text:
So, this has taken a long time to come together, but it is actually a follow up from Darkness and Light (which you may have guessed from the title).
Disclaimer: Oh how I wish I could lay claim to these awesome hotties... sadly, I can't.
He'd tried not to think about it. Honestly, he had. But she'd kissed him, and then she'd said she wanted to be tied up, and really, who cares if it was all an act – there were images in his head now that he was pretty damn sure nothing was ever going to shift.
Emily was in bed, and a glance at the clock told him it was gone midnight. Of course he shouldn't go and see Foster. What was he going to say? Hey, how are you? By the way, I can't stop thinking about having sex with you, can I come in for a cuppa?
He finished the dishes. He drank a beer. He tried watching some TV. But words were rolling around in his head, the memory of her lips pressed against his would not go, and he had to hear her voice, even if he couldn't see her right now. He picked up the phone, pressing the number of her speed dial, and waited. Then he remembered it was nearly 1am, and he almost hung up when she answered.
"Hey..." He swallowed. "I'm sorry..."
"Are you okay?"
He smiled at the concern he heard in her voice. "Yeah, I'm fine. I just... I was just ringing to say goodnight, really."
"At 1am? Cal, 'night' for me was about three hours ago."
He smiled. "Yeah... sorry about that."
"Are you really okay?"
"Yeah." He lay down on the couch as he spoke. "I just wanted to talk to you."
"Okay. So let's talk."
"Nah... it's late. I'll let you get back to bed." Just saying those words brought the images flooding back to him, and he realised she was probably talking to him right now while in bed.
"It's okay... Friday, remember? No work tomorrow."
He smiled. "Yeah."
"So...?" He could hear faint laughter in her voice, and realised she was waiting for him to explain why he felt the need to talk to her at one o'clock in the morning.
"I just... wanted to see how you were doing, you know? You okay?" It was lame, and he could tell from the slight pause before she answered that she didn't believe a word of it.
"I'm fine, Cal." There was also a trace of amusement in her voice – god, did she know why he was really calling?
"I'll let you get some sleep," he said lightly. "I'm pretty exhausted myself. Long day."
"Wasn't it just," she agreed, matching his tone, but there was something else there that he caught but couldn't quite detect... she was the expert in speech patterns, after all.
"Night, love."
"Goodnight, Cal."
He hung up the phone, and eventually dragged his body upstairs. Twenty minutes later he collapsed into bed, determined not to think about the kiss anymore. Get over it, Cal, he told himself. Nothing's ever going to happen. Just forget it.
And then he had the dream.
He awoke suddenly, the image that had been flashing through his mind as he slept still firmly imprinted on his brain. They were in his office, on his desk to be precise. She had her hands tied behind her back and her legs wrapped around him and fuck she felt amazing. Waking up was pure torture.
Today, he thought, was definitely a morning for a cold shower.
It was almost 8pm when he finally made the decision. He'd spent most of the day helping Emily with one of her assignments, but she'd gone to Zoe's where she was staying the night, and he was left alone. There was nothing on TV, he'd picked up his book and put it down again about thirty times, and he didn't feel like going out alone. There was only one thing, really, that he felt like doing, and that was spending time with Gillian. The problem was, ever since that damn kiss, he'd only been able to think of her in a sexual way. Of course, he'd always fancied her – what man didn't? She was utterly gorgeous, and so totally unaware of it, too, which only added to her beauty. So, yes, he'd always been attracted to her. But their friendship consisted of more than just that – he cared about her, he respected her, he bloody well loved her, really, if he was honest – but now all that was on his mind was the feel of her mouth on his, her hand gently stroking his cheek, and how it felt, (although only in his dream), to be inside her.
He wanted to see her, wanted to reassure himself that their friendship could survive this. His crush on her had been intensified by the kiss, that was all, he reasoned as he pulled the car out of the drive. It didn't mean their friendship was ruined. Of course not. But he had to make sure.
Arriving at her house, he knocked lightly on the door, wondering briefly if she was even in at all. He let out a sigh of relief when he saw her figure approaching, and when she opened the door she met him with an easy smile.
"Hey yourself," he replied, his gaze flicking over her quickly. Jeans and a dark pink shirt, hair pulled back in a loose ponytail, no makeup. She looked relaxed and comfortable and so insanely beautiful it made him almost forget how to speak. "I, er..."
"Come in." She held the door open wide and he stepped inside, trying to regain coherent speech.
"I just thought I'd come and see you... you know, see if you were... I don't know." He almost wanted to laugh at how ridiculous he sounded. "I was alone, you see, and I thought..."
"That I would be too?" she enquired lightly as she closed the door and followed him into the living room.
"What? No! No, I didn't mean..."
She laughed. "It's okay, Cal. Sit. You want a drink?"
"Love one," he replied, but instead of sitting followed her into the kitchen. He watched as she pulled two wine glasses from the cupboard, then retrieved a bottle from the fridge.
As if sensing his eyes on her, she turned as she was pouring it and gave him an amused smile. "Something on your mind?"
"You," he answered honestly, and saw her eyebrows raise in surprise.
"Yeah. You." He reached forward and took the glass she proffered, sipping it as he watched her eyes scan his face.
"Why?" she asked at last, taking a sip from her own glass, and he exhaled slowly. Setting his glass down on the unit, he looked at her and said, "Because ever since you kissed me, I haven't been able to get it out of my mind, that's why."
She swallowed, her fingers tracing the rim of her glass. "Really?" she whispered, and her eyes darted up to meet his. "Because I've sort of had the same problem."
Now it was his turn to look surprised. "You've been thinking about it too?"
"Cal." She gave a nervous laugh. "I haven't been able to stop thinking about it. In fact, when you called last night I was right in the middle of thinking about it... a lot."
He just gaped at her, and she laughed at the look of complete shock and bewilderment on his face. "I... you... wait a minute," he said. "You're telling me you haven't stopped thinking about it. Do you mean you want to... to..." He gestured between them.
"Do I want to what, Cal?" she teased, putting her glass on the unit behind her. "Kiss you again?"
"Yeah," he breathed, watching her face closely.
"Do you?"
"What do you think?" he asked incredulously. "I've been thinking about kissing you for the last thirty six hours. Of course I want to do it again. And more besides."
She bit her lip, and he wondered if he'd gone too far; perhaps all she really wanted was a kiss, and nothing more. Perhaps she was having second thoughts, perhaps she'd just realised that this was going to change their relationship and that they shouldn't risk it and...
His thoughts were cut off abruptly when she quickly closed the distance between them and wrapped her arms around his neck. Her mouth was on his, her lips pressed against his and then, when he registered what was happening and could force his body to respond, he opened his mouth to hers and felt her tongue delve inside. God she tasted amazing, even better than she had yesterday, and the way her arms were around him and her hands were sliding over his shoulders was making him lose control way too fast.
He gripped her shoulders tightly and walked her backwards, into the living room. He was heading for the couch but then she moaned against his mouth and he realised he couldn't wait another second. He pushed her against the wall, concern etched across his face as he heard the thud of her body connecting with the hard surface.
"Sorry," he murmured, kissing her neck.
"Don't be sorry," she gasped, pulling his head back so he could see her face, read her. "I like it. I like that you want me so much."
He growled at her response, his lips attacking her hungrily. He used his hands to grasp her wrists and hold them above her head; the moan she elicited was enough to give him a clue as to how she felt about that, but he wanted to be sure. Pulling back again, she whimpered in disappointment at the loss of his lips on hers, but her eyes were so dark with arousal it made him painfully hard. He swallowed. "You sure about this, love?"
"Yes." She struggled against his grip and he instantly let her go, not wanting to hurt her.
"No, Cal," she whispered. "Don't stop. Even if I try and get away."
He looked at her doubtfully. It wasn't the first time he'd experimented with things like this in his sex life, but Gillian's sweetness, her innocence, seemed to prevent him from truly believing she was happy to partake in this. Of course, part of him had always imagined she had a kinky, wild side to her... but that was more wishful thinking than logical assessment.
"You know, we don't have to do this..." His lips were close to her ear, his breath ticking her face. "If it's too soon, we can wait... or if, you know, you don't want this at all..."
She turned her head sharply and kissed his cheek; when he turned more fully towards her she captured his lips with her own again. "I want this. I want you. Now."
He felt his pulse quicken at her words and the tone of her voice, but had to make sure. There was no way in hell he was going to do something to screw up the best relationship he'd ever had. "You sure, love?"
"Yes," she breathed, her eyes flicking between his eyes and his lips. "What I told you yesterday... about my fantasy..."
He felt his breath catch in his throat as her eyes darkened even more, and he released her wrists as he waited for her to continue speaking. She quickly transferred her now-free hands to his chest, rubbing in circles and giving him a sultry smile that almost brought him off right there and then. "Yes, love?" he managed, and there it was, that smile again.
"I meant it," she whispered, and he moved one hand to her hip, the other he used to lightly stroke along her jawline.
"You've always wanted to be tied up?"
"Mm hmm..."
She sounded so sexy, so unbelievably sexy, but he couldn't stop the doubt creeping into his mind, the concern that this wasn't right, somehow, not for her. "Stop it," she commanded suddenly, and he looked at her in confusion.
"Stop doubting whether I really want this. Stop thinking that you're going to corrupt me or something with your bad boy ways." His mouth curved slightly at the sound of her calling him a bad boy, and she smiled in return. "I know you want this, Cal. I can see it in your eyes... you want to tie me up. So do it."
