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From the sourcing of raw material till the final dispatch, our quality auditors keep a stern eye on every sage. Ranked amidst the established names, we deliver the truly appreciable products from Fatehabad(India).
Punjab Agri Repairing Works
Chandigarh Road R Nnear City Max Hospital R Ntohana-125120 R Ndist Fatehabad Hariyana India, Haryana , India
Being one of the prominent names in the industry, we, as a Supplier, bring forth a wide array of Automatic Seed Drill to our customers. We are Kundli(India) based entity and have become a primary choice of the buyers owing to our timeliness.
New Narwal Agro Implement
Address G T Road Shahabad Markanda - 136135 Post- Ratangardh Dist Kurukshetra Haryana, Haryana , India
We are engaged in offering a qualitative range of Seed Drills at highly affordable rates in the market. Our unique range of Seed Drills is manufactured using optimum quality materials, and checked on numerous parameters of quality in order to deliver the perfect range. Our wide range of Seed Drills is highly acclaimed for their smooth finishing, cost effectiveness, and sturdy structure. The USP of the Seed Drills is
Goarkh Agriculture Works
Opp. Sitaram Foundry, Patiala Road, Narwana, Dist. Jind, Haryana - 116116, India
We are offering Seed Drill.
Green-tech Innovations
Across Both Canal ,street No.03 Gaba Chowk Panipat-132103, Haryana , India
Being a quality conscious firm, we conduct strict quality checks for ensuring the product quality. Our team members and professionals possess rich domain knowledge and experience concerning the packaging of all products. We make certain that the products are packed sternly using the best in class material.
Ajit Agro Industries
1. Km. Distance R Ncity Max Hospital Moonak Side R Nchandigarh Road R Ntohana-125120 R Ndist Fatehabad Hariyana , Haryana , India
Tractor Drawn Seed Cum Fertilizer Drill
Owing to our wide distribution network and the fastest transit system, buyers can receive their orders on timely basis. Based in Rohtak(India), our organization caters to the numerous requirements of the customers related to our products.
Kisan King Agro
Gohana Road, Near Peer Baba, City-meham, District-rohtak, Haryana , India
Post your Buy Requirement
All those who are looking for a reliable name offering Zero Till Seed Drill can get in touch with us! Made using superior grade materials, our products are quality assured and as per international industry standards. The seed drill manufactured by us has a faultless design that allows to dig the soil and plant the seeds in the accurate depth. Features : The zero till consists of a seed box, fertilizer box, see
Our Seed cum Fertilizer Drill is used for sowing different crops such as wheat, barley, maize, peas, black grams, pulses etc. in prepared (tilled) fields with fertilizer. The machine is available in side wheel driving mechanism & central wheel driving mechanism.
B. N. R. Exports
11- A, New Janak Puri, Haryana - 133001, India
Ours is one of the most reputed organizations engaged in providing excellent quality BT Cotton Seed Drill. Our BT Cotton Seed Drill is highly acknowledged by the clients owing to its features like durability, hard wearing design, sturdy construction and excellent performance. BT Cotton Seed Drill, offered by us, is widely used for seeding cotton. Silent Features Tines are adjustable Saves the valuable time and
S. K. Industry
Tohana Road, Simbal Wala, Distt. Fatehabad, Haryana - 125120, India
Ours is a well-established organization based in Haryana(India) and in proximity to valuable resources. With the help of our brilliant logistics network, we render safe and time-bound deliveries.
J.p Agro Industries
1154/11,milap Nagar, Manav Chowk, Ambala City-134003, Haryana , India
We are engaged in offering Zero Till Seed Drill to the clients. Our Zero Till Seed Drill is in tune with the latest advancements and therefore matches with the high international standards. Our Zero Till Seed Drill is instrumental in saving time, fuel & irrigation expenses. Moreover, our Zero Till Seed Drill works for all types of seeds like wheat, maize, soya, etc. Suitable For : Zero - tilled or semi - tilled soil
Ashoka Foundry & Engg. Work
G.t Road, Kurukshetra, Distt. - Shahabad (m.), Haryana - 136135, India
Precision Seed Fertilizer Drills
Our company is counted amongst the foremost manufacturers & exporters, wholesalers and suppliers of precision seed fertilizer drills in india.
Vijaylaxmi Agriculture P Ltd.
Export Unit-1, Mugal Majra Road, Vpo Kunjpura, Haryana , India
Zero Till Seed Cum Fertilizer Drill
We are one of the trusted names in the Indian Agricultural Instruments Manufacturing Sector, when it comes to premium quality Zero Till Seed Cum Fertilizer Drill. The unique Zero Till Seed Cum Fertilizer Drill offered by us is ideal for ploughing direct sowing of wheat in a field after harvesting of rice using Zero-till drill is known as zero tillage. Our Zero Till Seed Cum Fertilizer Drill not only ensures increased
Bharat Industries
G. T. Road, Namestay Chowk, Haryana - 132001, India
Deals in Seed Drill, thressor, Cultivators, Agricultural Implements, rotary tillers, Harrow, agricultural straw reaper, combine harvestor
Mars Agrotech
Mars Agrotech Near- Namstey Chowk Old Gt Road Karnal - 132001 Haryana India, Haryana , India
Deals in Agricultural Machinery Parts, zero drills, wheat threshers, Seed Drills
S K Product And Engg.
Plot No.79 80 Jeewan Nagar Industrial Area Phase Ii Wazirpur Road Naher Par Old Faridabad - 121002, Haryana , India
Deals in sprayers, Farm Machinery, Post Hole Digger, agriculture ridger, slasher, Agricultural Sprinkler, Zero Till Drill, Rotary Tiller, Seed Drill, Cultivator, Harrow, Laser Land Leveller, leveller, Bund Maker
Osaw Udyog
Manglai, Haryana - 133004, India
Deals in Rotavator, Seed Drill, Agriculture Implements, Agriculture Equipment
Punjab Agro Solutions Pvt. Ltd.
S.c.o 007 New Garen Market Sirsa Road Hissar - 127046 Haryana India, Haryana , India
Post your Buy Requirement
Deals in Seed Drills, Agricultural Thresher, Plough, Chaff Cutter, power weeders
Mega Konnect
No. 503 Sri Kriti Aprt. Plot No. 64 Sector-55 Gurgaon - 122002 Haryana India, Haryana , India
Deals in Tractor Trailer, land levelers, discs ploughs, Seed Drills, rotary tillers
Indian Agri. Implements
Door No-311 Sector-3 Namastey Chowk G.t. Road. Karnal - 132001 Haryana India, Haryana , India
Deals in Seed Drill, Rotavator, Agricultural Spray Pump, Cultivator
Garg International Krishi Udyog Pvt. Ltd.
Rohtak Road Near Balaji Rice Mill Assandh Karnal - 132039 Haryana India, Haryana , India
Deals in Fertilizer Drill, Seed Drill, Disc Harrow, Disc Plough, Rotavator, Cultivator
Sadhu Agro Industry
Sadhu Agro Industry Near Old Bus Stand Fatehabad, Haryana , India
Deals in mufti crop thresher, Rotavator, Cultivators, Agricultural Implements, Seed Drill
Khanderwal Agro Industries
Bypass Road Near Bajrang Dharm Kanta Uchana Mandi Jind - 126115 Haryana India, Haryana , India
Deals in Seed Drill, Spring Loaded Cultivator, Reversible Land Leveller, Tractor Trolley, Mounted Mould Board Plough, Tractor Rotavator, Rotary Slasher, Mounted Disc Plough, Cultivator, Seed Cum Fertilizer Drill, Agricultural Cultivators, Heavy Duty Spring Loaded Tiller, Tractor Trailer, Subsoilers, Haramba Thresher, Disc Harrow, Rigid Cultivator
Piara Singh And Sons
Plot No. 300 Sec 3 Hsiidc R Nkarnal - 132001 Haryana India, Haryana - 132001, India
Deals in powrahs, Threshers, Agricultural Implements, Cultivators, Seed Drills
Asian Agriculture
Village Mangalpur, Kunjpura Road, G. T. Road, Ucchani, Haryana - 132001, India
Deals in Fertilizer Drill, Wheat Thresher, Agricultural Machinery, Tractor Trolley, Seed Drill, Disc Harrow
Piara Agro Industries
Namasty Chowk, Haryana , India
Deals in Rotavator, Straw Reaper, Herrow, Tiller, Cotton Seed Drill, Cultivators, Seed Drill
Rajindera Agro Industries
Plot No-91/3 Hsiidc Industrial Area, Sector-3, Haryana - 132001, India
Deals in Cultivator, Disc Plough, agriculture impliments, Disc Harrow, paddy harrow
Zandu Engineers
Manav Chowk Hissar Road Ambala City- 134003, Haryana , India
Deals in paddy multicrop thresher, tractor driven multicrop thresher, Seed Cum Fertilizer Drill, Agricultural Implements, Harrow, Multicrop Thresher, agricultural multicrop thresher, multicrop thresher machines, Cultivator, Thresher
Darshan Singh & Sons.
