indian cars were tested in the latest round of crash tests conducted by Global NCAP, a UK-based road safety NGO that counts Bloomberg Philanthropies, FIA Foundation (the governing body for Formula 1 racing), International Consumer Testing and ...Yahoo! India, 1 month ago Car sales growth drives over failure in crash test Business Standard India, 1 month ago Car sales grow in spite of zero ratings by NCAP Smart Investor, 1 month ago
new safety norms in Oct 2017: Carmakers concerned over timing of global NGO's crash-testresults
Even as Indian car manufacturers are gearing up for upgrading their car safety standards in line with the government-mandated safety norms that will come into effect from October 2017, the UK-based NGO Global NCAP (Global New Car Assessment Program) ...Yahoo! India, 1 month ago
Neha Reddy Receives Fulbright Award April 29, 2016Neha Reddy of Northwestern University has received a Fulbright U.S. Student Program grant to India in Public Health from the U.S. Department of State and the J. William Fulbright Foreign Scholarship Board.
Neha Reddy of Northwestern University will be conducting research in affiliation with the NGO Aarti for Girls in Kadapa, Andhra Pradesh in order to explore the roles that health care providers play in efforts to combat sex selection practices along ...PRWeb, 1 month ago
China Cracks Down on NGO's, Containing Obama's Color Revolution
Just as both Russia and India have done over the past months, China has now adopted new laws restricting the free play of foreign NGO's, to the wild protest of the western "color revolution" networks. According to Xinhua, the law, passed by the ...Lyndon LaRouche Public Action Committee, 1 month ago
The Loomba Foundation presents the World Widows Report at the United Nations in New York
The Loomba Foundation, a UN ECOSOC-accredited NGO which serves the cause of widows presented its World Widows Report at the Church Center for the United Nations in New York City, State, India., April 15, 2016 - (PressReleasePoint) - The Loomba ...PressReleasePoint, 1 month ago
Michigan State University - Alumni Club Of India celebrates Global Service Day
CAN Band initiative kicks off in association with NGO Chintan. To provide vocational training in music & performing arts to children of waste pickers. 6 Bands from 6 Schools will be trained for a period of 3 months by Mahendra Bhatt (India's Got ...Press Release Ping, 2 months ago
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The Bandit's Lair in Tom Sawyer Planet attraction as seen from the top of the college
It's a planet from the beloved stories of Psycho the Weasel -- only with less Tom Sawyer and more bandits! Children can obtain a bandit curse in bandit caves, be photographed with bandit treasure, and jump into graves behind a fort your parents really enjoyed!
Please don't try Princess Mode
© copyright 2011–2016
A Pants Aflame production


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Foursquare © 2016 Lovingly made in NYC & SF
Madison's Cafe
Italian · $$
216 Madison St
"Must have is the New York fillet stuffed /crabmeat. New second favorite, Lobster Ravioli !!"
Coffee Zone
Coffee Shop · $
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"Try the pistachio baklava! Yummy!"
Hunan Chinese
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More Justice, Less Poverty
The Legal Aid Justice Center has been providing legal representation for low-income individuals in Virginia since 1967. Our mission is to serve those in our communities who have the least access to legal resources. Read more about our mission.
Civil Advocacy
We provide low-income Virginians with civil legal assistance for housing, public benefits, employment and consumer protection cases.
Elder Law
We serve the low-income elderly population through direct legal services, community outreach and education, and advocacy for reform.
We advocate to ensure that Virginia's most vulnerable young people receive the services and support they need to lead successful lives.
Health Advocacy
We help people with problems related to Medicaid, Medicare, Social Security, disabilities, TANF, SNAP (food stamps), and medical insurance.
Immigrant Advocacy
We help low-income immigrants find justice and fair treatment – representing clients with legal issues and promoting systemic reform.
Institutionalized Persons
We aim to improve conditions and protect the rights of those in institutional facilities, incl. prisons, jails, and mental health hospitals.
Explore each of the Legal Aid featured programs
VLF Gala & Golf Tournament
Join us at the Independence Golf Club in Midlothian, Va., on Sept. 10 for our gala and on Sept. 12 for the golf tournament. We are pleased to partner with the Virginia Law Foundation and the CVLAS for both events.
Individual tickets and sponsorships are available for both events. Full Details.
News & Media
- May 19 2016New Report: Suspension & Expulsion in Virginia
- May 10 2016Richmond Fair Housing Lawsuit Settles
- May 4 2016New Report on Court Debt Collection Practices
- Mar 3 2016Lawsuit Challenges "Habitual Drunkard" Law
- Jan 7 2016JustChildren Releases School Policing Report
- Oct 9 2015Preliminary Injunction Sought Against Richmond
- Sep 21 2015Preliminary Approval in Fluvanna Prison Case
- Aug 18 2015Fair Housing Lawsuit Filed in Richmond
- Jul 2 2015US Settles Lawsuit Alleging Wrongful Deportation
- Jun 22 2015Sandoval-Moshenberg Named IAP Director