"I don't want to hurt you," he confessed. "In any way. I don't want to take things too far, I don't want to mess things up..."
"We'll have a safe word," she interrupted, her eyes locked on his. "In case I do want you to stop. Although I'm sure I won't," she purred, and he felt his cock stirring in response yet again to her words, and that look in her eyes. And the fact that the woman he'd fantasised about shagging for years was begging him to restrain her and fuck her senseless. Even his wildest fantasies hadn't allowed for that possibility.
"Okay," he said, amazed she knew about things such as safe words. She'd obviously never done this before – sex with Alec, he supposed, had been rather boring. But clearly there was a wilder side to her that her mundane husband couldn't satisfy. But I can. Cal licked his lips. If there was anyone to bring out that side of her, to satisfy those needs... it was him. He was experienced, he knew just how to make a woman happy, and he'd never been more turned on by a woman than he was by Gillian Foster. Add to that the fact that he was madly in love with her, and he reckoned it was practically criminal that they hadn't slept together sooner.
"How about..." her eyes lit up the way they always did when she was talking about food or Christmas or puppies. "Cheesecake?"
He laughed. "Alright, darling. Cheesecake it is." He kissed her again, trailing his hands up her arms and taking her wrists in his hands again. She moaned and ground her hips against his, desperate for more contact. When he dragged his lips from hers and met her eyes, he was pleased to see there wasn't any doubt on her face – just pure lust, and need.
"Bed," he ordered, releasing her wrists, and she darted to the side and bounded up the stairs two at a time. He couldn't help but laugh – and be turned on as hell.
He ran up the stairs behind her, although she'd already reached the top before he started on the first one. He caught up with her in the bedroom and tugged at her arm, pulling her back towards him in another passionate kiss.
"Tie me up," she gasped when she pulled away.
He swallowed. "Gill..."
"I told you it was what I wanted, Cal. And didn't you admit to having dreamt about tying me up?" She gave him a playful grin that he couldn't help returning, even if he still had reservations. She read his doubt, and frowned. "Come on, Cal. Trust me. I want this." She hesitated. "Or are you having doubts about you and me..." She trailed off, and he quickly jumped in.
"No, love. Hell no. I want this. I want you," he said, gripping her shoulders tightly, then letting his hands trail up into her hair. He pulled the hairband off, dropping it to the floor, and ran his fingers through her hair. She relaxed in his arms, closing her eyes as she felt his fingers slide along her scalp.
"Mmm. That feels good."
"I can make you feel good without tying you up, Gill."
She opened her eyes. "I have no doubt."
"I want this. Don't you?"
"Darling... you know I want you. And like this..." He swallowed. "Believe me, I want this too. But I don't just want this. I don't want you to think that I only want you for kinky, bondage sex. Because I'm certain than any kind of sex with you would be bloody fantastic." She shot him a dazzling smile. "But this, you know... being tied up, it requires a lot of trust, and maybe it's not right for our first time together."
"Cal." She sat back on the bed, pulling him with her. "I want you. I trust you, completely. And I want this. With you. Now. I know every time won't be like this – I don't want every time to be like this, because I'm pretty sure that regular sex with you will be 'bloody fantastic'." He grinned. "But right now... this is what I want. This is what I need. So please." She read his reaction to her words, and reached out to caress his cheek lightly. "Please, Cal," she murmured, seeing the way it aroused him to hear her beg. "Please. Tie me up. And take me."
"Clothes," he managed to ground out with difficulty. "Off. Now."
She smiled seductively. "Gonna help me with that?"
She'd barely finished the sentence when his hands and mouth were on her; hands pulling her jeans down, teeth nipping and biting at her neck. When he'd removed her jeans and she'd kicked off her shoes he set to work on her blouse, tugging it open and ripping it from her skin. She gasped as she felt his cool fingers against her skin, and the urgency with which he removed her clothes left her breathless. She'd never been this desperate for a man in her life. Never felt such a rush of adrenaline, never been so excited, so exhilarated. She figured she should be at least partly nervous – sex with someone new was sometimes awkward and embarrassing. A new body to navigate, new responses to calculate – does he like this? Does he like that? And of course, the inevitable will he know what I want? With Cal, she could already tell she wouldn't have to worry about that. He knew her, knew her better than she knew herself, and the fact that he could read every emotion that flickered across her face left her in no doubt whatsoever that he would be a fantastic lover.
Within seconds he'd stripped her down to just her underwear. Admiring the matching black lace for a moment, he slid her bra straps off her arms and reached behind her to unclasp it, tugging it off her and throwing it across the room.
He wanted to touch her right now, wanted to taste every inch of her creamy skin, but she'd made a request, and he was damn well going to comply.
"Got a scarf, love?" His voice was low and seductive, and she couldn't resist lifting her body off the bed and kissing him again before replying.
"Third drawer down." She nodded her head in the direction of the dresser, and he jumped off the bed and opened the drawer she'd referred to. Selecting a deep purple scarf, he ran it through his hands before turning and walking back to the bed. He'd used scarves like this before – they were better than handcuffs, in many ways. More comfortable, for one thing, and not quite as restrictive – definitely best for the first time doing something like this.
He knelt on the bed, his legs on either side of her, and gently pulled her wrists together and over her head. She shivered in anticipation, and he glanced at her quickly to make sure she was okay. Seeing only pleasure and excitement on her face he continued, expertly using the scarf to secure her hands to the bed post. When he'd finished, he sat back and looked at her, noticing the blush on her face and chest, wondering how it was possible that she now looked even more gorgeous. If she got any hotter, she'd probably kill him.
She took a shaky breath as she tugged lightly at the scarf. He opened his mouth, and she knew he was going to ask her if she was ok. "Don't," she whispered, and her voice and the arousal he saw in her eyes was enough to convince him that she really did want to do this.
He touched a finger to her lips, stroking lightly. She darted her tongue out to taste him, and he slowly lowered his now wet finger down her neck and throat. His hands fell lower, caressing her breasts and ghosting over her nipples, eliciting a quiet whimper from her. He shifted further back on the bed, transferring his hands to her legs. "You know..." He traced his fingertips along her thighs, his touch so light it made her shiver. "Now I've got you all tied up, I could prolong your release for as long as I want."
Her wanton moan ratcheted his desire up even higher, and he grinned when he heard her start to beg him again, barely audible, and oh so sexy. "Please, Cal..."
"Please what?" He increased the pressure of his hands, rubbing further up her legs, then pulling away.
"Please take me, now. I want to feel you inside me."
"I've waited years for this, Gill. I can wait a bit longer. Can you?"
"No." She was wriggling beneath his hands, moving as much as her restrictions would allow, pushing her hips off the bed in desperate need of more contact.
He licked his lips appreciatively as he looked down at her, his grin widening at the sight of her squirming and writhing beneath him. "You're so bloody gorgeous," he murmured, trailing a line of kisses across her stomach and chest. "I just want to run my tongue over every inch of your body..." He felt her quivering beneath him, and continued the ministrations of his tongue. "I could spend hours just licking you all over."
She moaned, and he pressed his lips firmly onto hers, pushing his tongue inside. She returned the kiss, struggling against the scarf that tied her hands, desperate to touch him, run her hands all over his body. He felt her struggling and pulled his mouth away from hers. Instead of questioning her this time, though, he gave her a feral grin. "Want to touch me, don't you?" She whimpered, nodding her head. "Say it." He took her bottom lip between his teeth, sucking it lightly then releasing. "Tell me what you want."
"I want..." Her tongue darted out to moisten her lips, and his eyes followed the movement. "I want you to touch me. I want your hands on me, and your tongue. I want to feel you inside me. And I can't..." She let out another moan as he ran his fingers through her hair. "I can't wait any longer."
"Patience is a virtue, darling."
She let out a laugh, although it was a little strained. "And you're a patient person, are you?"
"Mmm," he murmured, his fingers dancing up her arms as he sucked the pulse point on her neck. "I've waited years for you. Years." He pulled back to look at her with a smile that made her heart thump even louder in her chest. "I'm pretty sure that counts as patient."
"You've wanted me for years?"
"Yep." His kisses trailed down her throat, alternating between gentle bites and licks, and Gillian tried to form coherent words; difficult, when coherent thought seemed to be beyond her.
"Shirt..." she managed, and he sat up to look at her.
"What about my shirt?" he teased.
"Off," she whimpered. "Please."
He sat back and slowly began unbuttoning his shirt. The way her eyes darkened and her breathing quickened at this action made his own pulse quicken. The thought that this beautiful, amazing woman could be turned on by him was just too incredible to believe. He pulled the shirt off, tossing it to the side, and placed his arms on either side of her head. "Like what you see, love?"
"Yes." She turned her head quickly, pressing a kiss to his forearm. "Your arms are so sexy."
"Just my arms?" he teased.
"Well, I haven't seen much else to judge," she came back with quickly, and he laughed.
He leant forward, pressing his bare chest against her, then swung his leg over so he could stand up at the side of the bed. She turned her head, watching him as he lowered his jeans. He pulled off his shoes and socks, removed his jeans completely, then stopped.
"Keep going," she whispered, and he grinned.
"You're still wearing your underwear, why shouldn't I wear mine?"
"You're evil." She wriggled on the bed, giving him her best puppy dog eyes and pout. "Take mine off then. And then yours."