, Haryana , India
Deals in Straw Reaper, paddy harrow, Rotary Tiller, Seed Cum Fertilizer Drill, Disc Harrow
Shivam Combine Work Shop
Rattak Road R Nassandh -132039 R Ndist Karnal R Nharyana India, Haryana , India
Deals in Disk Harrow, Cultivator
Khalsa Engineering Work
Approch Road Uklana Mandi Dist-hissar Uklana Mandi - 125113 Haryana India, Haryana - 125113, India
Zero Tillage Seed Fertilizer Drill
We are the known provider of Zero Tillage Seed Fertilizer Drill that is widely used for agricultural purpose. Direct harvesting without prior seedbed preparation is done with the help of our Zero Tillage Seed Fertilizer Drill. This saves the diesel as well as tractor's working time, labour and gives high yield. Further, our Zero Tillage Seed Fertilizer Drill is acknowledged for its sturdy construction, durability and
S. K. Industry
Tohana Road, Simbal Wala, Distt. Fatehabad, Haryana - 125120, India
Deals in Disc Harrow, Cultivator, Roto Seed Drill, Automatic Seed Drill, Cotton Seed Drill, Rotavator
Ajit Agro Industries
1. Km. Distance R Ncity Max Hospital Moonak Side R Nchandigarh Road R Ntohana-125120 R Ndist Fatehabad Hariyana , Haryana , India
Deals in Multi Crop Thresher, Seed Drill, Thresher, Tractor Mounted Disc Harrow, Automatic Seed Drill
Punjab Agri Repairing Works
Chandigarh Road R Nnear City Max Hospital R Ntohana-125120 R Ndist Fatehabad Hariyana India, Haryana , India
Deals in Rotavator, Disc Plough, Fertilizer Drill, Seed Drill, Cultivator, Disc Harrow
Sadhu Agro Industry
Sadhu Agro Industry Near Old Bus Stand Fatehabad, Haryana , India


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Your delivery dates will be verified at checkout.
Product Information
- Spacious zippered tote with 2 outer pockets labeled "Mobile" and "H2O"
- Shoulder-length handles
- 600 denier poly canvas
- Size: 15Wx4Dx18"H
- Maximum imprint area: 6Wx6"H
- Imprint up to 6 lines, 30 characters per line for first 5 lines, up to 50 characters for last line
- If you're looking for more options on this product, please call 1-800-789-6040.
- Product Information
Color :Multicolor
Color Family :Multicolor
- Miscellaneous
Brand :BIC
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Weight :0.62 lbs. per Each
Product Reviews

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Hi,J. Brosh is a manufacturer of packaging supplies based in Nazareth Illit. We provide our customers with state of the art packaging supplies and solutions which extend shelf life of fresh produce and support them in designing tailor made packaging solutions.We are currently looking for a new member to join our export sales team.As back office representative you will be responsible for providing email and phone-based support to customers based in countries such as US, UK, Germany, France, Netherlands, Denmark, Austria and others.Relevant skills include excellent written and verbal communication skills in relevant languages, strong customer service attitude, detail orientation, ability to quickly learn and become a part of a running team of sales professionals.If interested or know someone who could be interested, please let me know/send your CV to Protected content .Cheers,Ophir


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Lattice is pattern of woodwork that creates oblong diamond shapes by crossing slats over each other. You can buy large sheets of lattice from most hardware stores, but you have to buy the sheet in its entirety and to their specifications. An alternative is to make your own lattice, for when you only need a small amount or want a non-standard size of lattice holes. You can use the wood lattice for privacy or decoration.
- Skill level:
- Easy
Other People Are Reading
Things you need
- Thick foam backer board
- Scissors
- Lattice slats
- Marker
- Saw
- Staple gun
- Screwdriver
- Hammer
Show MoreHide
- 1
Cut a piece of foam to the size you want the lattice. Use a thick foam backer board and cut it with scissors to the size you want.
- 2
Lay one lattice slat on the foam so it is at a 45-degree angle. The left end of the slat should point up, while the right end should point down.
- 3
Draw a horizontal line on the slat where it intersects with the upper and lower edges of the foam with a marker. This mark will tell you where to cut the slat so it forms the straight edge on the lattice.
- 4
Continue to place slats like this until you have as many as you want in this direction. Mark them all as you place them on the foam.
- 5
Lay one slat on the foam on top of the previous slats, also at a 45-degree angle, but this time with the right end pointing and the left end pointing down. Continue to cover the first layer with slats angled like this. Mark all of these slats, as well.
- 6
Cut each slat along the marked lines with a saw and replace them in the same pattern on top of the foam.
- 7
Staple the slats together at each point where they intersect with each other. Use a staple gun to drive the staple through the slats and into the foam backer.
- 8
Pull the lattice off the foam board and press down the exposed staple ends. Force the ends flat by pressing them a screwdriver and banging them down with a hammer.
Tips and warnings
- Space slats closer for more privacy and wider for more light and space.
- Do not use your fingers to press the staple ends down or you could injure yourself.
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I will do MANUALLY a seo linkwheel with 10 high pa da web blogs to your website(45) 6 Orders in Queue
About This Gig
*** 30000+ Sales *** 8 years experience SEO consultant will help you here! I will build a 9 site linkwheel for you (high PA/DA Root Domain), and then ping all the web 2.0 sites. Then I'll send you a full report + login details . You will get the full control of all the blogs that we created plus the email as well that we used to create them. P.S Fastest, Cheapest and Best Submission!
Check out our ***** SEO DOMINATOR ***** Package for our Best Seo Service
Check out our ***** SEO DOMINATOR ***** Package for our Best Seo Service
Order Details
7 days delivery 1 Revision
Frequently Asked Questions
What is linkwheel?A link wheel is snake oil SEO. Confusing hogwash that feigns to be the magic bullet. A link wheel is, for example when you have 6 sites: A B C D E F. If A is your main site, then B, C, D, E, F link to A reciprocally.
What languages are supported?We support all the human kind! That is an elegant way to say there are no languages barriers for our work. As we have more than 30000 sales from all over the world, ANY language is supported by our gigs!
Are these backlinks permanent?Yes, all links we build are permanent, unless any of them removed by the admin which rarely happen. The links will stay as long as the domain existed.
How many keywords and urls can be allowed?We can accept up to 10 keywords and urls.
What is Seo Dominator?Seo Dominator is your best option to help your website. The package are mixed of our best SEO gigs that can improve search engine ranking. If you want a sample of the result, contact our customer service. http://fiverr.com/conversations/volarex


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Assassin's Creed 3
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This Gif entitled Assassin's Creed 3 was created from the youtube video 2 years ago. It uses 12 frames per second and is displayed at 360px resolution. This animated image plays for 3 seconds, was built with high quality and an estimated weight of 1.20 MB for download. This animation was originally created from the video from 02:30 to 02:33.
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From group classes to one-on-one training, we have a wide range of fitness programs to suit all interests and levels.
Group exercise is all about working out smarter and having fun while you're at it. With over 80 complimentary classes, our programs are taught by nationally accredited instructors with top-of-the-line machines and equipment.
Learn more about our classes by viewing our Full Class Schedule.
For more information on our programming, please contact our Group Exercise Department at 408.395.7111, ext. 24267, or send us an email.Close
Named Best U.S. Facility in 2010 by the USTA, Bay Club Courtside is dedicated to providing exemplary programs for players of all ages and levels.
Enjoy spectacular indoor and outdoor courts set in the Los Gatos hills. We offer year-round lessons and clinics, as well as league play.
For details, contact the Tennis Department at 408.395.7116. For information on Bay Club Courtside's junior tennis programs, please visit our Youth Programs page.
Bay Club Courtside hosts several competitive tennis leagues, including women's teams rated 2.5 to 5.0, and men's teams rated 3.0 to 5.0.
National Tennis Rating Program (NTRP)
NTRP is the official system for determining a player's competitive skill level. It helps all players enjoy the game more fully by facilitating compatible matches, group lessons, USTA league play, tournaments, and programs.
This self-rating system lets players use numbers to rank their level. The scale uses "1" to designate beginners and increases in increments of 0.5 up to 7, which designates world-class level. For more information, visit the USTA NorCal website.
