text:
A man who won the 2000 election on questionable grounds, then listened way too much to his cronies who he appointed to all the good positions. They told him that he should invade Iraq after about a month in Afghanistan because they secretly knew their oil stocks would sky rocket. He used scare tactics to win the 2004 vote, although John Kerry was not a good cadidate either. On a totally non-political basis, the man is wrecking America, whether or not he's smart enough to realize it. He's basically taken the United States and made it a bunch of beaurocratic red-tape bullshit because he doesn't understand that you can cover your ass with a Cold-War style CIA-cover up. He thinks you need to horseshit your way through life with half-truths instead of just not telling anybody anything. The path of the US in the future doesn't look too bright anymore.
by i hate kgj March 20, 2006
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Proof that voting in America can be rigged. Instigated the 9/11 attacks with his illogical foreign policies, and made the world hate America even more by starting an illegal oil war in Iraq. He has also succeeded in turning America from a once prosperous nation into a debt-ridden chaos.
Way to go, Dubya.
by AYB April 08, 2003
only man alive to make Forest Gump look smart
Mama always said stupid is as George W Bush does
by scarppy August 27, 2003
A political puppet of large companies whose main goals in life are getting rich and destroying the planet in the process.
That's not a president, that's a prostitute!
by Beelzebob May 22, 2003
See village idiot.
George W Bush is America's greatest village idiot.
by Stoneur August 09, 2003
Perhaps the worst, most hypocritical, idiotic president the U.S. has ever had in office (and anyone who supports him and his war effort in the Middle East needs a foot broken up into his/her ass and his/her facts straightened out).
George W. Bush is a dick!
by The smarter, more knowledgeable citizen of America June 24, 2003
A reason to move to Canada.
I can't take four more years of dingus ruining our country, I'm moving to Canada!
by John September 01, 2004
The butt of all jokes, he not only embarrassed America, but the whole human race.
There was no way in hell that George W. Bush excel in a Ivy League school because he lacks intelligence.
by ??? June 01, 2003

subset: commoncrawl


text:
Centre-back Jermaine Grandison was this week ruled out for at least six weeks with a hip injury.
Grandison has been managing the complaint over the last couple of weeks but was eventually forced off at half-time in last Saturday's 2-0 defeat at Swindon.
That means Yado Mambo is likely to come in although fellow defender Cameron Gayle also stands a chance of starting against the Shakers.
Otherwise, long-term absentees Mark Wright (knee) and Ryan Doble (hand) are expected to be the only ones to miss out.
Shrews, in 18th place in League One, currently find themselves four places and eight points clear of third-bottom Bury.
- Sports & Recreation
- Soccer
- Jermaine Grandison


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text:
Queens Rapper Yung Joey is Hard at Work
Papa Doc Let It Go Single Release Party
Kendrick Lamar, Future, Big Sean, Fetty Wap, Meek Mill + More to Perform at Power...
HHW's unique celebrity weekly-format and 26x frequency have made it the #1 news and entertainment source for young adults.
Copyright © 2014 Hip Hop Global Media, LLC.
All Rights Reserved.


text:
Company: Bacchus
Cast: Austin Kincaid, Rod Barry, Raoul, Marco Paris, Chad Conners, Chet White, Destiny Deville, Nikki Hunter, Makayla Coxxx, Shy Love, Johnny Law, Cody Cash
Critical Rating: AAAA
Genre: Gay Specialty
There are a lot of big names here, each caught beautifully on camera doing what they presumably do best: have aesthetically appealing and somewhat acrobatic sex. What there isn't is much of a sense of a "tale" being told. From the couch cushion, it pretty much looks like another series of male bisexual encounters involving a female third partner. Some, like the first, make sense and then just don't — fortunately, they consistently remain sexy. Austin Kinkaid's unexplained eviction from a room in her own home by exotically bitchy Destiny Deville is confusion, but Deville fully delivers. What boosts this release up a notch is the final scene, featuring Shy Love as a girlfriend caught by "cop" Rod Barry giving an allegedly illegal blowjob. In order to keep on the right side of the law, Love and her exceptionally accommodating boyfriend share the love with Barry. Hot stuff.
RETAILING: Multiple stars and special edition packaging should give this bonus appeal.


text:
Matt Damon and Jimmy Kimmel Go to Couples Therapy Again. Does It Work This Time?
- 03:22 PM, Jul 26
New York Premiere of Cosmopolis - Arrivals
Photo credit: Michael Carpenter / WENN
To fit your screen, we scale this picture smaller than its actual size. The original picture size is 528x1000 pixels and this photo has been viewed 1175 times since August 13, 2012


text:
InterMune (ITMN -1.4%) sells its Actimmune interferon gamma-1b business to privately held Vidara Therapeutics International for $55M in cash plus a two-year royalty stream. The company had stopped active development for Actimmune several years ago, preferring to focus its efforts on other R&D operations such as its Pirfenidone treatment for idiopathic pulmonary fibrosis.
InterMune (ITMN -1.4%) sells its Actimmune interferon gamma-1b business to privately held Vidara...
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text:
RATED: Sunday's season finale of ABC's Desperate Housewives attracted a record 30.3 million viewers, according to preliminary Nielsen ratings. The new high beats the numbers for the Nov. 28 episode (about Mrs. Huber's death) by some 3 million. Even so, shows that did even better during this Sweeps period also included season finale for CBS's CSI (30.7 million) and the series finale of Everybody Loves Raymond (32.9 million). As for Desperate Housewives, the hopes are high for season two this fall. Joining the cast as a regular, Variety reports, will be Roger Bart, who this past season occasionally cropped up as pharmacist George Williams, who developed a crush on Bree (Marcia Cross) and fatally tampered with her husband Rex's pills.
PREPARED: In his life after Friends, Tuesday night brings David Schwimmer, 38, to the London stage, where he will make his West End debut in Neil LaBute's play about commitment, Some Girls, also starring Saffron Burrows, Catherine Tate, Lesley Manville and Sara Powell. "To be knocked about by these four extraordinarily strong, sexy and funny women, that trumps any fantasy I had as a boy," says Schwimmer, as quoted by the BBC. "I get to be on the London stage, a dream of mine since the age of 12." Also on stage in London (or due by the end of the year): Brooke Shields (in Chicago); Ewan McGregor (Guys and Dolls); Val Kilmer (The Postman Always Rings Twice); Kevin Spacey (The Philadelphia Story) and Rob Lowe (A Few Good Men).
SUBBED: Huff star Hank Azaria, who also voices roles on The Simpsons, is bolting from his armor in the Broadway musical Monty Python's Spamalot, so he may resume his role on the Showtime series. His replacement as Lancelot on stage will be Alan Tudyk, whose credits include Paul Rudnick's 1998 The Most Fabulous Story Every Told. Azaria, who is nominated for a Tony for Spamalot, is due to return to the show in November, for six months.
DIED: Comic actor Howard Morris, 85, who costarred with Sid Caesar on the '50s TV classic Your Show of Shows before going on to success as a film director (and to fame as poetry-spouting Ernest T. Bass on The Andy Griffith Show), died Saturday, AP reports. Morris's movie roles included those in Boys' Night Out (with Kim Novak), 40 Pounds of Trouble (with Tony Curtis), Jerry Lewis's The Nutty Professor and Way… Way Out and Mel Brooks's High Anxiety and History of the World, Part I. … Thurl Ravenscroft, 91, who for 50 years provided the voice of Kellogg's Tony the Tiger as well as a host of Disney characters, died Sunday of prostate cancer. "I'm the only man in the world that has made a career with one word: 'Grrrrreeeat!'" Ravenscroft told the Orange County Register in 1996.
SLAMMED: Tuesday night's ABC movie Trump Unauthorized, a warts-and-all bio of Donald Trump (as played by a bewigged Justin Lewis), isn't scoring well with critics. The Hollywood Reporter blames the flick's "slapdash style of storytelling that fails adequately to probe its unsympathetic subject," who comes across in the movie as "a publicity-chasing egomaniac and braggart who dives through tax loopholes the way a trained dolphin jumps through hoops." The Washington Post is even more dismissive, saying the movie's "implicit promise of scandalous poop isn't kept, either; Trump is shown to be cold, ruthless and megalomaniacal at times, but that shouldn't shock anyone."


text: Request an Appointment Please note: This form is not for emergency services. If you have a medical emergency, please go to the nearest hospital emergency room or to the Mass. Eye and Ear Emergency Room, which is open 24 hours a day, seven days a week and located on the ground floor of our Boston campus, 243 Charles Street, Boston, MA, 02114. Online Appointment Request Process After you have sent us your request, our scheduling staff will contact you within two business days to schedule your appointment. To request an appointment by telephone during office hours, Monday-Friday, 8:30 a.m. to 5 p.m., please call: Ophthalmology (eye) 617-573-3202 Otolaryngology Main Campus (ear, nose, throat, plastic surgery) 617-573-3954 Otolaryngology Longwood (ear, nose, throat, sleep) 617-936-6160 Audiology/Hearing 617-573-3266 International Patient Online Appointment Request Process Once we receive your completed request form and a detailed clinical summary or medical report (in English), the information will be reviewed to ensure that an appropriate appointment is scheduled. Following the review, you will be contacted by an International Patient Coordinator in approximately two to three business days. Phillip Lord 243 Charles Street Boston, MA 02114 Tel: 001 - 617-573-3041 Fax: 001 - 617-573-5513 Thank you for selecting Mass. Eye and Ear for your care. Please select domestic or international appointment below. Contact Us Today! 617-523-7900 or Use Our Simple Online Form to Give Us Feedback We welcome your comments and feedback. Please include contact information if you'd like a response. Did you find this page helpful? YesNo Enter your comments: Please enter the code above, to verify you are human * Appointment Type Please choose appointment type: Domestic International * Patient Info Title Ms. Mr. Mrs. Dr First Name * Last Name * Is this a pediatric patient? YesNo * Phone Email Address Address 2 City State/Province Postal Code Country Fax Gender MaleFemale Health Insurance Provider Diagnosis and/or Symptoms Contact Info Title Ms. Mr. Mrs. Dr Name * Phone * Email address * Relationship to Patient Address Address 2 City State/Province Postal Code Country Fax Department Clinical Department for which you are seeking an appointment Choose a Department Ophthalmology (Eyes) Otolaryngology (Ear,Nose and Throat) * Sub Department Don't Know Contact Lenses/Glasses,etc Cornea (Laser Vision Correction) Eye Plastic and Orbital Surgery Comprehensive Ophthalmology/Cataract Glaucoma Low Vision and Visual Rehabilitation Neuro Ophthalmology Occular Oncology Pediatric Ophthalmology Retina/Diabetic Eye Care Uveitis/Ocular Immunology Sub Department Don't Know Audiology(Hearing) Hearing Aids/Other Retail Items Cranial Base Center Facial Nerve Center Facial Plastics Center General Eye Care Head and Neck Oncology(Cancer) Otology(Ears) Otoneurology Pediatric ENT Rhinology (Sinus) Voice Disorders Description of Appointment * How did you find us? Search engine Infirmary advertising Infirmary printed marketing material Word of mouth Link from an online list or other website Other Your relationship to patient Self Friend/Family Member Physician Other Are you also the contact person listed above? YesNo If not, please provide the following information about yourself: First Name Last Name Telephone Fax Email Address


text:
Ok I have a project in a folder called
mywebsite which is located in my documents folder on my mac. How do I use git to version control this folder??
Every time I try something I end up with a fatal error of some sort and it's really annoying me now, can you help?
I do
git init, then
mkdir and then I've tried adding and cloning the files to no avail.
git init
git mkdir mywebsite
cd mywebsite
git clone file://localhost/Users/me/Documens/sites/mywebsite
fatal '/Users/me/Documens/sites/mywebsite' does not appear to be a git repository
fatal: The remote end hung up unexpectedly
Please help!