"Sounds like a plan, darling." He slid his hands up her thighs, marvelling at the smoothness and softness of her skin, then hooked his fingers into her underwear. With excruciating slowness he pulled them off, dropping them to the floor and taking a moment to admire her perfect naked body. "Stunning, you are. You know that? Stunning." He brushed his hand against the inside of her thigh and she spread her legs wider, causing him to grin.
"Desperate for it, aren't you?" He inched his hand closer to her centre, running his finger lightly through her folds. She gasped and bucked her hips against him.
"Underwear... off... first," she panted, and he laughed. Withdrawing his hand he stood and did as she asked, hardening even more at the look in her eyes as she took in his fully naked form for the first time.
"Now I can see everything to judge," she said, her eyes sweeping up and down his body. "And I concur with my earlier assessment. Sexy as hell."
"Good to know." He returned his hands to her body, stroking over her stomach and between her legs. She moaned when she felt him press a finger inside her, then another, and furiously began pulling against her restraints. She didn't want to be released – god knows, being tied up like this was heightening her arousal even more than she'd predicted – but she was desperate to feel him and touch every inch of his skin. It also turned her on to be struggling against the restraints – and she knew it turned him on just as much as well.
He curled his fingers inside her then stroked her clit with his thumb, and she thought she might just pass out from the feel of it. He continued to pump his fingers inside her, watching her face awash with pleasure, and then, all too soon, he withdrew his hand, causing a wretched moan from her.
"We'll do this my way." He grabbed her face in his hands, more roughly than before, but it only stoked her desire higher. Tilting her face towards his, he nipped her bottom lip lightly with his teeth. He positioned himself over her, moving his hands to the bed to support himself. She could feel him, tantalizingly close, and angled her hips to try and get him inside her. He pulled back, grinning at her wickedly. "Didn't I try and teach you patience, love?"
"I have... been... patient..." She tugged at the scarf tying her to the bed, and Cal raised his eyebrows at the strength she showed when the headboard began to move.
"Impressive, love."
"I need to feel you inside me. Now," she pleaded, then cried out in pleasure when he acquiesced. He slid in slowly, and they both groaned at the tightness. He inched in, more and more until he was inside her completely, and Gillian thought it was the most intense pleasure she'd ever felt. And then he started to move.
Slow and deep at first, each thrust sending waves of pleasure through her body. Then he started to increase his rhythm, and she was climbing higher and higher. When was the last time a man had made her feel like this? Touched her so perfectly? Looked at her as though no one else in the world existed, for either of them? Never, she thought. Never.
Suddenly he halted his movements, and Gillian let out a strangled cry as she moved against him, furiously seeking more contact. "Don't stop!" She could tell from the look on his face that he was struggling to hold back, but he did. He used his hands to trace over her stomach, his touch feather light, then up to her breasts and her neck. "Cal," she begged, rocking her hips against him. "Please, don't stop, don't stop, don't stop..." He leant forward, and the feel of him, still inside her but not moving, was beyond torture. He bit her neck, swiping his tongue across the tingling flesh and moved his mouth to her ear. "Patience is a virtue," he whispered, then suddenly he was moving again, thrusting harder and faster than before. He pulled her leg up over his hip, driving himself deeper into her, and she heard her scream echo around the room as he continued to pound into her. She'd never been this vocal during sex – had a man ever made her scream before? He reached between them and began stroking her clit again, and she jolted and shuddered beneath him. His other hand he switched to her breast, massaging it and teasing her nipple between his fingers.
"Cal..." The sound of his name sent him even closer to his own release, and when she kept repeating it, over and over, he found his control slipping. He leant down and swept his tongue across her lips and into her mouth and it was all just too much. His tongue, his hands, his cock hammering into her... the sensations were unbelievable and she knew she couldn't hold on any longer. She broke away with a gasp and threw her head back as the orgasm washed over her in waves.
He felt her muscles contracting around him and couldn't hold off any longer. Moving his hands to the bed to support himself, he leant over her, fucking her harder than before as he rode out his climax, crying out her name as he came.
When he was finally spent he collapsed against her, then rolled to the side so as not to crush her. Neither spoke for a few moments as they waited for their breathing to return to normal, but he moved his hand so it was resting on her stomach and shuffled up so his body was against hers. Not touching her just didn't seem like an option right now.
"Wow," she said at last.
"Wow indeed," he replied, pressing a kiss to her shoulder. He sat up, his eyes fixed on the scarf that still held her to the bed. "Want me to get that for you?"
She laughed softly. "Yes please."
Slowly and tenderly he untied the scarf, pulling it away from her wrists. As soon as she was free she flung her arms around his neck, dragging his lips towards her and kissing him passionately. Momentarily taken by surprise, he quickly returned the kiss, stroking his hands down her back.
"I wanted to touch you so much," she murmured. "And now I can." She scratched her nails down his chest, nuzzling his neck as she crawled on top of him. He could feel her warmth and wetness against his leg, and wrapped an arm around her to hold her in place.
"You can indeed. Any time you want, love."
"So. Was this..." She placed quick kisses to his chest in between every word, "as good as your fantasies?"
"Even better than my fantasies. And you know, that's saying something. Because I have a very vivid imagination." She smiled and continued to kiss her way up his chest, brushing her lips teasingly against his. "What about you?" he asked. "You've always wanted to be tied up... was it as good as you'd hoped?"
"Better," she purred. "Better than anything I'd ever imagined, even with you. And I knew it would be good with you."
He couldn't quell the feeling of pride at her words, and the euphoric feeling of knowing that he was the one who'd just given her so much pleasure. "Same here, love," he told her honestly. "You are... amazing."
"So," she purred, her lips close to his ear. "Next time..."
He caught her face in his hands and kissed her deeply, a grin spreading across her face. "Next time, what?" he asked when they broke away, and she gave him a sultry smile.
"Next time... I'm tying you up."
He grinned at her. "Can't wait, love."
"Well, you'll have to." She rubbed herself against him, moaning in just the way she knew turned him on the most. "Didn't you know..." She met his eyes with a smirk. "Patience is a virtue."


text:
4 Bedrooms Detached House for sale
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subset: commoncrawl


text:
Due to various events it seems like my knitting has slowed down a bit. But here are 3 FO's.
The February Baby Sweater, two Linoleum Dishcloths (thanks to Auburnchick for inspiring me to make these). And some plain socks in sparkly stripey yarn.
More details on my Ravelry page. http://www.ravelry.com/projects/newamy
Thanks for looking!
Great work! You are a very versatile knitter! Socks, clothing, and household things! Yay! You've got me beat! I've never knit even one sock, never cast on, never even got close. However, I got some sock yarn in a swap back a few years ago!
Very nice! I really like your color choices.
You've been busy, and everything looks great. I'm going to have to check out those dishcloths on Ravelry!
Beautiful things! Love the February baby sweater especially!
Very nice work! :yay:
Great job! Beautiful sweater, neat dishcloths and love the socks! (I've been wanting to try that dishcloth pattern too.)


text:
"In recent weeks, the U.S. stock market has been characterized by an overvalued, overbought, overbullish, rising-yields syndrome that has historically been hostile to stocks. Last week, the situation became much more pointed. Past instances have been associated with such uniformly negative outcomes that the current situation has to be accompanied by the word "warning."
"The following set of conditions is one way to capture the basic "overvalued, overbought, overbullish, rising-yields" syndrome:
1) S&P 500 more than 8% above its 52 week (exponential) average
2) S&P 500 more than 50% above its 4-year low
3) Shiller P/E greater than 18
4) 10-year Treasury yield higher than 6 months earlier
5) Advisory bullishness > 47%, with bearishness < 27% (Investor's Intelligence)"
Continue Reading: http://www.hussmanfunds.com/wmc/wmc101213.htm
Hussman On The Overvalued, Overbought, Rising-Yields Syndrome
12/13/2010 03:40:00 AM | via @Dvolatility |
From John Hussman's most recent Weekly Market Comment titled "Warning - An Updated Who's Who of Awful Times to Invest" (HussmanFunds.com). I agree, the market is overvalued.
Posted by D Volatility


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Wine Dinners
We arrange wine dinners hosted by Masters of Wine, Winemakers and Wine Enthusiasts.
Join us for another great evening...
Déthune & Cuilleron Wine Dinner at
Hosted by Owners
Sophie Déthune from Champagne Paul Déthune
Yves Cuilleron from Cave Yves Cuilleron
Monday 27th March 2017
Time: 6:30 pm for Aperitif; Dinner at 7 pm
Menu & Wines
Champagne Brut Grand Cru Ambonnay NV
Introduction by Sophie Déthune
A Pairing of Brut and Rosé Champagnes
Prestige Princesse des Thunes NV
Champagne Brut Rosé Grand Cru NV
Chausson de Poulet Label Rouge aux Poireaux Truffes, Sauce Suprême
Free Range Label Rouge Chicken and Truffled Leeks
Baked in Puff Pastry, Chicken Suprême Sauce
Followed by an Introduction by Yves Cuilleron on his Wines
Condrieu La Petite Côte 2015
Quenelle de Brochet, Sauce de Homard
Lyonnais Pike Quenelle, Lobster Sauce
Côte Rôtie Terres Sombres 2012
Filet de Bœuf à la Moëlle, Jus
Fillet of Beef, Bone Marrow and Beef Sauce,
Seasonal Vegetables and Pomme d'Arphin
St. Joseph Amarybelle 2013
Assiette de Fromages
St. Marcellin, Beaufort and Tomme de Savoie
Café Gourmand
Champagne Paul Déthune, Ambonnay Grand Cru
Champagne Paul Déthune's winery and vineyard are located in the village of Ambonnay en Champagne. This terroir bears the appellation of Grand Cru excellence (only 17 communes have this honour) and its reputation is based on a unique expression of Pinot Noir, pleasantly combined with Chardonnay, the white varietal of Champagne.