USTA Adult Leagues (April–July)
Men and women's teams from beginner through advanced; placement based on NTRP ratings.
USTA Mixed Doubles Leagues (July–September)
For beginning to advanced players; based on NTRP combined ratings.
USTA Senior Leagues (January–March)
Men's and women's divisions for players age 50 and up; based on NTRP ratings.
USTA Super Seniors (July–September)
For men and women age 60 and up. Teams are made up of players with combined ratings of 6.0, 7.0, and 8.0.
USTA Combo Leagues (October—December)
In this doubles league, players of different NTRP levels compete together.
To sign up or learn more about league play at Bay Club Courtside, contact the Tennis Department at 408.395.7116.
Tournaments & Social Events
Bay Club Courtside hosts and participates in many tennis events throughout the year. We sponsor the men's professional SAP Open and host its qualifying matches in February. We also host the Smash Wheelchair Tennis auction and fundraiser, the CCS Boys & Girls Championships, and USTA NorCal juniors tournaments.
Tickets for premier tournaments, including the SAP Open, Bank of the West and NCAA championships at Stanford, are available through the Tennis Reservation Desk at 408.395.7116.
Matchmaker Service
Finding a new tennis partner is easy—the Bay Club Courtside Matchmaker Service will make introductions for you. All club members with an NTRP rating may use this service. If you do not have an NTRP rating but would still like to be matched up, contact our Tennis Reservation Desk for an appointment at 408.395.7116 or send us an email.
Ball Machine
Tennis members and Club West Premiere members may reserve courts with a complimentary ball machine in 45-minute increments during the following non-primetime hours:
7:30 am–9:00 am
11:00 am–3:30 pm
8:00 pm–9:00 pm
7:30 am–9:00 am
Anytime after 2:00 pm
Note: Times are subject to change due to tournaments and special events.
Lessons & Clinics
Our staff of USPTA professionals offers high-quality individual instruction, lessons, and clinics for players of every skill level on a year-round basis. Coaching can be tailored to your individual needs or the needs of the group, to strengthen every aspect of your game.
Beginners and advanced players can benefit from our tennis clinics, which provide instruction to help players develop their skills.
To sign up for lessons or clinics, contact the Tennis Department at 408.395.7116.
Note: Cancellations must be made at least 24 hours in advance to avoid charges.
Members may make online reservations 24 hours a day or may call the Tennis Reservation Desk at 408.395.7116. We accept one reservation per phone call. We also alternate between in-person and phone reservations. Reservations can be made up to three days in advance; each family member is limited to one reservation per day.
For court times before 2:00 pm, reservations will be accepted starting at 12:15 pm. For court times after 2:00 pm, reservations will be accepted starting at 12:30 pm.
Reservation Desk Hours
Weekdays: 7:30 am–12:45 pm, 3:00 pm–8:00 pm
Weekends: 7:30 am–5:15 pm
Singles play guarantees 60 minutes of court time; doubles play guarantees 90 minutes. Indoor court fees are $24 for 60 minutes and $36 for 90 minutes.
Check-in Requirements
Please check in for your court at the Tennis Reservation Desk within 10 minutes of your reserved court time. If you do not check in, your court may be forfeited to members who are waiting. Indoor court fees must be paid before stepping onto your assigned court.
Please note: We ask all players to leave the court promptly at the end of their reserved time. To request an extension, please return to the Tennis Reservation Desk after your reservation has ended.
Indoor Court Cancellation Policy
If you cannot make your reserved court time, please provide at least two hours' advance notice to avoid being charged in full. Early morning reservations may be cancelled by calling the Sports Desk at 408.395.7111.
Note: The member who made the reservation is responsible for canceling it.
Walk-On Courts
Courtside has several tennis courts set aside for walk-on play. To use these courts, please register at the tennis reservation desk or you may be asked to give up the court.
Members may make walk-on court reservations up to one hour in advance for themselves or other family members only. If all courts are booked, you're welcome to wait for the next available court.
Pilates conditions your entire body and promotes balanced musculature, flexibility, and agility. Both an artform and a great workout, Pilates can help you enjoy daily activities and sports with more ease and less risk of injury.
At Bay Club Coutside, you'll find the most comprehensive Pilates program of any athletic club, Pilates & Beyond. Our unique approach features a variety of classes taught by expert instructors, private instruction in our Personal Pilates & Gyrotonic Studio, sport-specific training, Pilates performances, parties, and more.
Pilates Prime
At the Bay Club, our goal is to offer a comprehensive and affordable Pilates program that will provide you the opportunity to experience a range of instruction while you safely and effectively progress your Pilates practice. With this in mind, we give you Pilates Prime. This innovative new membership gives you unlimited access to our Pilates Allegro classes at the low rate of $149 per month. What's more, as a Pilates Prime member, you'll also receive special discounted rates on personal studio instruction!
With this membership, you'll have the ability to attend any of the Allegro classes on the schedule. And class sign-ups can be made up to three days in advance at the Reception Desk, or online via the website. Additionally, our Preferred Guaranteed membership option gives you the ability to pre-book your class times prior to the beginning of each month for only $199 per month.
Pilates Preferred—$199 a month
Pilates Prime—$149
For more information or to sign up, send an email to the Pilates Department.Close
With our expanding selection of offerings and packages, and flexible booking system, it's easy to tailor your Personal Fitness Training program to your schedule and budget.
World-Class Trainers
Bay Club trainers are nationally certified and many hold exercise-related degrees. All trainers pursue extensive continuing education and professional development on a regular basis. Choose the trainer that best meets your needs by using our tier system, which recognizes a trainer's overall record of success, level of education, specialty training, and years of experience.
Pro Trainers: Up to 2 years of experience
Master Trainers: 2+ years
Elite Trainers: 3+ years
Ultimate Trainers: 5+ years
To schedule a personal training session, call 408.395.7111, ext .24251, or send us an email.
Bay Club Courtside features three heated pools—one family, one adult, and a children's wading pool—and offers as a full range of swim programs for people of all ages and abilities. We are proud to staff an experienced team of professional coaches, trainers, and instructors.
For information on youth programs, including swim team for children ages five to eight, see our Youth Programs page.
Family Pool
Adult Pool
Children's Wading Pool
From Vinyasa to Hatha, find your balance with a variety of yoga classes taught by our highly qualified teachers. Enjoy unlimited classes at no additional cost, so you can find the style that best suits you. You can also deepen your practice by combining weekly classes with private instruction and specialty yoga workshops.
See our class schedule for more details on our yoga offerings, including workshops and specialty classes.
For more details on our yoga program, contact our Group Exercise Department at 408.395.7111, ext. 24267, or send us an email.Close
Bay Club Courtside offers extensive Group Cycle programming with almost 20 complimentary classes each week. This non-impact adventure will take you through hill climbs, sprints, jumps, pacing and interval training—all on your stationary bike. We recommend heart rate monitors to get the most out of this exhilarating cardio workout!
Get together for friendly pickup games and league competition on our NCAA-size basketball court or one of six baskets for full- and half-court play, all equipped with glass backboards and an electronic scoreboard.
Open-Play Schedule
Monday 5:00 am–11:00 pm
Tuesday* 5:00 am–11:00 pm
Wednesday 5:00 am–11:00 pm
Thursday* 5:00 am–11:00 pm
Friday 5:00 am–11:00 pm
Saturday 6:00 am–10:00 pm
Sunday 6:00 am–10:00 pm
*Basketball league play: Tuesdays and Thursdays, 6:30 pm–9:00 pm
Saturday 7:00 am–9:00 am pickup games
Note: Gym availability is subject to change weekly. To confirm availability, please check the Gym Schedule or for questions, contact the Athletics Director at 408.395.7111, ext. 24211. Please note: Indoor soccer is scheduled Wednesdays and Fridays, 7:30 pm–9:30 pm.Close
Wednesday and Friday nights in the gym are reserved for open soccer play. We have 4' x 6' indoor soccer goals, and teams of five play off the wall for 10 minutes or three points. The winning team stays in to play the next team. Times and dates may change due to other gym programming.
Contact the Reception Desk at 408.395.7111 or check the Gym Schedule for a list of open play times and dates.
Boost your workout routine with our specialty fitness programs. For more information or to register for any of our classes, call 408.395.7111, ext. 24251, or send us an email.
Les Mills' GRIT
A challenging 30-minute workout from Les Mills—the creator of BODYPUMP and BODYCOMBAT—that increases aerobic capacity, strength, muscular endurance, metabolism, and power via a demanding combination of weightlifting, running, and plyometrics.