text:
User Reviews of Products
These were out of stock for my Grandson's Birthday on another website. He left the link up on my computer and I couldn't find them. My Wife ( a shoe expert!) helped me search and found these on your website. Same brand and color slightly cooler design with better materials. He always skateboards doing signature kick flips off of rows of picnic tables and whathaveyou's with the shoe front tops rubbing on the grip tape. He rarely has a pair of shoes last more than a month or two--especially canvas ones. Top it off with the fact that the other site didn't offer free shipping, we really lucked out with Peter Glenn. I will always search for clothes and shoes first here. My grandson was pleasantly surprised and told friends about Peter Glenn.
My son loves his shoes. He has had this style before so he knew he liked them. I liked the price and the processing was flawless and quick. Thanks!


text:
Hi. Great simple plugin, but we are hoping there is a simple way to make the links created appear in a truly "inline" fashion.
Out of the box, the links created are enclosed in <p> tags and formatted with borders.
We restyled the "spoiler-wrap" and "spoiler-head" elements easily enough to simplify the appearance of the links, but is there a simple way to style them so they appear in-line where they are placed, without line breaks?
Is there something we can modify in "inline-spoilers.php"?
Thanks in advance for any help.


text:
Windsor (CDP), Wisconsin
Location in Dane County and the state of Wisconsin.
|Coordinates: 43°13′2″N 89°20′40″W / 43.21722°N 89.34444°WCoordinates: 43°13′2″N 89°20′40″W / 43.21722°N 89.34444°W
|United States
|• Total
|3.138 sq mi (8.13 km2)
|• Land
|3.108 sq mi (8.05 km2)
|• Water
|0.030 sq mi (0.08 km2)
|Population (2010)
|• Total
|• Density
|1,100/sq mi (440/km2)
|Time zone
|Central (CST) (UTC-6)
|• Summer (DST)
|Area code(s)
Windsor is a census-designated place (CDP) in the town of Windsor in Dane County, Wisconsin, United States, along the Yahara River. The population was 3,573 at the 2010 census.[1] Since 2000, part of the CDP was annexed by the nearby village of DeForest, which borders Windsor in separate segments on both the north and the south. On November 3, 2015, the Town of Windsor voted to incorporate a sa village.[2]
Windsor is located at 43°13′1″N 89°20′39″W / 43.21694°N 89.34417°W (43.217201, -89.344434).[3]
According to the United States Census Bureau, the CDP has a total area of 8.1 km² (3.1 mi²). 8.0 km² (3.1 mi²) of it is land and 0.1 km² (0.03 mi²) of it (0.95%) is water.
As of the census[4] of 2000, there were 2,533 people, 945 households, and 746 families residing in the CDP. The population density was 308.5/km² (800.2/mi²). There were 978 housing units at an average density of 119.1/km² (309.0/mi²). The racial makeup of the CDP was 96.13% White, 0.51% Black or African American, 0.36% Native American, 1.18% Asian, 0.59% from other races, and 1.22% from two or more races. Hispanic or Latino of any race were 1.46% of the population.
There were 945 households out of which 38.0% had children under the age of 18 living with them, 67.0% were married couples living together, 8.5% had a female householder with no husband present, and 21.0% were non-families. 13.9% of all households were made up of individuals and 3.0% had someone living alone who was 65 years of age or older. The average household size was 2.67 and the average family size was 2.95.
In the CDP the population was spread out with 27.0% under the age of 18, 6.8% from 18 to 24, 32.3% from 25 to 44, 27.0% from 45 to 64, and 6.8% who were 65 years of age or older. The median age was 36 years. For every 100 females there were 98.8 males. For every 100 females age 18 and over, there were 100.0 males.
The median income for a household in the CDP was $61,958, and the median income for a family was $69,150. Males had a median income of $41,232 versus $27,863 for females. The per capita income for the CDP was $31,529. None of the families and 1.0% of the population were living below the poverty line, including no under eighteens and none of those over 64.
- ^ "American FactFinder". U.S. Census Bureau. Retrieved 20 April 2011.
- ^ http://www.windsorwi.gov/index.asp?SEC=E95CC075-449B-4F10-B64B-E0FCBA842EA4&Type=B_BASIC
- ^ "US Gazetteer files: 2010, 2000, and 1990". United States Census Bureau. 2011-02-12. Retrieved 2011-04-23.
- ^ "American FactFinder". United States Census Bureau. Retrieved 2008-01-31.


text:
More than 450 people from at least 26 nations are expected to participate in the fourth annual conference sponsored by the Robert B. Daugherty Water for Food Institute (http://waterforfood.nebraska.edu/) at the University of Nebraska and the Bill & Melinda Gates Foundation at The Cornhusker Hotel. Two segments NET will air are: 3:30 p.m. Agricultural Producers Panel featuring farmers from Nebraska, Iowa, Argentina and India and 8:30 a.m., Industry Leaders Panel, presented by Global Harvest Initiative, moderated by Jeff Raikes, CEO, Bill & Melinda Gates Foundation, with representatives from Elanco, IBM, John Deere, Monsanto and Pioneer Hi-Bred.
live streaming schedule & on demand videos
|09:00 am
|NDE Board Meeting: December 2016 NDE Board Meeting
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text:
Ensure high-quality, omni-channel customer experiences across the entire retail network through a single control point.
TPLoyalty helps retailers create, deploy and manage tailored omni-channel promotions to drive customer loyalty.
TPCustomer360 helps tier-one retailers create personalized rewards to drive sales on every channel.
Gain accurate, near-real-time insights into sales performance, marketing effectiveness and risk exposure across the retail network.
Maximize sales with a seamless retail experience in-store and online.
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PressreleasesTPCustomer360 enables the next level of customer …