The Déthunes started as growers in the early 1800s and began to make their own Champagne in the 1930s. The vineyards are planted in the ratio of 70% Pinot Noir to 30% Chardonnay and are farmed on organic principles - and hold the highest level HEV (High Environmental Value) certificate for sustainable viticulture. The Champagnes are vinified in a mix of stainless steel cuves, foudres and 205 litre barrels, the oak all being sourced from local forests.
Their wines are deep, rich and full, but with lovely freshness and elegance. These are all very fine mouthfilling wines and as Michael Edwards says, "Pierre Déthune intelligently adopts tradition to craft wines of exuberance and vinosity."
Cave Yves Cuilleron, Verlieu, Chavanay
The Cuilleron family Domaine, located in the hamlet of Verlieu was founded in 1920. Yves Cuilleron's grandfather was the first to bottle wine for commercial purposes in 1947. Yves assumed full ownership and direction of the domaine in 1987 and, since that time, has built an entirely new facility while at the same time acquiring additional vineyard property. The Domaine is now larger in scope that covers multiple appellations, including principally, Condrieu, Saint Joseph Rouge and Blanc, Cote Rotie, Saint Péray and a series of Vin de Pays.
Most of the vineyards are situated in and around the commune of Chavanay which is just south of the town of Condrieu; the holdings in Cote Rotie extend north into Ampuis and the holdings the furthest south are in the village of Saint Péray. A large majority of the vineyards are set on terraces which makes most mechanization difficult, if not impossible. Thus, much of the vineyard work continues to be done by hand. To control yields, Cuilleron does extensive debudding and, when necessary, practices a "green harvest."
To book spaces, please contact us on
020 7713 0107
or email us at
Please note that full payment is required at time of booking


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(noun) The old men who walk around public locker rooms in the nude with their saggy ball sacks all over. Plural form: Saggies
Pool Goer 1: yo did you see that saggy? His sack was dragging on the floor.
Pool Goer 2: yeah yo this steam room is like a breeding ground for saggies.
Pool Goer 2: yeah yo this steam room is like a breeding ground for saggies.
by lord farkwad May 01, 2008
Cleveland Steamer Plush
The vengeful act of crapping on a lover's chest while they sleep.Buy the plush
by lineyt January 27, 2008
i like saggy boobs so seksheeee
by mudda fugggaa April 23, 2003
An extremely homosexual person
You're such a saggy
by sean December 12, 2003
Saggy means to have a sad look as in the ends of your mouth are frowning downwards creating a sag in your facial expression.
by McLovin'14 March 27, 2015
The Urban Dictionary Mug
One side has the word, one side has the definition. Microwave and dishwasher safe. Lotsa space for your liquids.Buy the mug
by Billybob...jr April 20, 2017


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Let us know when your receive great advice so we can thank our lawyers and point others with similar questions in the right direction.Got it!
I am involved in a no fault case against a liable defendant who has not responded to the lawsuit my lawyer has filed. My lawyer informed me that it is a possibility that the lawsuit will get a default judgment. I'm not too sure if that will harm or help my case.
After default is entered, they will proceed to get a default judgement and levy on the Defendant's assets. Also, if defendant wishes to challenge, he could apply to the court to vacate the default and contest any claims in a lawsuit. Hire an attorney.
Do NOT rely on this answer as the information provided here is not legal advice nor is it a substitute for legal advice which requires a consultation with a lawyer. This response does not create an attorney-client relationship.Ask a similar question
you should be asking these questions to the attorney that you Hired.
Attorney answers to questions are for general purposes only and do not establish an attorney-client relationship. There are always specific facts that are important for an attorney to review before providing advice to a Client. In no way should you rely on the response provided herein to conduct your legal affairs on your own. You should always hire an attorney before you rely on advice provided.Ask a similar question
Your lawyer should do the research to see "which" insurance company insured the defendant and serve them accordingly. In most cases, there is no benefit to a "default judgment" because that may simply mean that the person doesn't care that they've been sued because they have no assets. If there is no insurance and the person has no assets, then you have a very nice piece of paper saying "you won".
This is not to be considered legal advice and is intended for educational/research purposes only. It does not constitute any kind of agreement for legal services between any parties. It is understood that the answers/consequences may change based on additional facts and/or circumstances not provided; and that the answers are solely to be used as general guidelines and research tools.Ask a similar question
Post a free question on our public forum.Ask a Question
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Senior Center hosts annual plant sale
Senior Center hosts annual plant sale
Shoppers with visions of vine-ripened tomatoes will have a chance to start their taste of summer with a plant.
Thursday, May 10, marks the first day of the Lakes Area Senior Activity Center's annual plant sale, which continues Friday and Saturday.
Tomato varieties include celebrity, beefy boy, early girl, beefsteak, Rutger, yellow jubilee, Amana, super sweet, roma and grape tomatoes.
The sale also includes pepper plants like California wonder, yellow banana, king Arthur, big bertha, jalapeno, yellow bell, sweet red and sweet banana.
For herb garden enthusiasts, the sale features sweet basil, chives and garlic, mint, oregano, thyme, tarragon and parsley.
Raspberries, strawberries and rhubarb are included along with fruit trees, perennial flowers, hostas, flower bulbs, and annual flowers.
The sale is 7 a.m. to 5 p.m. on Thursday and Friday and 8 a.m. to 3 p.m. Saturday.


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One woman undertakes a worldwide search to learn the secrets of a great marriage - and finds one foundational truth that could change everything.
Fawn Weaver was a happily married woman running a successful business - and then something happened. Maybe it was divorce-rate reports on the evening news, The Real Housewives of Orange County, or any daytime talk show on which husbands and wives dramatically reveal their betrayals. Everywhere she looked, Fawn saw negative portrayals of marriage dominating the airwaves and dooming everyone to failure.
Looking at Keith, the love of her life, she knew that wasn't true. She was determined to find and connect with women just like her: happy and optimistic about marriage, deeply in love with their spouses, and committed to building a strong marriage that stands the test of time. On a whim, she started the blog HappyWivesClub.com and sent the link to a few of her new friends. What started as a casual invitation to five women exploded into an international online club with 150,000 members in more than 100 countries.
Happy Wives Club is Fawn's journey across the world to meet her friends and discover what makes their marriages great. Join her on this exciting, exotic trip across six continents and through more than 18 cities. Walk the streets of Mauritius, the historic ruins in Italy, and the vistas of New Zealand and Australia. Go from Cape Town to London, Manila to Buenos Aires, Winnipeg to Zagreb. Along the way, you will meet everyday women whose marriage secrets span cultures. You will hear their stories, witness their love, and be inspired by the proof that happy, healthy marriages do exist - and yours can be one of them!
It turns out great marriages are all around us - when we look for them. Go on a trip with Fawn and learn the best marriage secrets the world has to offer.
©2014 Thomas Nelson (P)2014 Thomas Nelson
There are no listener reviews for this title yet.
"narration is unbearable"
narration is absolutely terrible when Fawn reaches america del sur. Por que Fawn? Why Fawn?
this lady travels the world sans accent, yet once she begins her narration en espanol, she over exaggerates her accent. worst yet it is an accent from spain or Barstthhlona accent.
Personally she spends too much time on her vacation over the interviews given she is new to marraige and sans children. focus on the success stories... not the food...
her fake accent
not scientific at all... this book is cute, meandering musings about marriage. I like more scientific information but this was strictly "uplifting". not to discount the effects of motivation but I would hardly call it research. otherwise, enjoyable, as long as you expect what you are getting.
nice voice but odd spacing in some places... like pauses where no pause belonged, choppy.
"Positive, uplifting, simple and insightful."
Positive, uplifting, simple and insightful.... Although it took me a min to get into it. Once the story unfolds you can find the simple nuggets of success for marriage. It's a choice everyday to be happy together.
I thoroughly enjoyed traveling with Fawn to hear of the lives of these wonderful people! Happiness truly is a choice...daily.
"Happy wives? Stepford wives"
This book might be right for you if you want to self deprecate and put your husband (she discusses hetero only relationships, of course) on a pedestal. If you're looking for advice like "have your husband rate you as a wife on a 10 point scale and give me all the details" then by all means, pick up this book. I found it painful to listen to the author's lack of self worth and then turn around and talk about her husband as perfect and "putting up" with her. If you want to be "happy" of a 1950's style, patriarchal, relationship then this book is for you. If you want a partnership with mutual happiness, look elsewhere.
"Interesting & I learned Something"
It was interesting hearing about the writing of a book. First hand account of travels, love, and relationships. The author felt like an old friend by the time it was over. I enjoyed learning about different cultures and experiences. It was interesting to hear the authors own introspection along the way! All and all enjoyed the adventure, descriptions of those interviewed and learning the cross cultural themes to making love and marriage last. Well done!
"Lovely reading"
I think the book could have actually been shorter, and there was a lot of cliche and adjective use which at times made it hard to read. I also had an issue when she said those who aren't spiritual don't have as good of relationships. I believe that was ignorant and a turn off, something that should have been left out of the book. If there is anyone who is not too keen on overt displays of religiosity, this is not the book for you. However, I still enjoyed it. Sometimes it dragged but I think the advice was beautiful and I agree with Fawn that there are too many marriage haters in the world right now!