Slim in 7
The Bay Club's most comprehensive weight-loss program, which has helped hundreds of members to lose between four and seven percent body weight in just seven weeks. The all-inclusive program includes body composition testing, nutritional guidance, and up to six small-group training sessions a week, as well as sought-after prizes for the top-performing participants to encourage dramatic and lasting results.
H.E.A.T. (High Energy Athletic Training) is a metabolic workout that combines timed whole-body circuit training exercises with specific cardiovascular intervals. Limited to four to six participants, classes are designed by our top trainers, each of whom incorporates their unique training style in order to maximize fat loss and support a healthy metabolism.
An intensive clinical blood test that evaluates everything from cholesterol to cardiac health to hormone panels, with all results reviewed with a registered dietitian. Re-tests can be taken every 120 days when blood cells regenerate to quickly measure significant improvement from fitness, lifestyle, and nutritional changes.
A one-of-a-kind program that mimics one of the best workouts around, surfing. Participants achieve an athletic look and cardio conditioning, as every exercise on the RipSurfer X is designed to engage the core and stabilizer muscles to shock the system and create real change—inside and out.
The Bay Club's proven all-in-one exercise and nutrition coaching program that allows participants to jump-start a fitness routine or break through a weight-loss plateau, and get "leaner for a lifetime" with one-on-one nutrition and fitness planning, coupled with small-group training twice a week.


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text:
Optimization design
Design optimization of spatial six degree-of-freedom parallel manipulator based on artificial intelligence approaches
Optimizing the system stiffness and dexterity of parallel manipulators by adjusting the geometrical parameters can be a difficult and time-consuming exercise especially when the variables are multifarious and the objective functions are too complex. Optimization techniques based on artificial intelligence approaches are investigated as the effective criteria to address this issue. In this paper, genetic algorithms and artificial neural networks are simultaneously implemented as an intelligent optimization tool of the dimensional synthesis problem for spatial six degree-of-freedom (DOF) parallel manipulator. The objective functions of system stiffness and dexterity are derived according to the kinematic analysis of the parallel mechanism. Neural network based standard backpropagation learning algorithm and Levenberg-Marquardt algorithm are utilized to approximate the analytic solutions of system stiffness and dexterity respectively. Genetic algorithms are conducted with the objective functions described by the trained neural networks which are the models of different performance solutions. Multi-objective optimization (MOO) of performance indices are developed by searching the Pareto optimal frontier sets in the solution space. The effectiveness of this method is validated by simulation.
Optimization design; system stiffness; dexterity; genetic algorithms; artificial neural networks
Compared with the conventional serial manipulators, the parallel manipulators have some significant advantages such as more stiffness and payload, high force/torque capacity, and they also have simpler inverse kinematics, which is an advantage in real-time control. Recently, parallel manipulators have been developed for applications in aircraft simulator [1,2], telescope [3], positioning tracker [4], micro-motion [5-7], and machine tool [8-14]. However, because the theories and technologies for parallel manipulators are still premature, most of parallel manipulators existing today are high-cost machines that provide less accuracy than conventional machines. Therefore, further investigation is demanded to make parallel manipulators more attractive to industry [15].
Since the use of parallel manipulators is currently limited in capabilities for the more extensive applications such as biotechnology and automotive manufacturing, performance improvement has been one of the most important issues which should be adequately considered. The purpose of optimization design is aiming at enhancing the performance indexes by adjusting the structure parameters such as link length, radii of fixed platform and moving platform, and its distance between the center points of the two platforms. The approach is called dimensional synthesis based performance optimization of parallel manipulators. In the optimum design process, several performance indices could be involved for a design purpose, such as stiffness, dexterity, accuracy, workspace and so on.
Many scholars have studied on the issue of optimum design of robot manipulators [16-19]. Zhao et al. [20] exploited the least number method of variables to optimize the leg length of a spatial parallel manipulator for the purpose of obtaining a desired dexterous workspace. Stock and Miller [21] presented a method for multidimensional kinematic optimization of the linear delta robot architecture's geometry. A utility objective function was formulated incorporating two performance indices, including manipulability and space utilization. Kucuk and Bingul [22] optimized the workspace of two spherical three-link robot manipulators using the local and global performance indices. Ceccarelli and Lanni [23] investigated the MOO problem of a general 3R manipulator for prescribed workspace limits and numerically using an algebraic formulation. Artificial intelligence technologies provide the effective approaches to investigate on this topic.
As the primary components of artificial intelligence approaches, genetic algorithms and artificial neural networks play the important roles in various fields of science and technology. In this research, the two methods are simultaneously executed as the optimization criteria of the dimensional synthesis for a symmetrical 6-DOF parallel manipulator. System stiffness and dexterity, as the two main performance indices, will be optimized both as SOO and MOO issues to demonstrate the validity of the proposed integrated artificial intelligence approaches and to improve the manipulation capabilities of parallel manipulators after optimization.
In the present work, there are many parameters and complex matrix computations to be handled with. Hence, it is hard to search for the objective values (optimal configuration) and corresponding structure variables based on the analytical expressions of system stiffness and dexterity. Moreover, with traditional optimization methods, only a few geometric variables could be handled due to the lack of convergence when confronted with more complex problems. Genetic algorithms, as the powerful and broadly applicable stochastic search methods which follow the Darwinian evolutionary principle of "survival-of-the-fittest" that good traits are retained in the population and bad traits are eliminated, can escape from local optima [24]. Therefore, genetic algorithms are competent for addressing the convergence problem in this scenario. Neural networks possess the capability of complex function approximation and generalization by simulating the basic functionality of the human nervous system in an attempt to partially capture some of its computational strengths. Since the solution of objective function must be solved before using genetic algorithms, neural networks will be conducted to represent the expressions of the solutions for the two performance indices for a 6-DOF parallel manipulator. For the MOO problem in design process, since it is impossible to maximize or minimize all the objective function values if they are conflicting with each other, the trade-off algorithm should be executed. This methodology will pave the way for providing not only the effective guidance but also a new approach of dimensional synthesis for the optimal design of general parallel mechanisms.
In what follows, geometric modeling and kinematic analysis is developed in Section 2, and withal solutions of inverse kinematics model and Jacobian matrix is derived. In Section 3, the optimization criteria of system stiffness and dexterity are presented, the models of performance indexes are deduced. In Section 4, the results from the applications of the genetic algorithms and neural networks to optimize the performance indices of the mentioned parallel manipulator are discussed respectively. Both the issues of single objective optimization (SOO) and MOO are addressed. Section 5 gives the conclusion and future work needed.
2.Geometric Modeling and Kinematic Analysis
2.1. Geometric Modeling
In this work, a 6-DOF parallel mechanism and its joint distributions both on the base and on the platform are shown in Figs. 1, 2 and 3. This mechanism consists of six identical extensible links, connecting the fixed base to a moving platform. The kinematic chains associated with the six legs, from base to platform, consist of a fixed Hooke joint, a moving link, an actuated prismatic joint, a second moving link and a spherical joint attached to the moving platform. It is also assumed that the vertices on the base and on the platform are located on circles of radii Rb and Rp, respectively.
A fixed reference frame is connected to the base of the mechanism and a moving coordinate frame is connected to the platform. In 2, the points of attachment of the actuated legs to the base are represented with Bi and the points of attachment of all legs to the platform are represented with Pi, with, while point P is located at the center of the platform with the coordinate of.
The Cartesian coordinates of the platform are given by the position of point P with respect to the fixed frame, and the orientation of the platform (orientation of frame with respect to the fixed frame), represented by three Euler angles, and or by the rotation matrix Q.
2.2. Inverse Kinematics
The inverse kinematics issue is focused on how to deduce the joint motions when the posture of the end-effector is known. If the coordinates of pointin the fixed frame are represented by vector, then we have
whereis the position vector of point Pi expressed in the fixed coordinate frame whose coordinates are defined as (), is the position vector of point Pi expressed in the moving coordinate frame, and is the position vector of point P expressed in the fixed frame as defined above, and
One can then write
, (7)
Where, Q is the rotation matrix from the fixed reference frame to the moving coordinate frame, and Tp, Tb are the angles to determine the attachment points of six symmetric branched-chains on the base and on the platform respectively.