text:
|Publication number
|Publication type
|Application number
|Publication date
|Mar 11, 2003
|Filing date
|Jun 22, 2000
|Priority date
|Jun 22, 2000
|Fee status
|Publication number
|Harold L. Trammell
|Original Assignee
|Amkor Technology, Inc.
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (25), Referenced by (12), Classifications (25), Legal Events (9)
|External Links: USPTO, USPTO Assignment, Espacenet
1. Field of the Invention
The present invention generally relates to a material handling system, and more particularly, to a controlled system for moving materials to various locations within a manufacturing facility.
2. Description of the Related Art
To remain competitive in the manufacturing industry, manufacturers are constantly seeking out new ways to increase productivity. Advances in technology have helped to increase productivity by providing numerically controlled devices, which allow for the introduction of automated manufacturing equipment. One of the most significant advances in technology for increasing productivity has been the introduction of computers to the manufacturing floor. Computers have made it possible to accurately monitor and track production systems so manufacturers can adapt more quickly to production demands. Computers also facilitate the use of robots. Robots allow for the real-time adaptation of the manufacturing environment to the demands of the production process. Generally, robots are used to transport materials around a factory floor to deliver items to, and remove items from, various process tools.
Robots require some way to present parts or material to and from the various types of processing equipment which they service. For example, one of the most common material transport systems, is an overhead lift system. In this example, the overhead lift system uses a platform suspended by suspension mechanisms, such as ropes, cables, wires, chains, belts, and the like, which are reeled up or down to raise or lower the platform. Unfortunately, in this system the ability to pick or place material at a given point is greatly limited due to lack of positional control of the material when the system lowers it due to side swaying and/or twisting. Also, the suspended transport system typically requires that the suspension mechanisms be reeled up and/or down, in unison, at the same rate, to prevent tilting of the carrier platform. This Requirement usually only met using carefully designed spooling mechanisms or other complex components. Further, most suspended transport systems fail to provide off-axis loading, which limits their usefulness.
An inline tool system for the automatic processing and/or automatic treatment of materials is yet another example of a common type of material transport system. FIGS. 1A and 1B are illustrations of a perspective and side view, respectively, of the inline system, which may include front-of-line (FOL) and/or back-of-line (BOL) tools. The FOL and BOL tools are used to treat and/or process semiconductor chips. The chips are typically contained in magazines M when they are transported. The magazines M are fed to the tools and prepared therein for processing or treatment and also for transporting away after the processing or treatment.
Arranged behind the line of tools, is a rail device T, on which runs a robot R, which grips, moves, positions and releases the magazines M as required. As shown in FIG. 1B, the mounting robot R travels rectilinearly and horizontally on the rail device T. A gripper G for the magazine M is supported movably on the mounting robot R by means of an advancing carriage V and a lifting carriage H. The advancing carriage V is movable on the mounting robot R horizontally and orthogonally to the rail device T towards one of the tools and away from it. The lifting carriage H is movable vertically on the advancing carriage V. Consequently, the gripper G can be moved with three Cartesian degrees of freedom or directions of movement with respect to the tools in order to bring the magazine M to the intended magazine position at the tool and unload it there, or to grip it there and lead it away.
The drawbacks to the above-described system are many. Foremost, as illustrated in FIG. 1B, rail device T of the inline system can require two feet or more of floor space, which can present a total space penalty of up to 30% on most factory floors. If the floor space includes clean room floor space, the cost associated with such a floor space penalty can be dramatically increased. Moreover, the inline system is not flexible in routing so that service can only be provided along a straight path.
The modern factory uses many different types of processing tools and equipment, some of which can be older existing equipment (i.e., legacy equipment), which may not be designed for the inline system of loading (e.g., rear loading). Instead, most legacy equipment is designed for front loading, typically via a loading chute. Thus, another drawback of most typical transport systems is that they are designed for rear loading and are thus not capable of chute loading. Most transport systems are also typically not flexible enough to support cell-to-cell transport or functional layout. Consequently, to implement a modern transport system in an existing factory may require the buying of new equipment and/or the making of expensive factory and equipment modifications.
For the above reasons, what is needed is a material transport system which can transport materials from one processing station or tool to another, in a rigid and controlled manner, while having flexibility in routing, and compactability for efficient space utilization.
The present invention provides a controlled material transport system (MTS) for carrying materials to and from, for example, work stations, test equipment, and processing and assembly tools in a common facility. The system of the present invention can deliver and/or remove material or payloads (e.g., semiconductor chips carried in magazines) directly to and/or from processing and assembly tools using a highly integrated vehicle running on a simple passive track system. The MTS of the present invention can load/unload magazines from any processing tool that can be serviced vertically from above.
The MTS of the present invention includes a rigid robot vehicle mountable to the passive track system, which can be routed to service all processing tools on the factory floor. The robot vehicle can handle and transport the magazines in much the same manner as an operator, which facilitates the loading of the processing tools and processing tool chutes without requiring modification to the processing tools. The MTS includes a hoist assembly and gripper assembly, which together perform such functions as picking up magazines, placing magazines, and loading magazines into the processing tools.
Advantageously, the hoist assembly is capable of functioning in an operational envelope, which includes any target location within a 3-axis Cartesian coordinate system, to the extent of the range of motion of the hoist assembly. The hoist assembly also provides rigid and controlled z-axis travel (i.e. vertical), while being compact when retracted. The compactness of the retracted hoist assembly improves factory space utilization and permits use of the MTS in low-ceiling environments. The gripper assembly facilitates loading of the magazines, especially chute style magazines, which are commonly found on many existing processing tools.
The control responsibilities for the MTS are divided into two distinct functions. The MTS controller (MTSC) manages the scheduling of the vehicle actions while the vehicle controller (VC) controls the actions of the vehicle. The interface between the MTSC and the VC may be wireless, for example, through RF or IR communication links. Power rails in the tracks provide power to the vehicle.
In one aspect of the present invention, the gripper assembly includes a gripper housing, which includes a gripping mechanism for holding and releasing the payload. The gripper assembly includes a contact indicator, which is also disposed in the housing to provide an indication that the housing has contacted an object. Advantageously, the gripper assembly can include an identification device for identifying payloads.
The gripper assembly of the present invention provides many advantages. For example, the gripper assembly not only grasps the payload, but lifts the payload against the gripper housing to hold the payload snugly, and therefore more securely. The gripper assembly also provides contact indication, which provides operator safety when the gripper assembly is in motion whether loaded or unloaded. This safety feature reduces the need for other more space consuming safety features, such as curtains and barriers. The payload identification feature reduces the communication requirements from the process tools, thus reducing complexity and costs.
Other uses, advantages, and variations of the present invention will be apparent to one of ordinary skill in the art upon reading this disclosure and accompanying drawings.
FIG. 1A is a perspective view of a typical material transport system with processing tools and equipment;
FIG. 1B is a side view of the embodiment of FIG. 1A;
FIG. 2 is a perspective view of a material transport system in accordance with the present invention;
FIG. 3A is a perspective view of a portion of a rail system in accordance with the present invention;
FIG. 3B is a cross-sectional view of the rail system of FIG. 3A;
FIG. 3C is a simplified illustration of a perspective view of a rail coupling mechanism in accordance with the present invention;
FIG. 4A is a simplified illustration of a view from a factory floor of an embodiment of the vehicle assembly of the present invention;
FIG. 4B is a simplified illustration of a cross-sectional view of the embodiment of FIG. 4A;
FIG. 4C is a simplified illustration of an extended embodiment of FIG. 4A;
FIGS. 5A and 5B are simplified illustrations of an embodiment of a drive system in accordance with the present invention.;
FIG. 6A is a simplified illustration of a side view of an embodiment of a storage unit of the present invention;
FIG. 6B is a simplified illustration of a front view of the embodiment of FIG. 6A;
FIGS. 7A and 7B are simplified illustrations of side and front views, respectively, of an embodiment of the hoist assembly of the present invention;
FIGS. 7C is a simplified illustration of a front view of an alternative embodiment of the hoist assembly of the present invention.
FIG. 8A is a simplified illustration of a top view of a spooling mechanism in accordance with the present invention;
FIG. 8B is a simplified illustration of a side view of FIG. 8A.
FIG. 9 is a simplified illustration of an embodiment of a gripper assembly in accordance with the present invention;
FIG. 10 is a simplified illustration of a top view of a payload magazine in accordance with the present invention;
FIG. 11 is a simplified illustration of a top view of a cam used in an embodiment of the gripper assembly of the present invention;
FIGS. 12A-12D are simplified illustrations of front views with a cut-away portion of an embodiment of the gripper assembly in accordance with the present invention;
FIG. 13 is a block diagram of the control system of the present invention; and
FIGS. 14A-14E are views of operational embodiments of the present invention.
The material transport system (MTS) of the present invention is designed to transport materials or payloads to various locations in a plant, factory, or other common facility (hereinafter "factory"). The materials to be transported may be any materials or payloads, such as those that can undergo automatic processing and/or automatic treatment. Typically, the materials and payloads include semiconductor chip filled magazines (hereinafter "magazines"). As will be appreciated from the description that follows, with no intent to limit the invention thereby, the MTS is an overhead or ceiling mounted system for transporting magazines to FOL, BOL, and test equipment, such as die bonders, and/or wire bonders for establishing electrical connections on chips; continuous furnaces for the curing of plastics; and devices for the intermediate storage of the chips, backgrinders, and trim and form tools (hereinafter collectively "processing tools"). As an overhead system, the MTS uses space which typically goes unused in many semiconductor chip-manufacturing plants.
To improve the clarity of illustration by showing all the relevant parts of the various embodiments, it should be understood that the figures provide a functional representation of the embodiments and therefore do not necessarily depict actual parts, structures, or parts placement. Accordingly, the invention is not limited to the parts, structures, and parts placement shown in the figures. In the various figures like reference numerals refer to like parts.
FIG. 2 is a perspective view of MTS 10 in accordance with the present invention. Generally, MTS 10 includes a vehicle assembly 12 mounted to a serpentine and/or straight line overhead rail system 14. Vehicle assembly 12 is capable of servicing substantially all processing tools on a factory floor under the direction of a central controller 16, depicted as a computer having a keyboard and a monitor.
As shown in FIG. 2, vehicle assembly 12 can be an electrically powered, rigid robot vehicle that is capable of picking up, transporting, and delivering magazines 72 to processing tools found on the factory floor. To provide this capability, vehicle assembly 12 includes an extendible member assembly 22, which provides vehicle assembly 12 with an extension capability in the xy-plane. A hoist assembly 24, can be located at the extendible end of vehicle assembly 12, such that it can be positioned over magazine 72, and then raised, or lowered, in the z-direction to deliver, or take away, magazine 72 to, or from, a processing tool. At an end of hoist assembly 24 is a gripper assembly 23 (referenced below as 200), which provides a grasping capability to the invention. Vehicle assembly 12 also includes a storage unit 68, which allows a plurality of magazines 72 to be stored during transport.
Vehicle assembly 12 moves upon rail system 14, which provides the guideway or road on which vehicle assembly 12 transports the magazines. Rail system 14, described in greater detail below, may be composed of a plurality of inter-connected modular sections or tracks 26. Modular track sections 26 may be placed in any configuration to allow for optimum flexibility and efficiency in magazine routing by establishing a desired path for assembly vehicle 12 to take to the desired processing tool location. The modularity of tracks 26 makes it possible to add, remove, or relocate a processing tool or otherwise modify the layout of the factory floor and still be able to service all processing tools.
Central controller 16 provides the management of the operation of MTS 10 (FIG. 2). As described in greater detail below, central controller 16 can perform management tasks, which may include, the directing of vehicle actions, the scheduling of vehicle actions, and the relaying of vehicle routing instructions to vehicle controller 70 (FIG. 2). Generally, central controller 16 can communicate with vehicle assembly 12 via the vehicle controller through an IR or RF communication link.
MTS 10 can perform five motions in a 3-axis environment 18, where the x-axis is along the direction of the track; the y-axis transverse to the direction of the track; and the z-axis perpendicular to the xy-plane. The rotational orientation of the transported material in the xy-plane, is represented by θ. Vehicle assembly 12 is rotatable in the xy-plane around pivot points, such that vehicle assembly 12 is capable of rotating to reach to any angle θ.
For ease of understanding, the various systems, subsystems, assemblies and subassemblies, which together make up MTS 10, will now be described.
FIG. 3A is a perspective view of a representative portion of rail system 14. Rail system 14 includes a series of modular track sections, such as track section 26. Track section 26 can be suspended from the structural roof of the manufacturing plant using structural support members 28 and a plurality of track hanging devices 30. Structural support members 28 may be a collection of beams, girders, rods, or other similar structural members capable of being mounted to the structural roof of the manufacturing plant. Preferably, structural supports 28 are threaded rods, typically disposed within a plenum space, (i.e., the space between the structural roof and the factory ceiling). A small portion of structural support members 28 is extended through the factory ceiling and coupled to track hanging device 30 using conventional coupling device, such as clamps, nuts and bolts, rivets, and the like. In one embodiment, the portion of structural support members 28 extending through the ceiling is a threaded rod. In this embodiment, rod 28 can be inserted through a mounting hole, defined on the hanging device 30, and secured thereto with a nut. In this manner, hanging device 30 is easily removable from structural support members 28.
Track hanging device 30 is mountable to track 26 using a conventional mounting device, such as a clamping device 32. Clamping device 32 can be disposed on opposite sides of each track section 26 to grasp track 26 on two sides for balance and rigidity. Each track section 26 can have any number of hanging devices 30 as necessary to safely and securely support rail system 14. Clamps 32 can be screw tightened to securely hold track 26 in position, and can be easily loosened to remove track 26. A typical track-hanging device 30 suitable for use with the present invention is commercially available from Item Products Inc. of Houston Tex.
In one embodiment, each structural member 28 is adjustable, such that each member can be extended through the factory ceiling to deploy track hanging devices 30 at varying heights above the factory floor. In a typical factory, the height of the factory ceiling above the factory floor may range from a minimum of about 2.4 m (about 8 ft.) to a maximum of about 3 m (about 10 ft.). In this embodiment, each track 26 of rail system 14 can be coupled to hanging device 30 and suspended, such that the clearance for MTS 10 above the factory floor is no less than that required to comply with accepted factory safety standards. In one embodiment, the clearance is no less than about 2.1 m (about 7 ft.). Adjustable support structure members 28 and track hanging device 30 simplify line expansion, mounting, and alignment of rail system 14. Moreover, by supporting rail system 14 from above the factory floor, MTS 10 provides an efficient use of factory space.
FIG. 3B is a cross-sectional view of an embodiment of modular track section 26 in accordance with the present invention. In this embodiment, modular track section 26 is a "C" section extruded member with heavy sidewalls. The "C" shaped extruded track 26 includes an outside web portion 34, having a roller support section 36, and a central guide 38. In one embodiment, web portion 34 can have a rectangular cross section to provide optimal structural strength to support vehicle assembly 12. Although the dimensions of track 26 are not to be limited to any specific design, in one embodiment, the thickness t of web portion 34 may range from about 17 mm (about 0.7 in.) to about 40 mm (about 1.50 in.); more particularly, between about 25 mm (about 1 in.) and about 32 mm (about 1.25 in.). Roller support section 36 may extend out from web portion 34 a distance d, which is wide enough to support a vehicle roller (see FIG. 5B), for example, from between about 17 mm (about 0.70 in.) and about 33 mm (about 1.30 in.), more particularly between about 20 mm (about 0.80 in.) and about 28 mm (about 1.10 in.).