Depended on the friend.
I love her voice. It is very soothing to hear.
"This is just a travel journal"
I really appreciate her overall goal of spreading positive marriage. This book, unfortunately, is a big waste of time. It basically just takes about her the whole time and her traveling.
"Great marriages do exist"
I love the idea behind this book and club. Marriage is not finding the right person its being the right person. Great tips and advice for those who want a loving, lasting relationship.
I am proud of this author to have the courage to tell the truth, regarding what it takes to make a marriage successful. I believe anyone planning on getting married should read this book first, to see if they have the gutts it takes to make a successful marriage. Kathryne McGuire married 32 years♡
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Terms and conditions
Terms and conditions
Tickets are sold subject to the following terms and conditions:
• Tickets cannot be resold, exchanged or refunded.
• Tickets should not be reproduced. To do so, or to alter or deface the ticket will render it void.
• Proof of purchase or identification may be requested, so please ensure you bring the credit/debit card used to make the booking.
• Smoking, eating and drinking are prohibited within all buildings, except designated refreshment areas.
• The use of photographic and recording equipment or mobile phones is prohibited within all buildings (unless otherwise advertised).
• Please do not touch any of the artworks or furniture on display.
• Children under the age of 15 must be accompanied by an adult.
• Dogs will not be admitted (except guide dogs).
• Historic Royal Palaces reserve the right to introduce security checks, and items such as bags and rucksacks may be subject to search.
• Historic Royal Palaces reserve the right to refuse admission, terminate a visit, close rooms or restrict access to areas within the grounds around the palaces at short notice and without prior warning.
• Historic Royal Palaces may hold you liable for any damage caused by you to the property or any of its contents or for any injury caused to any of our representatives or other visitors during your visit.
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Personal data and data protection
Historic Royal Palaces will not pass on your personal data to any third parties.
All rights under the 1998 Data Protection Act (UK) and any subsequent revisions will apply.


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Social network
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San Choy Bow
I love this dish! It is so simple and easy and tastes great as well as not leaving you feeling too full or bloated after eating. Rolling the leaf into your hand and chowing down on the meal is so … Continue reading
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They ran down the astronomy tower, and made it to the ground level when apparently fate had to pull them apart. Ron was standing at the bottom with his wand in hand and a fierce scowl on his face.
'Ron, I can explain,' she said, trying not to tear up. This is what it all came to, ruining her friendship or starting a new relationship.
'What is there to explain, you're with him,' he spat out.
'I want to be with Draco, I just wished you'd understand,' she whispered, burying her face into Draco's shoulder. He tensed up, unless...
She looked up at him. 'You do want to be with me, right?'
Draco looked down and was instantly memorized by her eyes, eyes that so desperately wanted to shed tears, and that didn't because the person who beared those eyes was strong and beautiful.
'Of course I want to be with you,' he grumbled. Lord, he was getting fancy.
Her smile was brilliant, radiant. Everything he knew he could never be, but that's why he needed her. She was his light, the one he bared his soul to, who wouldn't judge him or lash out at random. She was his.
Hermione looked back at Ron and regarded him with a unperturbed expression. 'I just want to be happy, that's all. I'm sorry, Ron, I really am.'
She took Draco's hand and walked away, and maybe for once she wasn't going to come back. Stay with Draco always, and forget everything but him.
He pulled her along once they hit the next corridor, they crawled stairs and bypassed darkened alcoves until they reached the room they needed the most. Draco stepped forward and passing the room three times, he muttered something under his breath that Hermione couldn't hear.
The door opened and in the corner was the most exquisite bed, that held silk sheets and a dozen of pillows, settled on a high platform and a canopy on top. In the the other corner was a huge fireplace that was blazing and across was a couch.
'Oh..Draco,' then he turned towards her, and her body was suddenly a lit with nerves that needed prodding and shivers that needed settling and aches that needed satisfying.
'Come here,' he shut the door behind him and held out his hand. This is no way could be a mistake, it was her and Draco. Although it was strange at first, it seemed that it could artfully change into something more outrageous. A relationship that had no business even existing, but that didn't matter, nothing did.
She went to him, no questions asked. And his mouth took possession of hers, the fierce growl at the back of his throat let use, and with that her whimper. A breathless moan, a hiss. All the noises that could only be identified as two people coming together in the bliss of love- making.
Arching against her body, he all but ripped off her skirt, moved aside her knickers, and finger fucked her like he had been wanting to do since he longed remembered. She moaned and snapped his head up, crashing their lips together, lips clashing, bruising each other's sensitive lips, it was all rough and animalistic.
Hermione grabbed his shirt and tore it off him in one fell swoop. He closed his eyes, when her warm hands started wondering his heated skin. Lord, her hands were so soft.
He pushed her hands off, and stripped her shirt off, along with her bra, so she stood there in only her knickers. Which by the look of it were completely soaked through.
'What did you do in the hall?' she whispered against his ear.
'Something I know, and for you never to find out,' he whispered back, making her moan.
He palmed her breasts, and she arched making them bounce a tad. Looking into her eyes, he knew that she wanted It as much as he did, but there is a time and a place and now wasn't it. Bloody Hell, he felt like he was going to explode.
Hermione bent down and slowly took off his pants, along with boxers. His breath caught when he saw what she was about to do. 'Please...Hermione... I won't,' too late she already had him in her mouth.
Sucking and slurping, she bobbed her head, choking herself a little on his pre-cum. Ohh... he was delicious. His juices were salty and but sweet, a strange contradiction, but that was Draco
She couldn't seem to get enough, but Draco didn't let her finish. Taking her by the arms, he pulled her up and threw her on the bed. Flipping her over on hands and knees, she was unprepared when Draco started rubbing his erection up and down her slit, eliciting a moan.
'You like that? You like It when I tease your mudblood prude pussy?' okay so much for taking his time tonight. But Merlin, she pushed him until he has to do something about it.
'Oh, Draco, I am a mudblood prude, please,' she breathed out, and that was the last of his control. Grasping her hips he made one hard thrust inside her, and she tensed and cried out, but it was all worth it.
'Hermione, you're so tight,' he moaned out and started thrusting slowly, waiting for her to unclench around him so he could properly fuck her.
She unclenched a little but that's all it took. Fucking her like a Madman, he took her again and again, rubbing against the little nub, hearing her moan his name over and over.
'Draco, please, I'm just a little prude, show me how to become a slut,' she whispered, turning back to look at him. Her hair was around her back, her cheeks flushed and her eyes bright with desire.
He'll show her how to be a slut.
'Okay, ride my cock, move back on it,' he grabbed her hair and pulled her backed, she winced but moved back anyway, she was going slow but then she got the hang of it and started riding him like a slut should.
'Oh, Merlin,' he couldn't take it, angling his cock, he started hitting her g-spot when she started yelling his name, fucking the spot harder. He felt himself exploding, squirt after squirt of cum oozed out and bathed the inside of her juicy cunt. She had screamed his name when she climaxed.
Lying on her back, he muttered, 'See now you're the Gryffindor Slut.'
A/N: Hehehe, I changed it up alittle, in the stories that I haven't posted well it's from behind but not in that hole. But well, I hope you liked it.
That's the end of Mudblood Prude, and no I am not going to make a sequel, I'm sorry...
I want to thank Vinny, because well... you know... for partaking in this fantasy. So bless him.
And all of you guys, for reviewing me. Read The Thought Of It All, otherwise i'm abandoning it.


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The North Face Storm Mid Waterproof Hiking Boots for Men
Sale price: Clearance price: Starting at: Sale starting at: Clearance starting at: Reg. price:
Lightweight, durable, and perfectly suited to take on whatever trail you encounter, the Storm Mid Waterproof Hiking Boots from The North Face® give adventure seekers the performance they want. Signature Snake Plate® protection reduces stone bruising underfoot without sacrificing flexibility when you're hiking over uneven ground. Waterproof leather and mesh upper construction gives you breathable support, with a HydroSeal membrane inside for breathable, waterproof protection. Molded EVA midsole provides long-lasting comfort and support, while the welded TPU overlay and shank provide superior support. The Vibram® outsole features an aggressive tread for outstanding traction on wet or dry surfaces. Rubber screen toecaps provide added protection against rocks and debris. Average weight per pair: 2 lbs. 4 oz. Imported.
Manufacturer style #: A04L.
- Comfortable durability for adventure seekers
- Waterproof leather and mesh uppers
- Rubber screen toecap for protection and durability
- HydroSeal® waterproof membrane
- Mesh collar and tongue
- Welded TPU overlays on uppers provide strength and support
- Compression-molded EVA midsole
- TPU shank and TPU Snake Plate forefoot protection
- Vibram lightweight rubber outsole for sure wet/dry traction
Need Help? 7 days a week: 7am to 10pm CT or call 1.800.227.7776 anytime


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|Publication number
|Publication type
|Application number
|Publication date
|Oct 24, 2006
|Filing date
|Jul 23, 2004
|Priority date
|Nov 15, 2002
|Fee status
|Also published as
|Publication number
|Murray Anthony Lewis
|Original Assignee
|Iguana Robotics, Inc.
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (4), Referenced by (14), Classifications (14), Legal Events (8)
|External Links: USPTO, USPTO Assignment, Espacenet
This Application is a Continuation-in-part of U.S. Utility patent application Ser. No. 10/706,980, filed Nov. 14, 2003 now abandoned, which claims priority of U.S. Provisional Patent Application 60/426,367, filed Nov. 15, 2002, both of which are hereby fully incorporated by reference. This application also claims priority of U.S. Provisional Patent Application 60/489,106, filed Jul. 23, 2003, which is also fully incorporated by reference.