Subtracting vector bi from both sides of Eq. (7), one obtains
, (8)
Then, taking the Euclidean norm on both sides of Eq. (8), one has
, (9)
Where is the length of the ith leg, i.e., the value of the ith joint coordinate. The solution of the inverse kinematic problem for the 6-DOF maniulator is therefore completed and can be written as
2.3. Jacobian Matrix
Considering the parallel component of the mechanism, the parallel Jacobian matrix can be obtained by differentiating Eq. (10) with respect to time, one obtains
Since one has
where, is the angular velocity of the platform. Differentiating Eq. (7), one obtains
Then, Eq. (11) can be rewritten as
Hence, one can write the velocity equation as
where vector t is the twist of the platform, , and vectoris defined as
where mi is a vector with 6 components, which can be expressed as
The linear transformation between motion speed of manipulator and each joint can be defined as the Jacobian matrix of robot. This Jacobian matrix means the drive ratio of motion velocity from the space of joints to the space of end-effecter. According to Eq. (16), Jacobian matrix can be written as
Therefore, the derivation of the relationship between Cartesian velocities and joint rates is determined.
3. Design Optimization
3.1. Optimization Principles
The goal of structure parameters design, which is also called dimensional synthesis, is to confirm the optimal geometric configuration according to objective function and geometric restriction. To make sure the parallel manipulator will possess well performances such as high system stiffness and dexterity, optimization based dimensional synthesis for is one of the significant steps in the design process of parallel manipulators.
The aim of optimization for parallel manipulators is to maximize the system stiffness, and to minimize the dexterity expressed with condition number of Jacobian matrix. If the two aspects are addressed dividually, then it will be two SOO issues. Contrarily, if the two aspects are considered together, then it will be a MOO issue.
Since only a few geometric parameters can be handled due to the lack of convergence, this arises from the fact that traditional optimization methods use a local search by a convergent stepwise procedure, e.g. gradient, Hessians, linearity, and continuity, which compares the values of the next points and moves to the relative optimal points [25]. Global optima can be found only if the problem possesses certain convexity properties which essentially guarantee that any local optima are a global optimum. In other words, conventional methods are based on a point-to-point rule; it has the danger of falling in local optima.
The genetic algorithms are based on the population-to-population rule; it can escape from local optima. Genetic algorithms have the advantages of robustness and good convergence properties, i.e.
• They require no knowledge or gradient information about the optimization problems; only the objective function and corresponding fitness levels influence the directions of search.
• Discontinuities present on the optimization problems have little effect on the overall optimization performance.
• They are generally more straightforward to introduce, since no restrictions for the definition of the objective function exist.
• They use probabilistic transition rules, not deterministic ones.
• They perform well for large-scale optimization problems.
Genetic algorithms have been shown to solve linear and nonlinear problems by exploring all regions of state space and exponentially exploiting promising areas through mutation, crossover, and selection operations applied to individuals in the population. The greatest potential for the application of evolutionary optimization to real-world problems will come from their implementation on parallel machines, for evolution is an inherently parallel process [26,27].
Although a single population genetic algorithm is powerful and performs well on a wide variety of problems. However, for multi-variable and complicated optimized problems, it is inconvenient to find optima by using limited population size and evolutionary generations [28]. Better results can be obtained by introducing multiple subpopulations. 4 shows the behavior rationale of the extended multi-population genetic algorithm which is adopted in this research.
For the implementation of genetic algorithms, one problem is how to model the objective function. Although genetic algorithms can be performed to search the best solution set without artificial neural networks. It is very difficult and time-consuming especially when the parameters are multifarious and the objective functions are too complex that genetic algorithms cannot work well based on the analytical expression of the performance indices, especially for the case of MOO. Neural networks will be applied to deal with this problem. The error of the output of neural networks is constrained in a minimal threshold value that will not affect the computing accuracy with CPU.
Artificial neural networks are massively parallel adaptive networks of simple nonlinear computing elements called neurons which are intended to abstract and model some of the functionality of the human nervous system to simulate its powerful computation ability. A network, which can be viewed as a weighted directed graph where artificial neurons are basic elements and directed weighted edges represent connections between neurons, must be used to calculate the training error for the cost function. This is often done by performing a random initialization of weights and by training the network using one of the most commonly used learning algorithms, such as backpropagation [29,30]. The basic element of neural networks is illustrated in 5.
Following equation describes the relationship of inputs and output for the artificial neuron,
where fi is the transfer function, i.e. sigmoid function, xt is the input signal which is the corresponding output from anterior neuron, wt is the weight value of related input signal, bi is the bias whose weight value is 1, is the threshold value. The whole structure of neural networks is organized with many neurons in order. Corresponding learning rule should be confirmed for the training process.
The main function of neural networks is to establish the complex nonlinear relationship between inputs and outputs without deducing the mathematics expression. This is so-called black box. The primary important properties of neural networks that have made them popular for real world applications are the capacity for associative recall, and the capability for function approximation.
Further more, neural networks are widely noted for model free estimation capability in the sense that they are able to create internal representations only through training example sets, without being supplied a mathematical model of how outputs depend upon inputs. Sometimes this is called similarity based generalization. Using powerful learning algorithms, they are able to approximate functions by sifting through vast repositories of data. Because of their learning capability, they are referred to as adaptive function estimators. Therefore, they can be utilized to represent the expressions of system stiffness and dexterity for the 6-DOF parallel manipulator.
3.2. Solution of System Stiffness
From the viewpoint of mechanics, the stiffness is the measurement of the ability of a body or structure to resist deformation due to the action of external forces. The stiffness of a parallel mechanism at a given point of its workspace can be characterized by its stiffness matrix. This matrix relates the forces and torques applied at the gripper link in Cartesian space to the corresponding linear and angular Cartesian displacements.
Two main methods have been used to establish mechanism stiffness models. The first one is called matrix structural analysis, which models structures as a combination of elements and nodes. The second method relies on the calculation of the parallel mechanism's Jacobian matrix which is adopted in this research.
The parallel mechanisms considered here are such that the velocity relationship can be written as in Eq. (23),
where is the vector of joint rates, and is the vector of Cartesian rates-a six dimensional twist vector containing the velocity of a point on the platform and its angular velocity. Matrix J is usually termed Jacobian matrix which is described in Eq. (21).
The stiffness matrix of the mechanism in the Cartesian space is then given by the following expression
Here KJ is the joint stiffness matrix of the parallel mechanism, with, where each of the actuators in the parallel mechanism is modeled as an elastic component. ki is a scalar representing the joint stiffness of each actuator, which is modeled as linear spring.
Particularly, in the case for which all the actuators have the same stiffness, i.e.,, then Eq. (24) will be reduced to
Further more, the diagonal elements of the stiffness matrix are used as the system stiffness value. These elements represent the pure stiffness in each direction, and they reflect the rigidity of machine tools more clearly and directly. The objective function for system stiffness optimization can be written as:
Where, for, represents the diagonal elements of the mechanism's stiffness matrix, is the weight factor for each directional stiffness which characterizes the priority of the stiffness in this direction. For the optimization of system stiffness, it should be a maximum.
3.3. Solution of Dexterity
The condition number of the Jacobian matrix will be a measure of dexterity indices for the 6-DOF parallel manipulator,
where is the condition number of the Jacobian matrix and is defined as
where means the norm of related vector or matrix. If Frobenius norm is considered, then
Here Frobenius norm is defined as the extracting roots of the quadratic sum of each element in the Jacobian matrix. Hence the dexterity indices can be deduced as
If spectral norm is introduced, the dexterity indices will be described as
where and stand for the maximum and minimum singular values of Jacobian matrix J, respectively. Regarding the computing time of optimization process, this expression is selected as the objective function for the optimization of dexterity. The value of , which is directly related to singular values of Jacobian matrix, is between 1 and positive infinity. All the singular values of the Jacobian matrix will be the same and the manipulator is isotropic if is equal to 1. While if is prone to positive infinity, then Jacobian matrix is singular. Therefore, for the optimization of dexterity, it should be a minimum when condition number is considered.
For the SOO issues, these two objective functions should be considered respectively. For the MOO issue, the two goals might be in conflict, so a trade-off strategy should be considered in the optimizing process. The integrations of neural networks, genetic algorithms and Pareto approach can be viewed as one type of Pareto evolutionary neural networks to search the optimal solution sets of MOO.
3.4. Multi-objective Genetic Algorithms
Three main multi-objective genetic algorithms will be introduced as follows:
1. Clustering function approach
The main principle of this approach is converting the problem of MOO into SOO through distributing the weighting factors of different objective function values.
For instance, there are objective functions, it gets:
Then the multi-objective issue becomes the single objective one. Typical application of clustering function approach can be found in [31].