Central guide 38 is provided to guide vehicle assembly 12 and support the drive system (described below) of the present invention. An internal portion 40 of central guide 38 can contain the drive wheel of the drive system. Lip 42 is provided to provide a surface upon which spring-loaded rollers (see FIG. 5B) can impinge to steer the drive along central guide 38 during operation. As best understood with reference to both FIGS. 3A and 3B, electrically conductive strips 44 and 46, which may be made of copper are arranged on an external portion 48 of central guide 38. Copper strips 44 and 46 are disposed along the entire length of central guide 38 to provide an electrical connection to the drive system.
As shown in FIG. 3B, the "C" shaped extrusion, with web portion 34 allow for track section 26 to be made with a low profile P, which keeps vehicle assembly 12 close to the factory ceiling. In one embodiment, a distance of about 150 mm to about 155 mm (about 6 in.) is provided between the factory ceiling and rail system 14. Profile P may range from between about 50 mm (about 2 in.) and about 150 mm (about 6 in.); more particularly between about 63 mm (about 2.5 in.) and about 75 mm (about 3 in.). The "C" shaped extrusion has a width W that is substantially greater than its profile P. In this embodiment, width W may range from about 253 mm (about 10 in.) to about 508 mm (about 20 in.); preferably between about 305 mm (about 12 in.) to about 380 mm (about 15 in.). The wide extrusion relative to profile P helps to distribute y-axis loading of track 26. Each track section 26 may be made from any high strength, lightweight, structural material, such as aluminum, aluminum alloy, steel or composites.
FIG. 3C is a simplified illustration of an exemplary embodiment of inter-linking modular track sections 26 and 26A, which represent a portion of rail system 14. Each track section 26 and 26A can be coupled together at the ends using a coupling mechanism 50, which provides for substantially precise alignment. For example, coupling mechanism 50 may be a block shaped member mounted to bridge across the sides of two abutting track sections 26 and 26A to be connected using screws 56. In addition alignment pins 52 and 54 may be provided to facilitate fine alignment adjustments of adjacent track sections 26 and 26A. Coupling mechanism 50 and alignment pins 52 and 54 are arranged to enable track sections 26 and 26A to be releasably coupled to one another quickly and easily so that a serpentine track of any desired shape, with any number of branched sections can be assembled. Thus, track sections 26 can be formed into any desired shape, be it straight or curved. In the interest of modularity track section 26 may be formed in standardized lengths. For example, the length of the standardized sections may range up to about 2.4 m (about 8 ft.) in length. A curved track section (not shown) may be configured in 90� and 180� turns, with either about a 762 mm (about 30 in.) or about a 1143 mm (about 45 in.) radius of curvature. All curved sections may include straight lead in and lead out portions at each end.
As noted earlier the alignment of any two sections is maintained using alignment pins 52 and 54. In one embodiment, alignment pins 52 and 54 may be set screws, which are screwed into bores 52A and 54A. Prior to tightening screws 56, which fixedly secure track sections 26 and 26A together, set screws 52 and 54 are adjusted in or out to precisely align the track sections.
Car Carrier
FIG. 4A is a simplified illustration of an embodiment of vehicle assembly 12 as viewed up from the factory floor. Vehicle assembly 12 includes a car carrier 60, which is translationally coupled to and moves along rail system 14 under the power of drive system 90 (see FIGS. 5A and 5B). Car carrier 60 may be a planar member having adequate surface area on which to mount the remaining components of vehicle assembly 12, such as extendible member assembly 22, car platform 66, hoist assembly 24, storage unit 68, component housing 88 and vehicle controller (VC) 70. For this purpose, car carrier 60 may have any geometry and dimensions. For example, car carrier 60 may be a rectangular member having a thickness of between about 8 mm (about 0.30 in.) and about 25 mm (about 1 in.); a width of between about 254 mm (about 10 in.) and about 508 mm (about 20 in.); and a length of between about 457 mm (about 18 in.) and about 914 mm (about 36 in.) Any high strength to weight structural materials can be used for car carrier 60, such as aluminum, aluminum alloy titanium, steel, or high strength composites.
Car carrier 60 is configured to extend (or decrease) in length in the xy-plane, such that, in operation, hoist assembly 24 moves out relative to the center of car carrier 60 (See FIG. 4C, discussed below). In one embodiment, extendible member assembly 22 is provided to cause the length of car carrier 60 to increase (or decrease) in length, which effectively moves hoist assembly 24 away from the center of car carrier 60.
As shown in FIG. 4A, extendible member assembly 22 is broadly symmetrical about car carrier centerline 76. Thus, the description of extendible member assembly 22 is directed to only one side of the assembly, with reference to the other side, only when necessary to describe a feature of the invention, since it is understood that the other side is structurally and functionally the same.
In one embodiment, extendible member assembly 22 includes an internal extending member 78 and an external extending member 80 members 78 and 80 are each capable of being moved relative to each other and car carrier 60. Each extendible member 78 and 80 can be made of a lightweight, high strength material, such as a composite, aluminum, aluminum alloy or titanium. The form of each extendible member 78 and 80 can be any appropriate geometric shape, which can provide the requisite strength, such as a bar having a circular or rectangular cross-section. In one embodiment, each extendible member 78 and 80 includes an area upon which a slider mechanism 82 can be operably mounted. Again referring to FIG. 4A, a plurality of slider mechanisms 82 are mounted between a side 83 of car carrier 60 and internal extending member 78 and between internal extending member 78 and external extending member 80. Slider mechanisms 82 can be any conventional linear motion system which provides a compact, low friction, low profile mechanism with a high moment and heavy load bearing capacity, requiring little or no maintenance. A variety of linear motion systems suitable for use in the present invention are commercially available from THK Ltd. of Tokyo, Japan.
In one embodiment, to cause car carrier 60 and extending members 78 and 80 to move, a conventional motor drives a lead screw (not shown), which is also moveably coupled to extending member 80 and car carrier 60. When operated, the lead screw forces member 80 to move rearward in the direction of arrow 86 and car carrier 60 forward in the direction of arrow 84. Extending member 78 remains stationary relative to the moving parts. In this embodiment, components housed in component housing 88 move rearward with the movement of extending member 80. In this manner, housing 88 provides counterbalancing weight as car carrier 60 extends. In alternative embodiments, ballast can be added to housing 88, if necessary, to improve the balance.
A simplified illustration of car carrier 60 in an extended configuration is shown in FIG. 4C. In one embodiment, car carrier 60 can extend to any location in the xy-plane no less than about 1.1 m (about 45 in.) from car carrier center line 76. Car carrier 60 can also rotate in the xy-plane +/−90� to allow placement of magazine 72 on the processing tool.
Referring again to FIG. 4A, car platform 66 is a round, plate-like, member, rotatable to permit hoist assembly 24 to rotate, such that hoist assembly 24 and its payload, magazine 72 can be aligned with a target location as desired. Car platform 66 can be rotated using a conventional drive system 74, such as a belt or chain drive system coupled to a motor. In one embodiment, car platform 66 can be rotated to +/−180� to allow placement of magazine 72 in any orientation on the processing tool.
Drive System
FIGS. 5A and 5B are simplified illustrations of an embodiment of a drive system 90 in accordance with the present invention. FIG. 5A shows car carrier 60 and axles 92 a and 92 b as viewed from above through modular track section 26 (partially shown in phantom). In this embodiment, axles 92 a and 92 b couple car carrier 60 to drive system 90 (see also FIG. 5B). Axles 92 a and 92 b include bearings 96 (FIG. 5B), which allow axles 92 a and 92 b to swivel about pivot points 94 a and 94 b relative to car carrier 60 up to about +/−20�. In this manner, car carrier 60 can translate, especially on the curved portions of modular track sections 26 without generating significant friction, which may otherwise cause drive system 90 to bind. In one embodiment axles 92 a and 92 b are flat sheets of low weight, high strength material, such as titanium aluminum or aluminum alloy.
Axles 92 a and 92 b provide support for the components of drive system 90, which includes power pick-up assembly 98, truck assemblies 100, driver 102, and spring loaded rollers 104. As shown in FIG. 5A, drive system 90 is broadly symmetrical about car carrier centerline 105 and about axis 106. Thus, the description of drive system 90 is directed to only one end or one side of the drive system, with reference to the other end or other side, only when necessary to describe a feature of the invention, since it is understood that the other side is structurally and functionally the same.
Truck assemblies 100 are located at each side of axles 92 a and 92 b. Truck assemblies 100 are provided to carry the load of material transport system 10 as the system is made to translate over track sections 26. In one exemplary embodiment, truck assemblies 100 each include a load support wheel or roller 108 arranged to roll within roller support section 36 of track 26. Load support wheels 108 are coupled through a pillow block 110 to axles 92 a and 92 b. Pillow block 110 provides a bearing surface for supporting the rotation of load support wheels 108, while load support wheels 108 are configured to distribute net loads and reduce wear on track 26. In one embodiment, each of the four load support wheels 108 may be spring loaded or combined with a type of shock absorber, such that load support wheels 108 can smoothly step over track joints and/or other anomalies, which may otherwise cause jostling or other undesired motion of car carrier 60.
Drive system 90 also provides a steering function for car carrier 60. To this end, drive system 90 includes eight spring-loaded rollers 104 (four on each axle 92 a and 92 b). As shown in FIG. 5B, each spring-loaded roller 104 is configured to engage a respective portion of central guide portion 38. For example, two rollers engage a backside 41 of central guide 38 while the two other rollers engage lip 42. Spring loaded rollers 104 steer car carrier 60 along central guide 38. In one embodiment, spring loaded rollers 104 can provide support to car carrier 60 through sharp turns in track 26, even with an unbalanced load on car platform 66 (not shown). In this embodiment, with no intent to limit the invention, spring loaded rollers 104 may be spaced axially at least about 127 mm (at least about 5 in.) apart and spaced laterally at least about 50 mm (at least about 2 in.) apart to minimize friction and reduce the possibility of binding.
Drive system 90 further provides the locomotive force needed to move car carrier 60 around rail system 14 through a driver 102. In one embodiment, driver 102 includes a drive wheel 112 and a motor 114. Driver 102 is mounted on axle 92 a, such that it operatively contacts central guide 38. In this embodiment, drive wheel 112 is positioned within internal portion 40 (FIG. 3B) of central guide 38. It should be understood that the locomotive force needed to cause car carrier 60 to translate over rail system 14 can be provided by many conventional drive power configurations. In most embodiments, the drive power should be capable of translating the entire car carrier 60 including up to five magazines 72, which can equal between about 4.5 kg (about 10 lbs.) and about 22.5 kg (about 50 lbs.) at a velocity of up to about 1.8 m/s (about 6 ft/sec.). Thus, a typical motor 114 should be capable of delivering between about 0.15 Hp and about 0.5 Hp; and more particularly 0.2 Hp. In one embodiment, motor 114 is a worm drive stepper motor, which provides controllable acceleration/deceleration profiles and eliminates the need for a breaking system. In this embodiment, drive wheel 112 is mounted on an output shaft of motor 114, such that the output from motor 114 causes drive wheel 114 to rotate, and thereby engage track 26 to cause car carrier 60 to translate on track 26. The worm drive stepper motor 114 has the advantage of a reduced power requirement and a power failure safety feature. Alternatively, motor 114 is coupled to drive wheel 112 using a conventional belt or chain drive system to deliver the locomotive power.
As also shown in FIGS. 5A and 5B, drive system 90 may include a power pick-up assembly 98. Power pick-up assembly 98 is a well-known device for providing power to a translating vehicle. In one embodiment, power pick-up assembly 98 includes sliding contacts 116 and 118, typically a pair of brushes. Brushes 116 and 118 are configured to slidingly engage copper strips as car carrier 60 translates along track 26, such that electrical power is transferred from copper strips 44 and 46 to drive system 90. Power pick-up assembly 98 can be used to supply any required power; for example, 24 vdc maximum.
Storage Unit
FIGS. 6A and 6B are simplified illustrations of a side and front view, respectively, of storage unit 68 in accordance with the present invention. In one embodiment, as shown in FIGS. 2 and 4A, storage unit 68 can be mounted to car carrier 60 and used to store a plurality of materials or payloads 72 (e.g., magazines) during transportation between processing tools. The ability to transport a plurality of magazines 72 per transport cycle is advantageous in that it increases the efficiency of MTS 10. Storage unit 68 can be configured to store any number of magazines, depending primarily on the size of the magazines. In one embodiment, storage unit 68 is about 457 mm (about 18 in.) wide, about 356 mm (about 14 in.) in length, and about 203 mm (about 8 in.) in height. In this embodiment, storage unit 68 may be designed to carry up to 4 magazines 72 having a total payload weight of about 18 kg (about 40 lbs.). Storage unit 68 may be made of any lightweight, high strength structural material, such as aluminum.
Referring again to FIGS. 6A and 6B, storage unit 68 includes a drawer 120 a, which can be made to slide in and/or out from storage unit 68 using a well known actuator 69. In operation, when it is desired to store magazine 72 in storage unit 68, drawer 120 a is extended. Hoist assembly 24 then places magazine 72 on drawer 120 a. Drawer 120 a is then retracted back into the storage unit. Optionally, as shown in FIG. 6B, a slot 122 may be provided on a top portion of storage unit 68 to hold and further secure magazine 72 in position and prevent wobbling and the like.
In one embodiment, as best understood from FIGS. 6A and 6B, storage unit 68 can be coupled to car carrier 60 via a sliding actuator 124. Sliding actuator 124 permits storage unit 68 to translate side-to-side in the direction indicated by arrows 126. In this manner, once one drawer 120 a has been occupied, storage unit 68 can be moved over to permit an additional magazine 72 to be loaded on a second drawer 120 b. The process can be repeated until all drawers 120 a-120 d are filled. The process may be reversed to remove magazines 72 from drawers 120 a-120 d. Advantageously, if desired, magazines 72 can be off-loaded in a different sequence from which they were loaded by moving storage unit 68 back-and-forth accordingly. Sliding actuator 124 can be any conventional sliding actuator that provides accurate powered linear motion. In this embodiment, sliding actuator 124 incorporates a driving mechanism, such as a belt or screw drive and a linear motion mechanism into a single unit. Sliding actuator 124 is driven by a conventional motor, such as a stepper motor or servomotor. Examples of a typical actuator 69 or sliding actuator 124 suitable for use with the present invention are available from THK Ltd. of Tokyo, Japan.
FIG. 4B includes a simplified illustration of hoist assembly 24. Hoist assembly 24 is a 3-axis assembly, which includes an extendible member 140 (see FIG. 7A) and a spooling mechanism 142 (see FIG. 8A). As described below, gripper assembly 200 (see FIG. 9) can be disposed at a distal end of extendible member 140, and used to grip magazines 72 for transport.
Extendible member 140 of hoist assembly 24 can be any extendible member capable of extending out while providing substantial rigidity to precisely position magazine 72 into a target location. In one embodiment, extendible member 140 includes a plurality of telescoping linear slide assemblies, coupled together in a sliding arrangement to provide a rigid positional platform. It can be appreciated that any number of linear slide assemblies of variable lengths can be used so long as hoist assembly 24 can perform its intended function. In this embodiment, up to eight slide assemblies can be used, each having an equal length of between about 203 mm (about 8 in.) and about 381 mm (about 15 in.); for example, a length of about 254 mm (about 10 in.) may be used. This allows extendible member 140 to reach down from a height of about 1778 mm (about 70 in.) to about 152 mm (about 6 in.) above the factory floor; for example, between about 1524 mm (about 60 in.) and about 406 mm (about 16 in.).
Generally, FIGS. 7A and 7B show the top and side views, respectively, of representative portions of an embodiment of extendible member 140. As shown, each slide assembly 300 a-300 c engages a preceding or following sliding assembly (e.g., sliding assemblies 300 a and 300 c), with the exception of the slide assemblies at the extreme ends of extendible member 140. In this embodiment, the linear slide assemblies are coupled together using a slider mechanism 302. Slider mechanism 302 permits each sliding assembly to move relative to each other sliding assembly to move relative to each other sliding assembly. Slider mechanism 302 is a conventional linear motion slider and is commercially available, for example, from THK Ltd. of Tokyo, Japan.
As shown in FIG. 7C, additional torsional stiffness can be obtained with little increase in weight by adding another set of sliding members. In this embodiment, each slide assembly 300 a-300 c includes a first structural member 304 and second structural member 306 coupled together, in parallel, using cross braces 305. As is apparent from FIG. 7C, having two structural members 304 and 306 provides lateral stability and rigidity to extendible member 140. The torsional resistance of the system is increased with the addition of cross braces 305. For example, a load F causes tensile stresses in side members 304 and 306. However, cross braces 305 cancel shear stresses that would otherwise tend to cause extendible member 140 to twist. Accordingly, the tendency for a payload to sway from side-to-side or twist as it is raised or lowered is reduced or removed.
To raise or lower extendible member 140, a hoisting line or belt 141 (FIG. 7A) is coupled to the leading slide assembly 300 a. In one embodiment, hoisting belt 141 is wound or unwound from spooling mechanism 142. As shown in the embodiment of FIG. 8A, spooling mechanism 142 may be driven by a drive motor 144 attached to a drive shaft 146. Coupled to drive shaft 146 are winding pulley 148 and drive pulley 150. Drive pulley 150 is operably coupled via belt 152 to a corresponding drive pulley 154 mounted to spindle 156. Winding pulley 152 provides a winding path for belt 141 to spool 158.