text:
Property to let in Vine Close, Wolverhampton WV10 - 2 bedrooms
Keywords and filters like garden and parking live here
Your search area is too large to further filter your results. Please edit your search location if you would like to filter your results.
Filter your 1 result Clear filters
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£475 pcm (£110 pw)
Redhurst Drive, Fordhouses, Wolverhampton WV10Flat to rent - 2 bedrooms
Available from 28th Dec 2016
First Floor Apartment located in a quiet cud-de-sac location of Redhurst Drive. With off road parking, secured access, fitted kitchen and two bedrooms this property is not to be missed. Call now to view
Note: Distances are straight line measurements
- Bilbrook (2.2 miles)
- Codsall (2.8 miles)


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text:
Django Jobs in Cambridgeshire
Jobs 1 to 4 of 4
Full Stack Developer
We are currently recruiting for an exciting Full Stack Developer role with an expanding and exciting company in the Cambridgeshire area. Using cutting edge technologies the successful candidate will be using their programming skills to develop web-based interactive applications. This job provides an opportunity to join an expanding business...
Cambridgeshire -
Greywood Associates Limited
Salary: £35000 - £50000 per annum + BenefitsPosted: 2 days ago
Full Stack Web Developer Javascript Python Linux MySQL £50k
This established business with a global footprint develop data mining solutions for the Pharma and Bioscience industry... A capable front ender coder with JavaScript, scripting Python for server side development and familiarity with RESTful web service APIs. Desired skills include the following: Django, jQuery, PHP, NoSQL, SQL, Java and cross-...
Cambridge, Cambridgeshire -
Edgar Cowen
Salary: £35000 - £50000 per annum + Excellent Benefits & ProspectsPosted: Yesterday
Siri Runtime Engineer/Automation Tools
Systems administration experience - Linux/Networking/File system... ▪ Experience in building web applications (Ruby on Rails, Python/Django, Scala, Erlang, Java) ▪ Experienced with monitoring, log aggregation, and visualization tools (nagios, splunk, logstash, graphite, grafana, Kibana) ▪ Experience with Puppet/Chef... degree in Computer Science or 4 + years of programming experience or equivalent.
Cambridge -
Posted: 16 days ago
DevOps and Data Security Engineer
Requirements: - At least two years DevOps experience, preferably in an environment where required to managed sensitive data; - Knowledge of data security methods and technologies in addition to standards and policies; - Ability to communicate effectively with colleagues, stakeholders and third parties; - Demonstrable coding experience; - Django/Python, Postgres, Mongo and/or Elasticsearch...
Cambridge, Cambridgeshire -
Salary: From £50,000 to £60,000 per annum + stock optionsPosted: 4 days ago
Django Jobs in Cambridgeshire