2. Population based approach
Population based approach originates from the conception of population division [32]. Coevolution including competition and cooperation is the basic feature of this approach. However, there are still no effective methods so far for population decomposition; sub-population size determination, representative selection and their application modality and domains need to be expanded. The gist of decomposing co-evolutionary population is given based on piecewise interval correlation by iteration linkage learning method. For multi-population genetic algorithm, the strategy for dynamical change of search area is according to the distribution of the best individual of each population. The adaptive adjustment method of the population size is based on the search area's measure and the search granularity. Typical application of population based approach can be found in [33].
3. Pareto based approach
The concept of Pareto method was originally introduced by Francis Ysidro, and then generalized by Vilfredo Pareto [34]. A solution belongs to the Pareto set if there is no other solution that can improve at least one of the objectives without degradation any other objective. Consider a set of solutions which provides maximum information about the optimization for multi-objective problems. By comparing each solution to every other solution, those solutions dominated by any other for all objectives are flagged as inferior [35-37]. In the issue of maximizing the k objective functions, decision vector (sets of variable) x*∈F is the Pareto-optimal solution if no other decision vectors satisfy both the following conditions:
In like manner, if both the following conditions are true, decision vector x dominates y in the maximization issue, noted by. That is:
According to the Eq.(33) ~ Eq.(36), Pareto-optimal set can be defined as: if there is no solution in the search space which dominates any member in the set P, then the solutions belonging to the set P constitute a global Pareto-optimal set. Typical application of Pareto based approach can be found in [38]. This method is adopted in this research.
4. Simulation
4.1. Objective Optimization of System Stiffness
In order to obtain the maximum system stiffness of the spatial 6-DOF parallel manipulator as shown in Figs. 1 and 2, five architecture and behavior parameters are used as optimization parameters, the vector of optimization variables is
where Rp, Rb are the radius of the moving platform and the base respectively, z is the height of the platform, Tp, Tb are the angles to determine the attachment points on the base and on the platform respectively, and their bounds are shown in Table 1.
Table 1: Variables of structure parameters
(0.05, 0.1) m
(0.12, 0.22) m
(0.16, 0.26) m
(18°, 28°)
(38°, 48°)
The standard backpropagation learning algorithm, as the most popular training method for feedforward neural network, is based on the principle of steepest descent gradient approach to the minimization of a criterion function representing the instantaneous error between target and the predicted output. The criterion function can be expressed as follows:
where, is the vector of desired network output, and is the vector of actual output. N is the vector dimension. In this scenario, the five geometrical parameters of this 6-DOF parallel manipulator are chosen as the inputs of feedforward neural network, and the performance index is used as the output.
The basic training step of neural network with standard backpropagation algorithm is:
A) Initialize the weights and bias in each layer with small random values to make sure that the weighted inputs of network wouldn't be saturated.
B) Confirm the set of input/output pairs and the network structure. Set some related parameters, i.e. the desired minimal, the maximal iterative times and the learning speed.
C) Compare the actual output with desired network response and calculate the deviation.
D) Train the updated weights based on criterion function in each epoch.
E) Continue the above two steps until the network satisfies the training requirement.
6 shows the topology of the neural network developed as the objective function to model the analytical solution of system stiffness. In this case, two hidden layers with sigmoid transfer function (see 5) are established in which 16 neurons exist in each hidden layer. The input vectors are the random arrangement of discretization values from the five structure variables.
7 illustrates the training result with standard backpropagation learning algorithm, where the blue curve denotes the quadratic sum of output errors with respect to ideal output values. After training for 206 times, target goal error is arrived.
The genetic algorithm can be implemented to search for the best solutions after the trained neural network is ready for the objective function. 8 describes the evolution of the best individual for 40 generations. The optimal system stiffness value is 6060.
The evolution of the best individuals of population (architecture and behavior variables) in the implementation process of genetic algorithm is shown in 9. By adjusting the five parameters simultaneously, optimization results of system stiffness are obtained. After 40 generations, they are convergent as follows:
4.2. Objective Optimization of Dexterity
For the optimization of dexterity, some differences with the above section can be found. Since the analytical expression of dexterity indices is more complex than the case of system stiffness, computing time and error accuracy should be well considered in priority for the design of the neural network's structure and the choice of related learn algorithm.
As shown in 10, the neural network containing a single hidden layer with 100 neurons is developed. Using more neurons and less hidden layers are for jointly considering the computing time and error accuracy. One improved training method called Levenberg-Marquardt algorithm, which disregards nuisance directions in the parameter spaces that influence the criterion marginally, is introduced to advance the learning rate. Besides, it still performs an update close to the efficient Gauss-Newton directions within the subset of the important parameters [39]. The core of the LM algorithm is the calculus and inversion, at each training cycle, of an approximation to the Hessian [40]. This method improves the solution to problems that are much harder to solve by only adjusting the learning rate repeatedly. It can be described as:
where, is the vector constituted by all the weights and bias of the neural network, is the searching direction in vector space constituted by each component of X, is the step index to make minimizing in the direction of . Levenberg-Marquardt algorithm is the integration of steepest descent gradient approach and Newton method which is a common numerical optimization method. Its searching direction is
where, H is Hessian matrix, I is an identity matrix, and produces a conditioning effect which is chosen automatically until a downhill step is produced for each epoch. In the case of dexterity optimization, this fast modified algorithm of backpropagation is adopted.
11 describes the training result using feedforward neural network with Levenberg-Marquardt learning algorithm, where the blue curve denotes the quadratic sum of output errors with respect to ideal output values. As can be seen from the , the target error 10-8 is much smaller than the training result of system stiffness, which is 10-5. Besides, after training for 82 epochs, target error has been arrived. It can be observed that the iterative times are decreased while the computational precision is improved in large scale using this fast learning algorithm for the evolvement of neural network.
The optimization process of dexterity based on condition number of the Jacobian matrix is illustrated in 12. After global stochastic search for 40 generations, optimal dexterity value is convergent at 353.1
The evolution of architecture and behavior parameters of the 6-DOF parallel manipulator for dexterity optimization is described in 13. Compared with 9, it can be found that the corresponding convergent points of the five parameters in these two s are not the same, i.e.
In other words, the two objective functions are conflicted with each other. This issue will be addressed in the following section where MOO based on Pareto-optimal solution is addressed.
4.3. Multi-Objective Optimization
MOO problems consist of simultaneously optimizing several objective functions that are quite different from those of SOO. One single global optimal search is enough for SOO task. However, in a MOO problem, it is required to find all possible tradeoffs among multiple objective functions that are usually conflicting with each other. The set of Pareto optimal solutions is generally used for decision maker.
Following initial parameters of Pareto based genetic algorithms are set before implementation:
Number of sub-population = 5
Number of individuals in each sub-population = {50, 30, 30, 40, 50}
Mutation range = 0.01
Mutation precision = 24
Max generations for algorithm termination = 300
After optimization,the possible optimal solutions in the whole solution space are obtained without combining all the objective functions into a single objective function by weighting factors. 14 shows the Pareto optimal frontier sets in which the designers can intuitionistically determine the final solutions depending on their preferences. Hence, the analysis process and cycle time is reduced in large scale. From this picture, trade-off between the objectives of system stiffness and dexterity is demonstrated in the distributing trend of these Pareto points for compromisingly selecting. If any other pair of design variables is chosen from the lower/right area in 14, its corresponding values will locate an inferior point with respect to the Pareto frontier. Besides, the upper/left side is the inaccessible area of all the possible solution pairs. That's the reason why Pareto solutions are called Pareto-optimal frontier sets. Furthermore, there are six optimum design points named from "a" to "f" whose corresponding objective values and design parameters are shown in Table 2.
Table 2: Objective functions values from Pareto sets and corresponding design variables
dexterity/system stiffness
5. Conclusions
Performance optimization is one urgent issue for the more extensive applications of parallel manipulators in industry. By adjusting the architecture and behavior parameters, the optimal performance indices such as system stiffness and dexterity of the 6-DOF parallel mechanism can be searched. Since only a few geometric parameters could be handled due to the lack of convergence of the optimization algorithm for complex objective functions with traditional optimization methods, neural networks and genetic algorithms as the two important artificial intelligence approaches are implemented simultaneously as the optimization guidelines in this paper. Single objective optimizing issues and multi-objective optimizing issue are both addressed to demonstrate the validity of the artificial intelligence approaches. These two approaches are compatible in nature. Especially for the issue of MOO, Pareto evolutionary neural networks which has high efficiency, high generalization and programmable-feature, no matter whether the objective functions have an analytic solution or not. Future work will focus on comprehensive MOO problem for complicated parallel mechanisms to realize the simultaneous optimization of more performance indices such as system stiffness, workspace, dexterity and manipularity etc. The physical parallel manipulator is under development using the proposed performance evaluation criteria.