During operation, belt 141 remains in constant tension to avoid slacking. As best understood from FIGS. 8A and 8B, two separate one way clutches 160 and 162 and friction type slip clutch 161 may be used to control constant tension on belt 141. For example, as belt 141 is collected or wound around spool 158, the effective diameter of spool 158 begins to vary caused by the buildup of belt 141.
During a raising operation, pulley 154 turns faster than required to maintain tension on belt 141. One-way clutch 162 couples rotation to spindle 156 which turns slip clutch 161 and spool 158. When belt 141 comes into tension, slip clutch 161 maintains tension by slipping at it's set load.
During a lowering operation, pulley 154 is de-coupled to spindle 156 by one-way clutch 162. Clutch 160 locks spindle 156 to prevent it from rotating. Friction slip clutch 161 slips at its set load thus keeping constant tension on belt 141.
Although spooling mechanism 142 has been described in detail above, it should be appreciated that other mechanisms for lifting and lowering belt 141 can be used.
FIG. 9 is a simplified illustration of a cut-away view of a bottom portion of gripper assembly 200 in accordance with the present invention. As previously mentioned, gripper assembly 200 is operably coupled to an end of extendible member 140. Gripper assembly 200 includes any suitable grasping mechanism 202 disposed on its lower face 219 for grasping the payload.
Although, hoist assembly 24 (FIG. 4B) of the present invention is operable with any form of payload, in this embodiment, gripper assembly 200 and gripper mechanism 202 are designed to grasp magazine 72 (FIGS. 1, 4A, 6A, 6B, 7A, 7B, 10). Magazine 72 can be any conventional semiconductor chip carrier, which is configured for chute loading of the processing tool.
FIG. 10 shows a top plan view of an embodiment of magazine 72. Magazine 72 is designed with openings 204 formed on a top face 216. In this embodiment, each opening 204 is shaped like a truncated triangle to provide a centering feature for grasping mechanism 202, such that small errors in the placement of grasping mechanism 202 can be tolerated.
The components of gripper assembly 200 will now be described with regard to their intended functions, which include the grasping function and the payload identification function.
Referring now to FIG. 9, in one embodiment, grasping mechanism 202 includes fingers, 208 and 210, which have followers 209 and 211, formed thereon. In performance of the grasping function, to hold magazine 72, fingers 208 and 210 are inserted into openings 204 (FIG. 10). The internal mechanisms of gripper assembly 200, described below, cause fingers 208 and 210 to move in toward the center of gripper housing 201. To release magazine 72, fingers 208 and 210 are made to move out away from the center of gripper housing 201. In this embodiment, the action performed by grasping mechanism 202 are caused using a cam 212 and followers 209 and 211 (see FIG. 11). In operation, as cam 212 is made to rotate using, for example, motor 214, followers 209 and 211 are forced in toward the center of cam 212, which causes fingers 208 and 210 to move inward. To open fingers 208 and 210, cam 212 is rotated again, such that followers 209 and 211 are forced outward toward a periphery of cam 212.
A structure 218, supports grasping mechanism 202, and can float i.e., (not fixed) within gripper housing 201, such that structure 218 is free to move up and down relative to magazine 72. Once magazine 72 has been grasped, magazine 72 can be lifted up, such that top face 216 of magazine 72 contacts bottom face 219 of gripper housing 201. In one embodiment, the up and down movement of structure 218 is created using motor 220, which rotates a pulley or gear 222, causing a cam 224 to rotate actuator arm 225. As cam 224 rotates, follower 226 of rocker arm 228 rotates about point 230, causing arm 229 to move structure 218 up or down in the direction indicated by arrow 231. Once in the up position, structure 218 remains in position to ensure that magazine 72 is held snugly against housing 201 and does not dangle or wobble. In this way, structure 218 prevents extraneous movement of magazine 72 during transport.
To release magazine 72, structure 218 is moved down by counter-rotating rocker arm 228 using motor 214. Once magazine 72 is in position, fingers 208 and 210 are made to move outward and release magazine 72.
Automatic Shut-off and Release
As shown in FIG. 12A, gripper assembly 200 may include automatic shut-off system 250. In a first operational mode, automatic shut-off system 250 can provide a contact indication. The indication causes hoist assembly 24 to cease operation when, for example, magazine 72 or housing 201 has contacted an obstruction or is to be placed on an uneven surface. In a second mode of operation, automatic shut-off system 250 can stop hoist assembly 24 and cause gripper assembly 200 to automatically release magazine 72 at a target location, for example, in the chute of a processing tool.
FIG. 12A shows an embodiment of the first operational mode of automatic shut-off system 250. In this embodiment, a lid or cover 254 of housing 201 can be used as the trigger mechanism for initiating shut-off system 250. Cover 254 can be designed to freely float or move within slots 256 and 258. Lid 254 is coupled to hoist assembly 24 using coupling device 260.
Automatic shut-off system 250 includes a first set of optical sensors 262. During transportation of magazine 72, the magazine or housing 201 may encounter an obstruction, such as an operator's hand. As magazine 72 or housing 201 contacts the obstruction, the progress of gripper assembly 200 is impeded. For example, as shown in FIG. 12D housing 201 contacts object 203. However, since cover 254 is free to move within slots 256 and 258, the progress of hoist assembly 24 causes cover 254 to continue to move (see FIG. 12B). As shown in FIG. 12B, small projections 264 and 266 are formed on cover 254 such that, as cover 254 continues forward, projections 264 and 266 break the optical beam (indicated by dash lines) of first optical sensor 262. Once the optical beam is broken, MTS 10 ceases operation.
In the second mode of operation, automatic shut-off system 250 operates in substantially the same manner as in the first operational mode, with the one exception now described. As MTS 10 enters into the payload delivery portion of its programming, the first set of optical sensors 262 are shut off. As best understood from FIG. 12C, a second set of optical sensors 270, positioned within gripper housing 201, are turned on. Thus, as magazine 72 is placed at the target location (e.g., a table surface or a chute) the progress of gripper assembly 200 is impeded. Cover 254 progresses to the extent allowed by slots 256 and 258, at which time a third projection 268 breaks the optical beam (shown by dashed and dotted lines) of second optical sensor 270. The breaking of the second optical beam causes hoist assembly 24 to stop and causes motor 214 to operate to release magazine 72.
Payload Identification
Gripper assembly 200 also provides the function of identifying magazines to the MTS controller. As best understood with reference to FIG. 9, gripper assembly 200 includes an optical reader 274, such as a bar code reader (BCR), which is positioned to view surfaces approaching bottom surface 219 of gripper housing 201. Each magazine 72 can have a bar code 270 or similar optically readable mark on top face 216 (FIG. 10). As bottom surface 219 of gripper housing 201 approaches magazine 72, optical reader 274 reads bar code 270. The identification data can be transmitted back to the central controller for processing and record keeping. This configuration is advantageous in that it allows magazines to be tracked during processing without having to have a BCR attached to each processing tool. A BCR 274 suitable for use with the present invention is commercially available from KEYENCE of Talawila, Wash.
FIG. 13 is a simplified diagram of the control system of the present invention. In one embodiment, MTS 10 divides control responsibilities into two distinct functions. MTSC 16 manages the scheduling of vehicle events, while the vehicle controller (VC) 70 controls the vehicle actions. In this embodiment, MTSC 16 includes a central processing unit (CPU) or PC that may receive information from a factory mainframe (not shown). MTSC 16 sends commands to VC 70, via an IR or RF communication link, to direct vehicle assembly 12 to service a particular processing tool. The directions may include, for example, routing information, track location, and service location and magazine identification data. MTSC 16 uses conventional control software for activating and monitoring various components of MTS 10, such as a software package available from Think and Do, headquartered in Ann Arbor, Mich.
As shown in FIG. 4A, vehicle controller 70 is an integrated machine control system that can be mounted on car platform 66. The movements or actions of vehicle assembly 12 are controlled using vehicle controller 70 and associated communication circuitry. Vehicle controller 70 provides the I/O, drivers, and power supplies needed to operate vehicle assembly 12, such as the operation of car carrier 60, hoist assembly 24 (e.g. start, stop, speed, and positioning), storage unit 68 and gripper assembly 200.
FIG. 13 shows a block diagram of MTSC 16 and vehicle controller 70. As shown in this embodiment, vehicle controller 70 includes a microprocessor or microcontroller 130 and associated communication circuitry 132, which effect communication to MTSC 16.
Each vehicle controller 70 also includes circuitry for establishing an identification designation or number 134 and for reporting the physical status of vehicle assembly 12, which can be communicated via the communication link to central controller 16. Optionally, an IR sensor 136 can be used for detecting objects or other cars present on the track to prevent collisions between vehicles.
Each vehicle controller 70 includes microprocessor 132 so that each vehicle assembly 12 can be controlled locally. However, in one embodiment, all vehicle controllers 70 can be coupled together via a local area network (LAN), to central controller 16. As described below, central controller 16 instructs vehicle controller 70 as to what actions to take at the approach of each specific processing tool. In MTS 10, vehicle controller 70 is responsible for developing the specific path that car carrier 60 will travel along track 26 to reach a specific processing tool.
Computer 130 communicates with various motors and motor controllers' car carrier 60 using an input/output (I/O) controller. Using the I/O controller, computer 130 can accommodate a variety of I/O boards including: (a) serial ports 138 for communicating with motors and motor controllers (e.g., motor 114 shown in FIG. 5A); (b) digital I/O 140 for controlling digital I/O lines, such as sensors; (c) analog I/O 142 for controlling analog signal activated devices; and (d) relay boards 144 for making or breaking continuity of signal lines.
FIGS. 14A-E show embodiments of the operational process of the present invention. The functions performed by MTS 10 can be generalized as either a pick-up function; a transport function; and/or a load or placement function.
As shown in FIG. 14A, an operation may begin with moving vehicle assembly 12 of MTS 10 along rail system 14 to a position proximate to a magazine storage unit 251 or similar magazine storage device or a processing tool 252 (FIG. 14D).
As shown in FIG. 14B, car carrier 60 can be rotated an angle θ and extendible member assembly 22 can be extended a distance L, as needed, to position hoist assembly 24 over magazine 72. Car platform 66 can be rotated an angle φ to rotate hoist assembly 24 to orient gripper assembly 200 to pick-up (or deliver) magazine 72. Spooling mechanism 142 (FIG. 8A) releases belt 141, such that slide assemblies 300 a-300 f of extendible member 140 are permitted to slide relative to each other in the z-axis direction. The extended slide assemblies' position gripper assembly 200 over magazine 72, to grasp magazine 72 and remove it from magazine storage unit 251. Bar code reader 274 reads bar code 270 to identify magazine 72. Hoisting belt 141 can then be reeled up, causing slide assemblies 300 a-300 f to retract to their original configuration.
As shown in FIG. 14C, once magazine 72 has been reeled up, car carrier 60 can retract a distance L and rotate θ, such that centerline 76 of car carrier 60 is aligned along the x-axis. In this position, magazine 72 can be transported from storage unit 251 to any processing tool on the factory floor. Optionally, magazine 72 may be placed in storage unit 68, while vehicle assembly 12 services other processing tools. In this manner, vehicle assembly 12 provides greater transport efficiency by permitting vehicle assembly 12 to service more than one processing tool per transport cycle.
As shown in FIG. 14D, once vehicle assembly 12 arrives at processing tool 252, car carrier 60 is once again rotated an angle θ and extended a distance L, as needed, to place magazine 72 into position. In this embodiment, hoist assembly 24 lowers magazine 72 in the z-axis direction, such that gripper assembly 200 can place and release magazine 72 on the surface of processing tool 252.
In an alternative embodiment, shown in FIG. 14E, car carrier 60 is rotated an angle θ and extended a distance L to position hoist assembly 24, gripper assembly 200, and magazine 72 over a chute loader 256 positioned on processing tool 254. Car platform 66 can be rotated an angle φ to ensure that magazine 72 is oriented properly to fit into chute 256. Slide assemblies 300 a-300 f are again made to extend in the z-axis direction until magazine 72 is properly within chute 256. Gripper assembly 200 then releases magazine 72 and hoist assembly 24 retracts.
It should be understood that in each of the above described embodiments, the operation of the hoist assembly 24 and gripper assembly 200 can be used to pick-up and remove magazine 72 from the surface of processing tool 252, as well as to pick-up and remove magazine 72 from chute 256.
The material transport system of the present invention is less complex than existing apparatus which use multi-track transport and transfer mechanisms, since the system of the present invention provides movement along only a passive, single rail system. MTS 10 makes possible higher machine throughput and improves positioning accuracy over other systems, because of the rigid hoist system and articulated gripper assembly designs. The present invention is operable in both vacuum and atmospheric processing environments.
The description of the invention given above is provided for purposes of illustration and is not intended to be limiting. The invention is set forth in the following claims.
|Cited Patent
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|Jul 26, 1977
|L. Schuler Gmbh
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|Sep 15, 1981
|Miller John F
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|Jan 20, 1987
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|Robotic collision sensors and compliance devices
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|Mar 28, 1989
|Sgs Thomson Microelectronics, Inc.
|Robotic hand for transporting semiconductor wafer carriers
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|Apr 4, 1989
|Polaroid Corporation
|Robot arm member relative movement sensing apparatus
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|May 22, 1990
|Programmation, Inc.
|Flexible material transport system
|Feb 21, 1990
|Dec 25, 1990
|Palitex Project Company Gmbh
|Transport and handling system for multi-position textile machines
|Jun 27, 1989
|May 28, 1991
|Matsushita Electric Industrial Co., Ltd.
|Electronic parts engaging apparatus
|Apr 16, 1990
|Nov 5, 1991
|Transport Technology Corporation
|Material handling system
|Oct 3, 1991
|Jan 5, 1993
|Advantest Corporation
|IC test equipment having a horizontally movable chuck carrier
|Apr 26, 1991
|Apr 20, 1993
|Nii Koichi P
|Self-propelling, multi-route transport for movement along both horizontal and vertical sections of track
|Feb 22, 1994
|Dec 6, 1994
|Shibuya Kogyo Co., Ltd.
|Apparatus for aligning vessels
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|Sep 19, 1995
|Daifuku Co., Ltd.
|Transport system with electric rail cars
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|Apr 22, 1997
|Breece Hill Technologies, Inc.
|Method and apparatus for adaptive cartridge retrieval and insertion in a storage library subsystem
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|Adept Technology, Inc.
|Flexible parts feeder
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|Dec 30, 1997
|Hubbell Incorporated
|Wire rope trolley
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|Apr 21, 1998
|Pri Automation, Inc.
|Wafer transfer system having vertical lifting capability
|Nov 3, 1997
|May 9, 2000
|Mannesmann Aktiengesellschaft
|Traveling mechanism in a lifting arrangement which is moveable on rails
|Mar 9, 1999
|Mar 27, 2001
|Curt J. Waedekin
|Trolley wheel tread and flange
|Oct 5, 2000
|May 15, 2001
|Mi-Jack Products, Inc.
|Rail wheel system for supporting loads on a road-traveling gantry crane
|Mar 3, 1999
|Jun 5, 2001
|Mannesmann Ag
|Current collector trolley for current collector lines
|Mar 24, 2000
|Sep 25, 2001
|Bayer Corporation
|Robotics for transporting containers and objects within an automated analytical instrument and service tool for servicing robotics
|Citing Patent
|Filing date
|Publication date
|Jun 22, 2000
|Feb 24, 2004
|Amkor Technology, Inc.
|Assembly for transporting material
|Oct 7, 2002
|May 25, 2004
|Storage Technology Corporation
|Automated storage library brush failure detection
|Oct 7, 2002
|Apr 26, 2005
|Storage Technology Corporation
|Track anomaly detection in an automated data storage library
|Jun 22, 2000
|May 10, 2005
|Amkor Technology, Inc.
|Material transport method
|Oct 7, 2002
|Feb 27, 2007
|Storage Technology Corporation
|Track impedance anomaly detection in an automated data storage library
|Aug 16, 2013
|Oct 21, 2014
|Greg Chaganos
|Utensil sorting apparatus
|Nov 26, 2003
|Jun 10, 2004
|Murata Kikai Kabushiki Kaisha
|Overhead travelling carriage system
|Jun 8, 2012
|Nov 15, 2012
|Murata Machinery Ltd.,
|Automated Material Handling System for Semiconductor Manufacturing Based on a Combination of Vertical Carousels and Overhead Hoists
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|Feb 27, 2014
|Greg Chaganos
|Utensil sorting apparatus
|Mar 4, 2015
|Nov 19, 2015
|Samsung Electronics Co., Ltd.
|Overhead hoist transfer system and factory system employing the same
|Aug 15, 2011
|Jan 4, 2012
|IC card welding device for dual-interface welding packaging machine and control method of IC card welding device
|Aug 15, 2011
|Jul 16, 2014
|IC card welding device for dual-interface welding packaging machine and control method of IC card welding device
|U.S. Classification
|414/275, 414/730, 198/750.11, 901/47, 414/940, 414/496, 294/907, 414/785, 901/46, 414/543, 414/561
|International Classification
|Cooperative Classification
|European Classification
|Jun 22, 2000
Owner name: AMKOR TECHNOLOGY, INC., ARIZONA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:TRAMMELL, HAROLD L.;REEL/FRAME:010918/0938
Effective date: 20000619
|Nov 15, 2000
Owner name: SOCIETE GENERALE, NEW YORK
Free format text: SECURITY INTEREST;ASSIGNORS:AMKOR TECHNOLOGY, INC.;GUARDIAN ASSETS, INC.;REEL/FRAME:011491/0917
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Owner name: CITICORP NORTH AMERICA, INC. AS "AGENT", NEW YORK
Free format text: SECURITY AGREEMENT;ASSIGNORS:AMKOR TECHNOLOGY, INC.;GUARDIAN ASSETS, INC.;REEL/FRAME:015942/0521
Effective date: 20041027
|Jan 3, 2006
Owner name: BANK OF AMERICA, N.A., TEXAS
Free format text: SECURITY AGREEMENT;ASSIGNOR:AMKOR TECHNOLOGY, INC.;REEL/FRAME:017379/0630
Effective date: 20051123
Owner name: AMKOR TECHNOLOGY, INC., ARIZONA
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Effective date: 20051128
|Sep 11, 2006
|Fee payment
Year of fee payment: 4
|Sep 13, 2010
|Fee payment
Year of fee payment: 8
|Sep 11, 2014
|Fee payment
Year of fee payment: 12