1. Field of the Invention
The present invention generally relates to methods of designing autonomous mobile robots and more specifically relates to the prediction of the sensory consequences of movement, learning affordances using neural methods, and exploitation of the natural system dynamics to simplify computation and robot control in autonomous robot explorers.
2. Description of the Prior Art
Technology has generally been aimed to make human life easier by taking on the burden of human tasks, or performing tasks that humans cannot perform due to physical constraints. In turn, robots have, and continue to be, developed that are mobile and that have the ability to retrieve or report information in accordance with this technological trend. In other words, robots are being designed to relate to humans while providing them with life simplifying solutions. To meet this goal, robots are taking on forms similar to either humans or animals, for purposes of cognitively and emotionally relating with the technology, as well as for patterning the evolutionary success in mobility of humans or animals (also hereinafter sometimes collectively referred to as biological systems). Additionally, a major reason for choosing a legged form, particularly a two-legged humanoid form, is that humans have built a substantial environment based on human mobility needs. As such, robots using wheels and/or tracks generally do not meet the mobility needs for a variety of terrains where legged robots are generally more successful.
Bipedal locomotion over a flat, firm surface does not require visual or other type of distal sensory apparatus. However, if the environment is varied, vision or other type of distal sense is necessary to adjust gait in an anticipatory manner. Various visual cues are used by animals and humans to guide locomotion. These cues include cues that rely on or exploit the geometry of the environment: optic flow, stereopsis, depth from elevation and others as well as non-geometric cues such as the color, texture and surface patterns of the environment.
Movement of an observer (biological or otherwise) gives rise to motion parallax with objects in the environment. Light reflected or emitted by surfaces in the environment give rise to a pattern of luminosity changes on the observer's retina or imaging surface. This pattern of changing luminosity is optic flow. Optic flow is highly correlated with motion parallax. Through the examination of the optic flow field it is possible to determine time to contact, and structure of the environment, and the movement of the observer, including direction and rotation. The latter phenomenon is sometimes referred to as visual kinethesis in the literature. Scientific studies support the hypothesis that optic flow is essential for navigation of legged and flying biological systems in the environment.
Additional geometric visual cues include stereopsis and depth from elevation. Stereopsis is used to determine visual sensory data about the environment of a biological system by comparing two or more images from slightly different view points, the arrangement of human eyes being the archetypal example. Stereopsis can convey information about the size of an obstacle, although, in humans, it is apparently less important than other modalities for judging distance to an obstacle and is not an essential sensory factor for locomotion. Depth from elevation is yet another visual cue which operates under the assumption that the observer is kinematically connected to the obstacle being observed. Thus, if the observer is connected to a plane, obstacles closer to the observer will appear lower in the visual field than obstacles further away. This simple effect is exploited in biological systems to judge distances to points in the environment. However, these geometric cues alone, although helpful, are not sufficient for advanced locomotion.
Non-geometric visual cues mainly include texture, and color, but also encompass specular reflection or any other surface cue indicating the quality of a surface. These visual cues, when combined with geometric cues, can greatly enhance the success of locomotion as they assist the observer in anticipating surface characteristics. These visual cues aid biological systems in determining what characteristics a surface may exhibit, such as if a surface is slippery (e.g. ice).
The environment can 'suggest' desirable foot placement for navigating a region.
Affordance encompasses how to perform an action but not the actual selection of such an action. The environment presents potential actions or affordances, and a choice is made as to which of the potential actions is the best pursuit. A person, seeing a mug, immediately perceives the many ways to grasp it, although there is no need for intermediate processing of 'what' the object is. Likewise, an animal, seeing a rock, immediately perceives a way to step over it, on top of it, or step around it depending upon the perceived size or shape of the given rock. Affordance perception includes the motor capabilities of the observer. It is also largely linked to learning abilities, for example, if a choice was made to step over a rock that turned out to be too large to successfully maneuver over, and as a result the animal fell, the animal would learn not to try to step over the rock, and use an alternative approach instead. Past research has managed to link affordances to neural substrates in the brain.
A key problem in the deployment of robots is that even the most agile robots, quadrupeds and especially bipeds, lack good affordance processes and can therefore be easily destabilized by obstacles. An affordance has the function of intelligent pattern matching: the current environment is matched to the set of possible motor actions that can be successfully executed by the animal or machine at a given time instant. This pattern matching can be quick and is superior in speed to methods that rely on algorithmicly driven geometric motion planning.
Vision can assist in stabilizing the subject's relationship to the environment, as well as being essential for navigation, route adjustment and planning. Without vision, the situation is worsened as the robot moves faster and has less time for appropriate planning based on alternate sensory cues (e.g. tactile). It is desirable to replicate animal visual sensory ability in robots to learn affordances and react to the surrounding environment using the previously described geometric and non-geometric methods. A method for achieving this must be resolved for robots to ensure successful mobility within a given environment.
Currently, there is surprisingly little work on the tight integration of vision and locomotion. Historically, the two fields have been addressed by largely separate groups of researchers.
Honda and Sony robots use vision for navigation (e.g. moving in the general direction of an obstacle). The Honda Asimo bipedal robot—"biped" for short—walks on two legs and can maneuver up and down stairs, turn, and walk with a reasonable gait. Sony has developed several generations of small quadruped robots called "Aibo", but has also developed a biped robot. Sony's robots are viewed more as "content delivery devices" which playback media content developed by others, similar to a VCR, although exhibiting an appearance that is more human or animal in form.
Robotics has become a field yielding many important applications for the U.S. Military as well. However, past declassified reports that tracked robotic vehicles being used in the field during search and rescue operations following the World Trade Center collapse lacked the required mobility to adequately perform in such applications. Legged robots were recommended following this report for increased mobility.
As such, it is clear that there is a current and rapidly growing interest in legged robotic machines as well as a need for fast algorithms to provide these legged robots with visuomotor coordination.
It is therefore an object of the present invention to provide a robot that has the ability to simulate the integration of perception with action of biological systems thereby allowing the robot the capability of making visually triggered gait adjustments prior to and during stepping over an obstacle.
It is an additional object of the present invention to provide a robot that has the ability to detect non-geometric stimuli, such as color, texture, or other surface attributes and determine the utility functions resulting from such stimuli.
In order to accomplish these and other objects of the invention, a mobile apparatus is provided comprising at least one distal sensor for detecting an obstacle in at least the mobility path of said mobile apparatus and providing first data, at least one tactile or pressure sensor for determining the stability of the mobile apparatus providing second data, at least one active joint, and an algorithm for integrating perception in accordance with first data and/or second data with action of the joint(s) in performing a cyclic stride and/or adjustment of said cyclic stride to avoid an obstacle.
Further, a method for determining gait adjustments in a mobile apparatus (robot) will be provided whereby said mobile apparatus may bypass an obstacle. The method includes receiving raw visual data, determining what data within the raw data set is novel based on predictions, determining if an obstacle is in the mobility path of the mobile apparatus by associating past patterns recorded by the mobile apparatus with past reflexes using a sensorimotor map, sending determined information to a central pattern generator (CPG) to calculate and dictate motor commands and resultant movement of the mobile apparatus, sending an error signal back to the sensorimotor map in the event that instability is detected by sensors on the mobile apparatus as a result of an obstacle, and learning to associate visual data with emerging obstacles in response to the destabilization of the robot in some way. Destabilization can be detected by analysis of signals from a tactile, pressure, or even a vestibular sensor, or even a joint sensor that senses a displacement or the limb from an expected trajectory.
The foregoing and other objects, aspects and advantages will be better understood from the following detailed description of a preferred embodiment of the invention with reference to the drawings, in which:
Referring now to the drawings and more particularly to
The present invention focuses on creating affordance in robots 21 to result in an ability to make visually triggered gait adjustments prior to and during stepping over a small obstacle 20. There are two key desirable behaviors in a robot 21 when surmounting an obstacle: (1) Foot placement adjustment and (2) stepping over the obstacle 20 at the correct time.
The robot 21 faces a demanding perceptual problem in determining what constitutes an obstacle 20 without being explicitly taught as both terrain with and without obstacles produce complex patterns of visual stimuli. In the present invention, an obstacle 20 becomes implicitly defined as any potentially destabilizing element of the environment. If the robot collides with the environment, it must refer back to the Sensorimotor Map 36 to determine what it saw previously and use that information (e.g. as seen in
Prior to the last steps before going over an obstacle 20, the robot must adjust its foot placement to step smoothly over the obstacle 20. Without these adjustments, the robot may need to break its stride. To avoid such an outcome, the robot must accurately predict a collision with the obstacle 20 and step at the correct time, and integrate the corresponding adjustment with the step cycle to prevent collision or loss of stable posture. This is called the step-over capability. Foot-placement is extremely important in this process, and therefore, a method to provide accurate judgement for, and execution of, foot-placement is highly sought.
Referring now to
In the raw data layer shown in
In an exemplary prediction layer shown in
As arranged in
Thus, the dynamic attention mechanism, comprising procedural steps shown in
More particularly,
where f is the neural output, x is a vector of inputs, sparsely coded, w is a vector of weights, and t is a threshold value. The function must have a non-linear form and can be as simple as f(x)=max(0,x), a sigmoidal function or a tanh(x) function.