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[30] Ludermir TB, Yamazaki A, Zanchettin C. An optimization methodology for neural network weights and architectures. IEEE Trans Neural Netw 2006; 17(6): 1452-9.
[31] Zhang D, Wang L, Lang S. Parallel kinematic machines: design, analysis and simulation in an integrated virtual environment. ASME J Mech Des 2005; 127(7):580-8.
[32] Potter MA, De Jong KA. Cooperative coevolutionary architecture for evolving coadapted subcomponents. Evol Comput 2000; 8(1):1-29.
[33] Pedrajas NG, Martınez CH, Perez JM. Multi-objective cooperative coevolution of artificial neural networks. Neural Netw 2002; 15(1):1259-78.
[34] Coello CA, Veldhuizen DA, Lamont GB. Evolutionary algorithms for solving multi-objective problems. Kluwer Academic Publishers, New York, 2002.
[35] Baumgartner U, Magele Ch, Renhart W. Pareto optimality and particle swarm optimization. IEEE Trans Magn 2004; 40(2):1172-5.
[36] Papila M, Haftka RT, Nishida T, Sheplak M. Piezoresistive microphone design pareto optimization: tradeoff between sensitivity and noise floor. J Microelectromech Syst 2006; 15(6):1632-43.
[37] Fieldsend JE, Singh S. Pareto evolutionary neural networks. IEEE Trans Neural Netw 2005;16(2):338- 54.
[38] Gupta S, Tiwari R, Nair SB. Multi-objective design optimization of rolling bearings using genetic algorithms. Mech Mach Theory 2007; 42(10):1418-43.
[39] Ngia LSH, Sjoberg J. Efficient training of neural nets for nonlinear adaptive filtering using a recursive Levenberg-Marquardt algorithm. IEEE Trans Signal Process 2000; 48(7):1915-27.
[40] Toledo A, Pinzolas M, Ibarrola JJ, Lera G. Improvement of the neighborhood based Levenberg-Marquardt algorithm by local adaptation of the learning coefficient. IEEE Trans Evol Comput 2005; 16(4):988-92.


text:
The Moon and Her by amarys
Copyright Notice:
This image copyright © 2005.
Artwork Description
Two scared little run aways
Hold fast till the break of daylight...
August 11th, 2007
I love the pebbled look of the dragon's skin and his expression is just precious. I also love her tiny fairy wings and the crown on her leg. Where did you find that poem?
February 24th, 2006
Your work never ceases to amaze me.
I look forward to each new piece.
Also thanks for the inspiration, I feel
a new fantasy poem coming out of this.
Slainte, Michelle
February 20th, 2006
Absolutely beautiful. Love the twist on the "usual" for the beast's horn.
February 19th, 2006
Gorgeous work, Annah. The writing certainly adds to this piece nicely. Cool intricate deatiling as usual.


text:
New Ways to Kill Your Mother: Writers and Their Families
Colm Toibim , Scribners, $26.00
If Hell exists, there is a special place there for critics and reviewers who write that a collection of essays or stories or in fact of anything is "uneven." Clearly the author or editor or compiler believed there was an overriding, cohering theme, or concept to the book and I bet that she/he actually took a great deal longer to think about and arrange the works exactly so in a particular sequence. A lot longer than the lazy reviewer apparently did to bother to figure out what that sequence was and why it was important. Colm Toibin's collection of essays about writers sidesteps that by making its concept immediately available in its subtitle just so no one can miss it: "Writers and Their Families;" it is against this idea, among other things, that the critic ought to judge its contents.
It's not the tightest of concepts, and Toibin doesn't always work it out that well. Furthermore, his editor and publisher did him no favor with that title, which smacks of the trendiest Boerum Hill authorettes. It's false advertising. There are no new ways to kill your mother inside this book -- sorry. Nor old ones made new and prosecution-proof either. None of the writers herein actually did kill their mothers although many would have liked to. Actually, fathers are more often targeted than mothers, and reading some of these essays, believe me, you will be, as I was, rooting for the son for to get out the ax.
John Butler Yeats, father of poet William Butler and artist Jack Yeats looms high on the list. A man of Cyclopean ego, he became a painter when one son succeeded in that field, and then switched to being a poet and playwright when son Willy succeeded in that area. Worse yet, he insisted that his famous son read, comment upon, correct and then agent his plays around Ireland, while he lazed about in New York City saloons being semi-famous. Homicidally annoying! No wonder Yeats eventually gave up on the Irish and married an Englishwoman named George. I might have myself.
Montreux Jazz Festival –1976 –Nina Simone
for ClassicalTV.com
The nearly breathless phone was from my High School friend Jerry Blatt, Bette Midler's manager. Nina Simone was in town and would be playing one night only at the Village Vanguard. It was by invitation only and I should tell Art D'Lugoff or whoever was at the door that I was with Bette. Simone, that great singer/pianist/composer, had been battling the I.R.S. and had fled to the Caribbean in 1973 and then taken up residence in France. This trip to New York and the one night concert was totally hush-hush.
The Vanguard was packed and excitement filled the air. Looking only a bit older then when I'd last seen her at the Newport Jazz Festival, almost twenty years before, Simone entered the room, dressed head to toe like an African priestess. "Hello friends," she said. She was alone, without her famous band. She sat at the piano which had defined her life from when she'd been a child prodigy in North Carolina through her years as a classical pianist at the Julliard School to today. In the midst of one of her jazz/soul concerts Simone was known to toss off a perfect minute-long Bach Gigue or Debussy Etude. But then when Nina Simone was on stage, it wasn't just a concert, it was a happening, a visitation, a revelation, a political lesson, and a communion. This night would be no different.
She began her concert with standards: "Someone to Watch over Me," "My Baby Just Cares for Me," and "My Funny Valentine," mentioning other Jazz musicians. Then she stopped, as though receiving a communication from Beyond, and began caressing the piano keys in what I knew was the intro to her cover of "Black Is the Color of My True Love's Hair." Except tonight the opening word was extended, riffed on, scatted, moaned, and suffered through for maybe four minutes. By the time she had reached the second word, I'll bet everyone in the club understood what it meant to be a person of color in America.
Simone didn't even wait for applause but sailed into "Little Girl Blue" then "Mississippi Goddam", and "Four Women." Ending that set with her trenchant :"I Wish I Knew How it Would Feel to be Free." It had been an extraordinary journey into her and our heart of darkness. Then she was gone.
Marcel Proust --Les Temps Retrouve
from 50 Books Every Gay Person should Read
In a way, it comes back to those famous photos of the author: the deep-set eyes appearing bruised, as though from seeing far too much for his sensitivity, the complexion that even in black and white looks sallow, yellow, unhealthy to the touch. What nowadays is referred to by Fashionistas as "Heroin-Chic." My first thought was "God, what a degenerate!" Then I read a bit about his life and realized he was increasingly ill as he aged with worsening asthma that couldn't be controlled as anyone can today with an over-the-counter inhaler. No, Proust had to lie in bed, unmoving, for hours, in a cork-lined room, as dust and noise and soot and allergy-proofed as money could make it.
I first read Swann's Way in the summer of my 17th year. I would take that fat Modern Library edition of the Scott-Moncrieff translation with me everywhere that Manhattan summer. I was attending Queens College, City University of New York, a free school not then under open admissions, with a tight student body of 4500 and we had to sustain a B-average and pass a "Comprehensive Examination" to move into sophomore year. Proust, Tolstoy's stories, and Melville's novellas were on my summer reading list.
It took me about ten tries to get into the "Overture" which I finally accomplished on a sizzling August afternoon, shaded by trees at the south end of the lake at Central Park, and only once I felt utterly debilitated and gave in to Proust's endless sentences. But once "inside" the book, I didn't look back. Swann's Way was rejected by all publishers and so printed by Grasset at the author's cost. Declining it, Andre Gide commented "Too many Duchesses!" Yet, if Proust had never written anything else, he would have made it into the pantheon of great writers.
Five years later I came upon the two-volume Random House set of Remembrance of Things Past in Strand Books and I read volume two– translating the French directly –In the Shadow of Girls in Flower. It's a painterly book, impressionistic, almost purposely non-dramatic, with characters –-Marcel's grandmother, Bloch, Elstir, Vinteuil, Morel, Albertine. –- receiving a few new brushstrokes every time we meet them. Marcel's descriptions of his hotel room at sunset, while he's supposed to be napping at the seashore in Balbec, vary slightly daily, reminding me of all those Monet haystack paintings, one bluer, one more violet, one almost orange, etc.