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Flickr: Best holiday displays
Share your photos of the brightest, astonishing, and creative holiday lights displays in your neighborhood or your travels. Learn more.
Share your photos of the brightest, astonishing, and creative holiday lights displays in your neighborhood or your travels. Learn more.
DonieS: I mean, come on people, I'm reading these comments and I can't believe that you'd want the U.S. to be isolated from other Countries if they don't play like we want them to. Really do you people think we're such a super power that we don't need any other Countries to survive? Also talking about illegal immigrants, they pay taxes and do the dirty work that Americans would never do now. If they were to leave our Country, we would be a third world Country in less then 5 years maybe less. We don't have the work ethic that our parents and grandparents had. We, as a society, are so fat that we couldn't do the labor along with the entitled attitude. Think long term on what our Country needs instead of acting like 5 grade bullies. For illegals, we could make rules that they couldn't receive benefits and they must learn the language within a certain time along with receiving their green cards. And with the benefits such as food stamps and welfare, we need to crack down on our citizens and again make rules with drug testing, skill training and giving benefits out only for 5 years cap and then cut them off. We have families for generations that felt entitled to receive benefits while having tons of kids with no consequences. They need to start having consequences to their bad decisions.


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Living in the Astoria neighborhood of Queens
Selected No Fee Apartments in Astoria
View ALL of the available no fee apartments in
Astoria. Below are a sampling of what is on the market.
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The bustling neighborhood of Astoria, located in the northwestern section of the borough of Queens, remains one of the most vibrant and affordable communities in town, after years of successfully welcoming new growth and development while preserving the community's core character. Apartments can be found mostly in attached, two-story, multi-family houses, though there are plenty of mid-rise apartment buildings here as well.
Astoria is a large New York City neighborhood, in both population and geographic size, and is generally considered to be bounded to the south by 36th Avenue (and the neighborhood of Long Island City), to the west by the East River, to the north by 20th Avenue (though the northern section of the community is sometimes referred to as Ditmars), and to the east by the Brooklyn Queens Expressway and Northern Boulevard (and Sunnyside and Woodside).
Apartments here are almost all located near public transportation, and commuting into Manhattan is relatively easy—about 20 minutes to midtown--via the M, N, R, and Q trains.
In addition it is also home to several historic and/or beloved New York City attractions and landmarks, including the Steinway and Sons Piano Factory, which offers both individual and class tours; the excellent Socrates Sculpture Park, with its terrific art, community events like picnics and concerts, and stunning views of the both the East River and the Upper East Side of Manhattan; the beautiful and serene Isamu Noguchi Museum, which has the world's greatest collection of sculptures by the Japanese artist; and the recently redesigned, renovated, and greatly expanded Museum of the Moving Image, one the most under-visited New York City cultural institutions.
Residents enjoy an excellent and eclectic variety of shopping and restaurant options, a good mix of locally-owned small businesses as well as convenient, big-box chain stores, especially along the major commercial strips of Vernon Boulevard, 21st and 31st Streets, as well as Steinway Street, named for Heinrich Englehard Steinway, the founder of the world-famous piano company Steinway and Sons, which still has its flagship factory in the community.
Astoria residents have access to decent public schools, pedestrian-centric streets, and a large number of small, first-rate ethnic restaurants, run by Greeks and Italians, Egyptians, Lebanese, and Moroccans, Brazilians and Germans and Bangladeshis. The oldest beer garden in town, Bohemian Hall, which can pack in some 800 drinkers, indoors and out, and is open all year long