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Hostage situations
June 24, 2016
IS captures 900 Kurdish civilians in north Syria in 3 weeks
Islamic State militants abducted about 900 Kurdish civilians in the northern Syrian province of Aleppo over the past three ...
June 24, 2016
Freed hostage: Militants rejoiced as Canadians were beheaded
Abu Sayyaf extremists rejoiced as they watched two Canadians being beheaded in the jungles of the southern Philippines, said ...
June 23, 2016
Family demands news of Chibok girl who escaped Boko Haram
Nigeria's Bring Back Our Girls movement and family members are demanding that the government provide news of the only ...
June 22, 2016
Family demands news of Nigerian girl who escaped Boko Haram
Even family haven't been able to see her. Nigeria's Bring Back Our Girls movement is demanding that the government provide ...
June 17, 2016
New video released of Swiss woman abducted in Mali
An online monitor of jihadi groups says al-Qaida's north Africa wing has released a new video of a Swiss woman taken hostage ...
June 08, 2016
Afghan official: Taliban kill 12 captives taken in southeast
Taliban gunmen have killed 12 people they captured in recent ambushes, including policemen and soldiers, in Afghanistan's ...
May 26, 2016
Colombia: Missing journalist may not be hostage of rebels
Colombia's president said Wednesday that a Spanish journalist missing in a lawless region might not be a hostage of leftist ...
May 23, 2016
Police: Hostages in deadly Sydney siege appeared 'jovial'
A police official described a group of people being held hostage by a gunman inside a Sydney cafe during a 16-hour ordeal as ...
May 19, 2016
1st Chibok girl to escape Boko Haram is feted in Nigeria
Aid workers and parents of the girls who were kidnapped from a school in 2014 lashed out at the Nigerian government and ...
May 18, 2016
FBI said Sydney gunman prone to violence years before siege
Five years before he held 18 people hostage inside a Sydney cafe, Iranian-born Man Haron Monis attracted the attention of the ...
May 18, 2016
Nigerian girl kidnapped 2 years ago is found alive
One of the teenagers kidnapped by Boko Haram extremists over two years ago from a boarding school in northeastern Nigeria has ...
May 14, 2016
5 Boko Haram leaders arrested; dozens of captives freed
The multinational forces fighting the Islamic extremists of Boko Haram have arrested five of the group's leaders and freed ...
May 13, 2016
Danish newspaper to pay damages to 2 kidnapped seamen
A Danish court has ordered the tabloid Ekstra Bladet to pay 300,000 kroner ($46,000) each in damages to two seamen who were ...
May 08, 2016
3 Spanish reporters home after 10 months captivity in Syria
Three Spanish freelance journalists held captive in Syria for nearly 10 months returned home Sunday, tearfully hugging ...
May 07, 2016
Aid worker abducted in Yemen last year is French-Tunisian
France's foreign affairs ministry says that a woman working for the International Committee of the Red Cross (ICRC) who was ...
May 04, 2016
Germany: Woman says she was held by horror house couple
A woman has told German investigators that she was held captive for around three months and was physically abused by a couple ...
May 01, 2016
Militants free 10 Indonesian hostages in south Philippines
Abu Sayyaf militants have freed 10 Indonesian crewmen who were seized at sea in March in the first of three attacks on ...
April 28, 2016
After hostage beheading, is Philippines facing IS threat?
Months before Abu Sayyaf militants beheaded retired Canadian mining executive John Ridsdel in the tropical jungles of the ...
April 27, 2016
Aquino: Canadian's killers also plotted to kidnap Pacquiao
The Philippine president said Wednesday that Abu Sayyaf militants may have plotted to kill him and kidnap boxing star Manny ...
April 26, 2016
Philippine troops hunt extremists who beheaded Canadian
The Philippine military came under increased pressure Tuesday to rescue more than 20 foreign hostages after their Muslim ...


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Wuhan: Lee Chong Wei has resisted a stirring first-set fight
Bangalore: In the last regular season league tie of Premier
Beijing: China's retired women's doubles players Lao Yujing,
Kuala Lumpur: It's getting hard to keep track of all the mix
Madrid: The winner of 2014 BWF Badminton World Championships
Kuala Lumpur: World number one Lee Chong Wei arrived at the
24-06-2016 Hits:2013 Badminton News
23-06-2016 Hits:2322 Badminton News
22-06-2016 Hits:1021 Badminton News
21-06-2016 Hits:769 Badminton News
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Scoring System for Badminton Singles Badminton Singles is a match consists of the best of 3 games of 21 points. Every time there is a serve – there is a point scored. The side winning
Scoring System for Badminton Doubles Badminton Doubles is a match consists of the best of 3 games of 21 points. Every time there is a serve – there is a point scored. The side winning
When playing badminton, it is important to develop tactics and strategies a game plan to out-think and beat your opponent. By identifying and focusing
Usually, when I am coaching my new students, the first thing I check is how they hold the badminton racket. It is important and easy to learn