text:
Kobe Bryant Dunks On Gerald Wallace & Kris Humphries [VIDEO]
Los Angeles Lakers guard Kobe Bryant posterized Gerald Wallace, Kris Humphries, and the Brooklyn Nets all at once with an emphatic dunk.
Los Angeles Lakers guard Kobe Bryant posterized Gerald Wallace, Kris Humphries, and the Brooklyn Nets all at once with an emphatic dunk.
Mike D'Antoni's problem as an NBA head coach isn't just a lack of defense; it's a lack of discipline.
The Los Angeles Lakers continue to struggle, as they dropped to five games below .500 with a loss to the Miami Heat last night. In a play that has encapsulated their season thus far, Dwight Howard provided us with some entertainment from the free throw line in the form of an air ball.
New York Knicks forward Carmelo Anthony dropped the hammer on Los Angeles Lakers forward Jordan Hill on Thursday night.
To say the the Los Angeles Lakers have failed to meet expectations thus far this season is a massive understatement. A team that was favored to win the Western Conference before the season started is now four games below .500 and were defeated last night by a 4-17 Cleveland Cavaliers squad after another poor defensive effort.
Naturally, this does not have Lakers head coach Mike D'Antoni in a good mood, as evidenced by this exchange with LA Times columnist T.J. Simers.
There are three types of play by play broadcasters in this world: the ones that are so boring that it's comical, the onesso excited that it's comical, and the ones that know how to get a big call just right. This guy falls into that final category.
During last night's game between the Brooklyn Nets and the Los Angeles Lakers, our esteemed leader Brian Noe recognized something that he hates about the NBA: the strategy of "Hack-a-Howard," where teams just foul Dwight Howard to put him on the foul line, because he is a horrible free throw shooter...
Los Angeles Lakers point guard Steve Nash showed off his Gangnam Style dance moves along with his new spiffy L.A. hairdo.
The Los Angeles Lakers pulled a shocker by naming Mike D'Antoni their new head coach. D'Antoni was stunned himself.
First a few words on the Lakers apparent tactics in courting Phil Jackson: Lame, weak, and disrespectful.
Now a few words on Phil Jackson's dealing with the Lakers: looks like you may have priced yourself out of a job...
If you ask me about the first thing I think of when I hear the phrase "popping bottles," it's not exactly Jim Gray. Metta World Peace might disagree.
It was a weekend filled with its fair share of upsets on the football field: Texas A&M defeating Alabama in Tuscaloosa, the Bengals and Saints won games as home underdogs against the Giants and Falcons, and the Texans won a rainy and sloppy game in Chicago. But perhaps the biggest upset of the sports weekend happened off the field, in the offices of the Staples Center in Los Angeles, as Mike D'Antoni has been named the new head coach of the Lakers instead of legendary coach Phil Jackson.


text:
iPhone apps
Skills Mixer
How easy is it really to design lessons in different parts of the school curriculum that allow learners to develop and evaluate their personal learning and thinking skills (PLTS)?This app allows you to generate random combinations of the PLTS (taken….. Read more
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text:
Are You My Fish?
By (author) Julia Vogel
Illustrated by Dr Matthew Williams
Consultant editor Gerald Brecke
Format: Hardback
Normal Price: $54.24
Your Price: $48.81 AUD, inc. GST
Shipping: $7.95 per order
You Save: $5.42! (10% off normal price)
Plus...earn $2.44 in Boomerang Bucks
Availability: Available, ships in 8-11 days
Are You My Fish? by Julia Vogel
Book Description- Further reading suggestions provided- Glossary of terms and index included- Pet facts include Veterinarian advice- Reviewed by content consultants
Buy Are You My Fish? book by Julia Vogel from Australia's Online Bookstore, Boomerang Books.
Book DetailsISBN: 9781602702448
(208mm x 196mm x 10mm)
Imprint: Magic Wagon
Publisher: Magic Wagon
Publish Date: 1-Jul-2008
Country of Publication: United States
Books By Author Julia Vogel
Tigers, Paperback (September 2016)View all books by Julia Vogel
Using their keen eyesight, amazing sense of smell, and sharp teeth and claws, tigers can stalk and kill prey twice their size. In this title, readers will learn about what makes tigers such fearsome predators, from their hunting styles to what they like to eat.
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Retail sales decline in June shows consumers are nervous
WASHINGTON – Americans cut their spending at retail businesses for a third straight month in June, as a weak job market made consumers more cautious.
Retail sales fell 0.5% in June from May, the Commerce Department said Monday. Consumers spent less on autos, furniture, appliances, on building and garden supplies and at department stores.
The drop in sales followed declines the previous two months. Retail sales haven't fallen for three straight months since the fall of 2008, the height of the financial crisis.
Some of the weakness in recent months reflects falling gasoline prices. But even excluding sales at gas stations, retail spending fell 0.3% in June from May.
Consumers are growing less confident in the economy and have pulled back sharply on spending this spring. Consumer spending drives 70% of economic activity.
Yet the Commerce Department says business inventories grew 0.3% in May from April, although total business sales fell 0.1% in May.
Total stockpiles rose to $1.58 trillion in May — nearly 20% higher than the low point in September 2009, shortly after the recession ended. When businesses step up restocking, they order more goods. That generally leads to increased factory production and higher economic growth.
But stockpile growth largely depends on the spending habits of U.S. consumers. Americans have reduced their spending at retail businesses for three straight months, constrained by weak job creation and paltry wage increases.
The economy is expanding too slowly to lower the unemployment rate, which stayed at 8.2% in June.
Employers have created an average of just 75,000 jobs a month in the April-June quarter — a third of the monthly job growth during the previous three months. And wages and salaries have barely increased, keeping budgets tight for those Americans who have jobs.
Perhaps the only good news is that gas prices have come down nearly 50 cents a gallon since peaking at a national average near $4 in April. Still, that hasn't been enough to get Americans shopping, and gas prices recently have begun to creep back up.
Early reports from the nation's largest retail chains pointed to a weaker month of spending in June.
Costco reported sales for June fell below expectations as did Target and Macy's. Limited Brands, however, was one bright spot, reporting sales in June that surpassed predictions.
The nation's auto dealers are reporting better sales. Sales of new vehicles soared in June. Automakers reporting selling nearly 1.3 million cars and trucks last month, up 22% from the same month a year ago.
Posted | Updated


text:
- Affiliations:
1 Department of Informatics, Copenhagen Business School
2 unknown
3 Department of Operations Management, Copenhagen Business School
- Subtitle:
- Is the Personal Software Process Working?
- Abstract:
- Emerging agile software development methods are people oriented development approaches to be used by the software industry. The personal software process (PSP) is an accepted method for improving the capabilities of a single software engineer. Five original hypotheses regarding the impact of the PSP to individual performance are tested. Data is obtained from 58 computer science students in three university courses on the master level, which were held in two different educational institutions in Finland and Denmark. Statistical data treatment shows that the use of PSP did not improve size and time estimation skills but that the productivity did not decrease and the resulting product quality was improved. The implications of these findings are briefly addressed.
- Type:
- Conference paper
- Language:
- English
- Published in:
- Proceedings of the 4th International Conference on Product Focused Software Process Improvement (profes 2002), Workshop on Empirical Studies in Software Engineering, Rovaniemi, Finland, 2002
- Keywords:
- Softwareudvikling; Kompetenceudvikling; PSP; Personal software process
- Main Research Area:
- Social science
- Publication Status:
- Published
- Review type:
- Peer Review
- Conference:
- The 4th International Conference on Product Focused Software Process Improvement (PROFES 2002), Workshop on empirical studies in software engineering
- Submission year:
- 2002
- Scientific Level:
- Scientific
- 2185935808


text:
Polar Air Conditioner Repair Corp | Air Conditioner Services in Hollywood FL
ac repairs
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Hi Everyone,
We currently live next to Partnachplatz (U6),5 min. on foot to the beautiful West Park, only 10 minutes by U Bahn to the center, paying Protected content for a really great 42 qm flat (terrace with a very nice view to the West Park, a tiny Kitchen, a bath and a Keller). The flat is in a nice location and it takes only 5 minutes on foot to go to the West Park where there is a beutiful lake and sport activities.
We are interested in flat EXCHANGE, with a person interested in switching apartments with us. We are looking for a place that fulfills these conditions:
1. Rent no more than Protected content Warm2. 2 Rooms min, 50qm min, Balcony would be a great plus3. Separate Kitchen4. Relatively close to the center 5. Entry date is quite flexible, preferably August/September or later
Please do not make contact if you do not have a suitable apartment to offer in exchange.