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Hello everyone,
I'm about to start working on a new site, and I'm trying to figure out if there are any problems with the strategy I've come up with.
I was thinking of running the site off of two intallations of WordPress: one for the "main site" (www.mysite.com), and one for the blog (blog.mysite.com).
The reason I would like to do this is that I want to start by setting up the blog, and only address the "main site" a few months down the line. I would also like the blog and the main site to look quite different (both will use custom themes).
Does anyone see any problems with my doing it this way? Feedback much appreciated! :)


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The Army's most decorated serving war hero has accused the Government of failing soldiers suffering from mental trauma resulting from combat in Iraq and Afghanistan.
Lance Corporal Johnson Beharry, who was awarded the Victoria Cross for twice saving the lives of colleagues in Iraq while under heavy rocket fire, told The Independent it was "disgraceful" that some veterans were struggling to receive treatment. He said the Government was relying on military charities to cover its own deficiencies and called on it to act to better help the growing number of his comrades suffering from severe combat stress, depression and mental breakdowns.
Iraq hero goes on the warpath
The Army's most decorated serving war hero has accused the Government of failing soldiers suffering from mental trauma resulting from combat in Iraq and Afghanistan.
Army manual raises emphasis on electronic warfare
For the first time since the end of the Cold War, the Army is updating its plans for electronic warfare, calling for more use of high-powered microwaves, lasers and infrared beams to attack enemy targets and control angry crowds.
Army charity hoards millions
As soldiers stream home from Iraq and Afghanistan, the biggest charity inside the U.S. military has been stockpiling tens of millions of dollars meant to help put returning fighters back on their feet, an Associated Press investigation shows.
Between 2003 and 2007 — as many military families dealt with long war deployments and increased numbers of home foreclosures — Army Emergency Relief grew into a $345 million behemoth. During those years, the charity packed away $117 million into its own reserves while spending just $64 million on direct aid, according to an AP analysis of its tax records.
Can the US military he has now inherited do anything without KBR?
If Obama wants to find out why KBR civilian workers can be found in every nook and cranny of US bases in Iraq and Afghanistan, he might be better off visiting the Rock Island Arsenal in western Illinois. It's located on the biggest island in the Mississippi River, the place where Chief Black Hawk of the Sauk nation was once born. The arsenal's modern stone buildings house the offices of the US Army Materiel Command from which KBR's multibillion dollar Logistics Civilian Augmentation Program contract (LOGCAP) have been managed for the last seven years. This is the mega-contract that has, since September 11, 2001, generated more than $25 billion for KBR to set up and manage military bases overseas (and resulted, of course, in thousands of pages of controversial news stories about the company's war profiteering).
Research shows why some soldiers are cool under fire
Soldiers who perform best under extreme stress have higher levels of chemicals that dampen the fear response, a finding that could lead to new drugs or training strategies to help others cope better, a U.S. researcher said on Sunday.
U.S. Military Will Offer Path to Citizenship
Stretched thin in Afghanistan and Iraq, the American military will begin recruiting skilled immigrants who are living in this country with temporary visas, offering them the chance to become United States citizens in as little as six months.
If the pilot program succeeds as Pentagon officials anticipate, it will expand for all branches of the military. For the Army, it could eventually provide as many as 14,000 volunteers a year, or about one in six recruits.
Army recruiters describe nightmare of job
"I would rather spend three years straight in Iraq, without coming home, without a break, than ever be a recruiter again," said Stewart, who recruited in Hot Springs, Ark., from 2005 to 2008.
Five-hundred miles away in Houston, the suicides of four Army recruiters from a single battalion have focused lawmakers and veterans advocates on the enormous stress endured by soldiers tasked with refilling the ranks of the all-volunteer military during wartime.
More Articles...
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OZARK, Ala. (AP) -- An Ozark lake is expected to open next month after two years of renovations to improve fishing.
The Dothan Eagle reports that Ed Lisenby Lake is set to open at sunrise on July 5 with a new dock at the main boat ramp and a renovated pier. City officials say the lake has been stocked with bluegill, shellcracker and bass fish.
The lake was closed in 2010 after state officials said it was overcrowded with undesirable species of fish like Pacu, white catfish and bullhead catfish.
Permit sales for the lake had plummeted since the late 1990s.
The 92-acre lake was drained up to 17 feet to restock and balance the fish population. It sits inside a 390-acre park and includes a 3-mile walking trail.