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Bison 16 or 24 Heavy Duty Lockable Basketball Cart [E25383]


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Thank you very much for all you did to ensure that Chuck and I received the ring we needed for our wedding ceremony. I know that you went "above and...
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Draft and Trade Talk Message Board
Ask the Fantasy Genius
I will help in trades and FA pickups the best i canSort: Newest | Oldest | Most Replied Expand all replies
should i pick udrich up or garcia and drop either maxiell or childress. im only really lacking in threes and too many turnovers. what do u think?
A Yahoo! User Dec 31, 2007 5:49 PM Flag
carlos arroyo or mike conley jr?? in the long run
Euthanizer Euthanizer Dec 31, 2007 5:36 PM Flag
L. James + S. Marbury + Granger (i Give)
(he also said i could switch of Granger for T-Mac)
S. Nash + C. Bosh + D. Gibson (i get)
I need better FT%, 3pters and TOs
A Yahoo! User Dec 31, 2007 5:35 PM Flag
i was offered salmons and hill for danny granger in a dynasty league. i just took over 1st place, and my team lacks o-rebs, points, and depth.
Check this one:
Leandros Barbosa, Brad Miller and Travis Outlaw for Josh Howard and Tony Parker. I hesitate. Gut reaction is NO!
Black Magic Black Magic Dec 31, 2007 5:12 PM Flag
I have Kobe and AL Jefferson in a 16 team Head to Head League and my team sucks because each team consist of 16 roster spots and I have no depth in my roster. I believe I should try trading Kobe, what do you think?
My team right now consist of...
Kobe Bryant
Keyon Dooling
Kirk Hinrich
Tim Thomas *D to D
Al Jefferson
Wally Szczerbiak
Emeka Okafor
Rasho Nesterovic
Sebastian Telfair
Carlos Arroyo (just picked up because of J. Nelson injury)
Andre Owens ( just picked up b/c of Jamal Tinsley injury)
Trevor Ariza
Stromile Swift
Jordan Farmar
Ricky Davis
Brent Barry *out for one more week
this is my team in a 12 team H2H league (13 roster spots)
earl watson
joe johnson
roger mason
josh howard
lebron james
rudy gay
shane battier
james posey
dirk nowitzki
paul millsap
andrew bogut
joel przybilla
fabricio oberto
I am getting killed in assists, blocks and rebounds and turnovers, what should I change with my team?
free agent list is very thin since we are a 12 team league which has 23 max moves so I can't drop players every week
kevin martin is in my FA Pool Right Now. Do you know when he comes back from injury?? and should i add him now on my team??
hey if a player is in your lineup to start and he doesn't play beacuse of a last minute scratch does it go towards the max games played
got offered the following trade.//
i get: dirk and gasol
i give: josh smith and amare
could deal? bad deal? why?
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List all words ending with ministry
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Road signs pointing in different directions, low angle view
Credit: Donald Nausbaum
Creative #: 200241640-001
License type: Rights-managedRights-managed products are licensed with restrictions on usage, such as limitations on size, placement, duration of use and geographic distribution. You will be asked to submit information concerning your intended use of the product, which will determine the scope of usage rights granted.
Collection: Photographer's Choice
Max file size: 5,115 x 3,410 px (17.05 x 11.37 in) - 300 dpi - 4.12 MB
Release info: No release required
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Road Signs Pointing In Different Directions Low Angle View Stock PhotoArrow Symbol,Color Image,Connection,Day,Decisions,Direction,East,Guidance,Horizontal,Low Angle View,No People,North,Number,Outdoors,Pennsylvania,Photography,Power Line,Road Intersection,Road Sign,South,Traffic Arrow Sign,Transportation,West - DirectionPhotographer Donald NausbaumCollection: Photographer's Choice Pennsylvania, USA