The prediction 39 is then compared to the actual visual elements where these elements are subtracted from the prediction layer 39 with the results of this difference being reevaluated with the prediction layer 39 and analyzed using adaptive gain 42 in order to determine novelty 41. The adaptive gain works as follows: at each step, two variables are accumulated. One variable indicates the number of times the cell has been active. The other indicates the number of potential times the cell could have been active. The ratio of the two indicates the fraction of times the cell has fired. If this fraction is above a target value, say 0.05 (or 5%), then the threshold for firing is raised by a small increment. If it is below this target threshold, the cell threshold is reduced. In this way, a constant average firing rate is maintained.
After a brief learning period, the robot 21 can accurately predict novelty 41 based on afferent responses. As illustrated in
The same algorithm has been applied particularly to tactile foot prediction and also to vestibular data (e.g. as the ear functions as an organ of balance), using foot pressure sensor(s) 32. By using the same techniques for novelty detection as in the case of visual input, the robot can easily detect an experimenter's light touch or other subtle disturbances (including angular and translational acceleration) during locomotion through the pressure sensor(s) 32.
Vestibular data gives translational and angular accelerations. In animals, angular acceleration is sensed by the semi-circular canals while translational acceleration is sensed by the otolith organs. Likewise, their man made counterparts (translational and angular accelerometers) can sense angular and translational accelerations, and gyroscopes can sense angular velocity.
Finally, based on the information determined in the pseudo-cerebellum 30 and confirmed in the Sensorimotor Map 36, as shown in
If, while walking, the tactile sensors 31 or pressure sensors 32 detect an error, the error is routed back to the Sensorimotor Map 36 in order to associate the previous actions and sensor inputs leading up to the error with the given outcome. Through this learning method, the robot 21 will learn how to avoid repeating this error in the future.
Stride length can be adjusted during locomotion by arranging the CPG 29, learning modules (e.g. prediction 39, and sensorimotor map 36), visual perceptual modules 33, and tactile and pressure reflexes 31 and 32 in algorithmic combination.
The robot 21 can learn to adjust stride length based on an activated novelty cell (e.g. something other than predicted) triggers an eligibility trace. An eligibility trace is a short-term memory delay signal which allows association between future and current events; if the robot's foot collides with the environment, a training signal 45 (representing error) is sent to a sensorimotor mapping mechanism 36 from the novelty cells (shown in
The response to the training signal 45 can be positive δ+ (increase stride length) or negative δ− (decrease stride length). The actual amount of weight adjustment in the positive or negative direction is a function of the training signal and the eligibility trace. When the training signal is triggered, the resultant stumbling of the robot creates "stumble correction." During a stumble correction reflex, the foot is first brought backward away from the obstacle, and then elevated to avoid collision with the obstacle. As shown in
The purpose of this algorithm is to determine correlations (e.g. maps) between visual input and modulation of the CPG 29 in the same manner as a biological system might process such information so that when an obstacle is detected at a distance along the intended path the robot 21 will gradually adjust its stride length prior to encountering the obstacle 20 in order to be able to step at a sufficient height at the correct time from a suitable location. When practiced correctly, the robot will be able to bypass the obstacle without hesitation or interference. This elegant stepping solution captures key points of biological processes including the spinal/cerebellar/cortical loop, continuous learning throughout life, and direct and efficient mapping between the stages of perception and action. The algorithm can to lead to verifiable predictions in biological and human systems. Currently, evidence exists that humans decrease footfall variance upon approach to an obstacle, yet footfall variance in relation to obstacle height has not yet been confirmed although there is evidence that it will be in the future. As such, when the algorithm is implemented in the pseudo-cerebellum and cycled through the Sensorimotor map, foot placement becomes more tightly controlled the robot gets closer to the obstacle, and with increase of obstacle height.
After learning a sufficient amount about the environment to accurately determine obstacles in the robot's intended path, a pattern of weights that map the novelty cells to modulation of the locomotor CPG 29 is depicted in
The pattern of the weights is reminiscent of spatiotemporal filters for velocity estimation in a 1-D array. However, while the cells are responsive to moving objects, speed is not measured as distance per unit time, but rather, distance per unit phase. Perception 39 is thus scaled to the size of the robot 21. Interestingly, there is no need for calibration of the sensor or motor apparatus for this system to work. The sensorimotor map is developed ab initio, without this information, as would happen in a biological system.
The algorithm of the present invention has particular advantages over other systems. First, it is computationally efficient. The algorithm can be placed in compact customized neuromorphic chips for extremely fast, low power and extremely inexpensive operation. Second, this algorithm learns "what is an obstacle" for a particular robot, automatically adapting to the capabilities of the given platform in regard to its stability or instability. Third, the system can automatically compensate for the up and down movement (or any other periodic movement) of the robot without the need for an image stabilization device. Finally, the system is applicable to any biped and can be extended to robots with a fewer (e.g. monoped hoppers) or greater (e.g. quadruped, etc.) number of legs.
Additionally, as previously discussed, optic flow is the dominant visual sensor and is necessary for successful locomotion in biological systems. However, optic flow has not been used in the past to detect obstacles during legged locomotion. The previously described embodiment manages successful locomotion without using optic flow, whereas an alternate embodiment, described below, incorporates this important sensory technique. In this alternate embodiment, sheer of normal flow field is the perceptual cue, and the robot should halt when aberration in the flow field is detected. In this process, prediction 39 is an optional step within
The benefits of using geometric sensory data, including optic flow in real robots can be great. The prediction of sensory consequences of movement makes the system much more sensitive to fine features and novelty detection generally makes learning more efficient. The process of incorporating and updating feedback can shape the 'perception' to the motor ability of the observer.
A perfecting feature or alternate embodiment of the present invention may use geometrical or non-geometrical cues alone or in combination and non-geometric cues may be processed either with or without learning. In the dynamic fusion model as illustrated in
This concept is further illustrated in
Benefits of using non-geometric sensory data are very important to the improvement of robotic mobility. Using non-geometric sensory data, a robot can incorporate n-possible regions (as in a real biological system) as well as predicting bifurcation in motor performance. Additionally, the robot can support dynamic incorporation of surfaces and obstacles into utility functions. For example, consider a robot on a smooth surface with a small gap of ice between the robot and a firm foot hold. In this case the robot will step over the ice. If the gap of ice between the robot and the next solid foothold were to increase to a recognizably critical width, the robot, using the algorithm, will suddenly choose to make short careful steps on the ice rather than a long step to the solid surface. At this crtical point, the robot judges a small step on the ice to be as risky, or more so, as making an exaggerated long step to a solid surface.
The particular manner in which geometrical and non-geometrical cues are combined is not, itself, important to the basic principle of the invention in allowing a robot to accommodate particular obstacles or other features of the environment. However, it is generally the case that geometrical cues are principally processed for distinguishing and avoiding potentially destabilizing features of the environment (e.g. unsuitable foot placement locations) in an anticipatory manner which maintains the efficiency of gait while non-geometrical processing has particular utility in determining suitable locations for foot placement, generally in substantially real time for individual steps. Therefore, the availability of use of both types of cues, as provided by the invention, provides a powerful tool for enhancing robotic ambulatory performance in a wide variety of environments.
In view of the foregoing, the described embodiments have the capability to visually adjust movement in a computationally efficient manner, determining where obstacles lie, and learning how to form affordances to respond to the obstacles effectively without requiring explicit teaching of the obstacle or the environment.
While the invention has been described in terms of a single preferred embodiment, those skilled in the art will recognize that the invention can be practiced with modification within the spirit and scope of the disclosed invention.
|Cited Patent
|Filing date
|Publication date
|Apr 30, 1987
|May 17, 1988
|Tokyo Shibaura Denki Kabushiki Kaisha
|Control system of multi-joint arm robot apparatus
|Sep 7, 1999
|Nov 13, 2001
|Honda Giken Kogyo Kabushiki Kaisha
|Legged mobile robot
|Mar 7, 2002
|Jul 12, 2005
|Carnegie Mellon University
|Gas main robotic inspection system
|Nov 27, 2002
|Sep 11, 2003
|Murray Thomas J.
|Sensor and actuator abstraction and aggregation in a hardware abstraction layer for a robot
|Citing Patent
|Filing date
|Publication date
|Nov 20, 2007
|Feb 9, 2010
|Hitachi, Ltd.
|Mobile robot
|Sep 22, 2009
|Aug 14, 2012
|GM Global Technology Operations LLC
|Visual perception system and method for a humanoid robot
|Jun 12, 2008
|Nov 20, 2012
|Honda Motor Co., Ltd.
|Motion control system, motion control method, and motion control program
|Nov 2, 2009
|Dec 11, 2012
|Honda Motor Co., Ltd.
|Intelligent stepping for humanoid fall direction change
|Oct 27, 2010
|Apr 9, 2013
|Honda Motor Co., Ltd.
|Control device for legged mobile body
|Feb 1, 2009
|Aug 12, 2014
|Fujitsu Limited
|Robot control apparatus
|Jan 15, 2007
|Jun 7, 2007
|Ralph Etienne-Cummings
|Biomorphic rhythmic movement controller
|Nov 20, 2007
|Jun 12, 2008
|Ryosuke Nakamura
|Mobile robot
|Jun 12, 2008
|Dec 18, 2008
|Honda Motor Co., Ltd.