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Adventure along the Nile through Egypt's fascinating history and culture
Travel to Egypt and follow the path of the River Nile as you revel in a taste of Egypt's history, beauty and colour on this short but action-packed trip along the longest river in the world. Cruise the Nile on a felucca, discover the largest and most impressive pharaonic temples, chat and dine with interesting locals and live it up in this country of deserts, bazaars, monuments and good old-fashioned adventures.
Before booking on this trip we recommend that you read the 'Safety' section in the trip notes regarding special safety considerations for Egypt trips.
- Visit some of the world's premier historic sites – the Pyramids, Sphinx and the Valley of the Kings – with expert local guides
- There are so many chances to interact with the locals and experience their culture. Lose yourself in Cairo's colourful Khan al-Khalili bazaar and dine with village folk of Aswan and Luxor
- Your felucca sailing trip not only lets you experience some excellent Nubian hospitality, but is perhaps the perfect way to see the Nile and its gorgeous surrounds
- By visiting ACE (Animal Care in Egypt), you'll be supporting an excellent cause dedicated to the welfare of camels, donkeys and other working animals
Day 1 Cairo
Day 2 Cairo
Notes: Western-style toilets are located in each carriage, but we recommend bringing additional toilet paper. Keep in mind general train cleanliness may not be to the same standards you are accustomed to. An included dinner and breakfast are served on board. You may want to purchase something extra beforehand to supplement your meal, particularly if you're a vegetarian as only a single type of meal is served for dinner, which always includes meat. In rare circumstances you may be paired in your cabin with a group member of the opposite sex, depending on the group configuration. On other occasions, you might be sharing with another traveller of the same sex who may not be part of our group, again determined by the group configuration.
Day 3 Aswan – Nile Felucca
Day 4 Aswan
Notes: Flights can be booked online through EgyptAir: http://www.egyptair.com/English Return flights vary throughout the season, depending on the day of the week you fly and how far in advance you book, but expect to pay between US$250-300. Due to the southerly location, it's recommended to book the early flight and visit Abu Simbel at sunrise to avoid the heat.
Day 5 Nile Felucca
Notes: Conditions will be basic during your felucca trip. If you are prepared for this, you're sure to have a memorable adventure. You'll sleep outside on the deck of the felucca on a mattress. While blankets are provided, a sleeping sheet is recommended. During the colder months (October to March) temperatures can get as low as 5°C at night, so a sleeping bag is highly recommended. Slight alterations may have to be made to the Nile itinerary throughout the year, depending on winds and currents. As the felucca is a sailing craft without any outboard engine, if there's no wind we won't travel very far. Our Felucca does have a shared bathroom facilitiy onboard.
Day 6 Luxor
Day 7 Luxor
Day 8 Cairo
Meals7 breakfasts, 2 lunches, 4 dinners
TransportCamel, Felucca, Overnight sleeper train, Van
AccommodationFelucca (1 night), Hotel (4 nights), Overnight sleeper train (2 nights)
Included activities
- Khan al-Khalili bazaar visit
- Pyramids and Sphinx
- Camel ride at the Pyramids
- Egyptian Museum
- Nubian Village Visit and Dinner
- Karnak Temple
- Intrepid Foundation Project visit - ACE (Animal Care in Egypt)
- Colossi of Memnon
- Valley of the Kings (3 tombs)
- Donkey ride (seasonal - not in summer)
- Home-cooked traditional meal with local family
There are currently no departures for this trip.
{{departure_day.departure_date | date:'EEE d MMM yyyy'}} Sale {{departure_day.departure_day_cheapest_price | noFractionCurrency:product.currency_symbol}} Fully booked Bookings closed
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Includes {{departure.kitty_currency_code}} {{departure.kitty | noFractionCurrency:departure.kitty_currency_symbol}} kitty
Includes {{extra.extras_code}} {{extra.extras_symbol}}{{extra.extras_value}} in local payments Single supplement available from {{product.currency_code}} {{departure.single_supp | noFractionCurrency:product.currency_symbol}}
Contact us to arrange an alternative departure for you
Important notes
2. A single supplement is available on this trip, please refer to your booking agent for more details
3. Please arrange for departing flights after 3pm on day 8
Trip notes
Want an in-depth insight into this trip? Your trip notes provide a detailed itinerary, visa info, how to get to your hotel, what's included - pretty much everything you need to know about this adventure and more.View trip notes
Our Egypt Adventure trips score an average of 4.74 out of 5 based on 80 reviews in the last year.
Egypt Adventure , June 2016
John MARSDEN
The guides with intrepid are of a high standard and just good people. Some of the standards of hotel could be improved but in general intrepid do tours that show the real country and if you don't mind mixing with the locals and challenging yourself you would enjoy this company.
Review submitted 16 Jul 2016
Egypt Adventure , June 2016
Tricia Sabey
Small group travel is wonderful for connecting with the locals. Hotels were located in local communities. Restaurants and street food was delicious . Usually no other tourists in the same place as us. Ancient sites were fantastic to visit and not crowded. Travelling in summer means fewer tourists. although hot we got used to it. would recommend females really covering up to cope with heat and out of respect for locals. Loved the time sailing on the falluca especially at night
Review submitted 15 Jul 2016


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The southern belle herself, Phaedra Parks joined "The Rickey Smiley Morning Show during Gary's Tea. Listen to the audio to hear her talk to Gary With Da Tea about all the drama taking place this season on "The Real Housewives of Atlanta," like her husband's relationship with Kenya Moore. Plus, hear why she didn't represent Porsha Stewart in her divorce.
Get the latest from Gary's Tea here and listen LIVE at 7:30 am & 8:30 am EST on "The Rickey Smiley Morning Show"!
The Real Housewives Of Atlanta's Phaedra Parks
6 photos Launch gallery


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Looking across the entire NFL, list your top 5 offseason moves. Let's see how many big moves you can get right.
1) Peyton Manning will become an Arizona Cardinal
2) The Browns will trade up to the #2 spot for RG3
3) Ed Reed will retire
4) There will be three QBs taken in the top 10
5) Desean Jackson will be franchised and hold out
[ Edited by okdkid on Jan 23, 2012 at 4:10 PM ]