|Motion control system, motion control method, and motion control program
|Feb 1, 2009
|Dec 10, 2009
|Fujitsu Limited
|Robot control apparatus
|Jul 30, 2009
|Feb 4, 2010
|University Of Medicine And Dentistry Of New Jersey
|Inhalable particulate environmental robotic sampler
|Nov 2, 2009
|Jun 24, 2010
|Honda Motor Co., Ltd.
|Intelligent Stepping For Humanoid Fall Direction Change
|Sep 22, 2009
|Mar 24, 2011
|Gm Global Technology Operations, Inc.
|Visual perception system and method for a humanoid robot
|Oct 27, 2010
|Apr 28, 2011
|Honda Motor Co., Ltd.
|Control device for legged mobile body
|U.S. Classification
|700/258, 700/245, 901/1, 901/9, 700/253, 701/23
|International Classification
|Cooperative Classification
|European Classification
|Nov 1, 2004
Owner name: SCIMED LIFE SYSTEMS, INC., MINNESOTA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:STRICKLER, FREDERICK H.;RICHARD, ROBERT E.;REEL/FRAME:015324/0377;SIGNING DATES FROM 20040818 TO 20040825
|Nov 15, 2004
Owner name: IGUANA ROBOTICS, INC., ILLINOIS
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:LEWIS, MURRAY ANTHONY;REEL/FRAME:015987/0172
Effective date: 20041112
|May 31, 2010
|Maintenance fee reminder mailed
|Oct 21, 2010
|Fee payment
Year of fee payment: 4
|Oct 21, 2010
|Surcharge for late payment
|Jun 6, 2014
|Maintenance fee reminder mailed
|Oct 24, 2014
|Lapse for failure to pay maintenance fees
|Dec 16, 2014
|Expired due to failure to pay maintenance fee
Effective date: 20141024


text:
Project Disaster
"MUM!!!" I yelled "MUUUUUUUUM!!!"
"What is it now Sara?"
"Jasmine ripped up my homework!!!"
"I did not" Jasmine said, stamping her foot.
"Yes you did!" Why did Jasmine have to be so annoying?
"Bring me your homework Sara" Mum sighed.
I took what remained of my Geography project down to the kitchen where mum was making dinner. I had worked so hard for weeks and weeks and weeks on this homework, even missing some of my other homework just so this would be perfect. I'd done it in my best handwriting with my best fountain pen and made sure there was no mistakes what so ever. I'd had three homework detentions and had to do extra work in maths just so this would be finished on time. And now it was ruined. Now I just had half a sentence on why it's so hot in America and three quarters of a picture of Alaska. The rest was just a horrible disaster of torn up paper. It was damaged beyond repair.
"Here" I said holding back tears as I held out the two pieces of ripped paper.
"Sara, are you sure Jasmine did this?"Mum looked shocked.
"Yes" I said, not wanting to cause World War Three over it, but then I added, "I saw her"
"Why... would she do such a thing?"
I knew what she meant. "I wouldn't let her use my laptop" I all but whispered. I sat on one of the tatty chairs at the kitchen table and dropped the paper in the middle. Then Dad walked in from the front room. He took one look at my now tearstained face, then one look at mum, her face twisted with anger.
"What's wrong?" He said to us both. I pointed at the paper on the table. "What's this?"
"It was my project" He didn't need to be told anything else.
"JASMINE!" He bellowed up the stairs "GET DOWN HERE NOW!"
I'd never seen a seven year old move faster. She was down in three seconds.
"What is this?" His voice was strained with anger.
"I don't know"
"What do you mean, you don't know?" He thrust the torn up paper in her face.
"I don't know" Jasmine repeated. "It looks like ripped up paper to me"
"It is ripped up paper"
"Why are you so angry about some ripped up paper?" I couldn't believe she was taking this so calmly.
"Do you know where the ripped up paper is from?" Dad had gone bright red with the effort not to shout the street down. Jasmine ignored him. He phrased the question differently. "Did you rip up your sister's project?" I was having a hard time believing he hadn't exploded yet.
I spoke too soon. It's amazing how one simple word can change how someone is acting. "WHY DID YOU RIP UP SARA'S HOMEWORK, JASMINE? CAN YOU TELL ME WHY?!?"
"No" How was she being so calm?
Now it was Mum's turn to shout, but she was never as loud as Dad. "How can you not have a reason!?! People don't just rip up two months of someone else's hard work for no reason!!!!!!"
"She wouldn't let me use her laptop for my homework, so I destroyed hers."
I couldn't take it any more "For God's sake Jasmine, how are you being so calm about this?! You just all but ruined my whole life! How can you just... just...just..." I gave up. "FORGET IT" I ran upstairs to my room and slammed the door. Then I sank down to the floor and just sat there in a little ball against the door, sobbing my heart out. When I'd calmed down I got up and cleared away the small pieces of torn paper and got ready for bed, then I got my mp3 player down from the shelf and started to listen to random songs. I must have been there, leaning against my bed for at least twenty minutes before my Dad came in. He sat next to me and took my earphones out of my ears. I didn't care; I wasn't actually listening to the music anyway.
"Hey" He said quietly.
"Hey" I said even more quietly.
"I'm sorry about your project"
"Why do you need to be sorry it wasn't your fault"
"Listen. Your sister should know better, she's just, well, just..." He gave up; there was no single word to describe Jasmine
"She's not even sorry" I said because I knew she wasn't "she just thinks she can do what she wants to me because I'm adopted"
"No she's not" his voice was stern and there was a trace of anger in his eyes. "Maybe I could help you make your project again" He said his voice kind again. He was a bit sensitive about the fact that I had been adopted and he wouldn't believe in any way that sometimes people were being mean to me because of it.
"There's no point, it was in for tomorrow, I was just finishing it" Just then Jasmine came in - without knocking.
"Go away" I told her. She ignored me as always.
"Go" My Dad told her, and, what do you know? She left. "Hmm. I'll write you a note, I'm sure Miss Kellis will understand" He was right; Miss Kellis was the nicest person I knew (except Mum and Dad) and I was sure she'd understand. Dad looked at his watch. "Bedtime after Tea" he said "it's nearly Ten O'clock" Then, as if she'd been listening outside the door - which she probably had come to think of it. Mum came in with a plate of pizza.
"Eat quickly" She said "or you won't be up in time for school tomorrow" She left and so did Dad. I ate the pizza and put on my lilac pyjamas. Then I went downstairs to say goodnight to Mum and Dad. I stayed downstairs to watch the rest of The Bill then when I came back up I went to Jasmines room. I looked in but it looked like she was asleep so I said "Night Jazz" just to make sure. I shut the door as quietly as I could - not that it was possible to shut any of the doors in our house without them creaking - and started towards my room.
"Mmm?" I looked back into Jasmine's room. She was sitting up, her hair was a mess and the 'jamas she was wearing had been screwed up in the bottom of her wardrobe for the past week. I couldn't see her face properly so I peered closer.
"Come and sit next to me please" I did so and wondered why she was being so nice: this was only the third time I'd heard her say 'please'. She looked sad so I lifted her up onto my lap.
"Yes?" I said softly
"I'm sorry for ruining your homework"
"Awww, that's OK. Just don't do it again OK?"
"K. it's not 'cause your adopted" It took me a while to realize what she meant
"No no! I didn't mean that Jasmine! I know that's not the reason!" there was one of them odd pauses and then Jasmine said:
"It's hard being seven you know." I laughed. What a random thing to say.
"And you think it's easy being thirteen, hmm?" I said tickling her. She giggled. "Calm down now. It's late." I laid her down and tucked the covers around her "go to sleep" I left the room, not bothering to try and be quiet and went into my own bedroom. It wasn't until I lay down on my bed that I realized how exhausted I was; I fell asleep almost immediately.


text:
Orchestra of the Swan under David Curtis, with Tamsin Waley-Cohen and pianist Huw Watkins.
Mozart's 'Eine Kleine Nachtmusik'; Mendelssohn's Violin concerto in D minor; Concerto for violin and piano; and Suk's Serenade for Strings.
(Note: at 6.30pm, a pre-concert event with guest soloists and conductor in the auditorium.)
|Event phone:
|020 7730 4500
|Event website:
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Taylor Of Old Bond Street Eau de Portugal without Oil 250ml. This product is a high quality hair tonic that has been made with essential oils. Bursting with citrus, this lotion helps add shine to the hair without making it greasy. Recommended for those with normal to oily hair. We recommend that you massage the tonic into the hair and scalp on a daily basis to help stimulate circulation making your hair feel healthier and looking young.
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text:
Hmm. Define "procurable."
She may look like Katy Perry -- but...
More here.
Yes, hapless victms indeed. Those women didn't spontaneously develop diseases. How convenient it was to ignore that little detail.ReplyDelete
Much like the rats of London, we women spread VD with a vengeance! Look out!ReplyDelete
Booby Trap: Syphilis and Gonorrhea. That's funny, I call mine Thelma and Louise.
We obviously didn't need bombs to win the war; we could have just dropped Syphilis Sybil, VD Valerie, and Gonorrhea Gladys on the Axis. Duh.
I'm reminded of something my finishing school teacher, Miss Nancy Taylor, told us. "Nice girls should say 'no' but nice boys shouldn't ask."
Women! Those filthy, filthy creatures!!ReplyDelete


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Hotel Ristorante alla Campagna located at 6 kilometers south of the historical center of Verona, in San Giovanni Lupatoto, 2.5 Km near the national road 434 for Legnago and Rovigo. The Hotel con be easily found just at 15 minutes from the Motorway Milano-Venezia, from the center of Verona and from ...
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