text:
|Publication number
|Publication type
|Application number
|Publication date
|May 18, 2010
|Filing date
|Oct 1, 2004
|Priority date
|Oct 1, 2004
|Fee status
|Also published as
|Publication number
|Eric Close, Adam Slifko, Edison T. Hudson, Ronald G. Genise
|Original Assignee
|Redzone Robotics, Inc.
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (48), Referenced by (21), Classifications (14), Legal Events (4)
|External Links: USPTO, USPTO Assignment, Espacenet
1. Field of the Invention
The present invention relates generally to systems, devices and methods related to the remote control of robots, and, more specifically, the present invention relates to a system architecture utilizing a robot with interchangeable tools used for pipeline rehabilitation.
2. Description of the Background
The use of robotic devices or robots to perform tasks that are either too difficult, too dangerous, or too repetitive in order to gain efficiencies over similar manual processes is well known in many arts. These robots are typically either tele-operated (an operator acting on visual cues or visual servo feedback), operator assisted, forced multiplication (one operator overseeing a plurality of robots) or autonomous (no human intervention).
In most of these industries, specific robots have been custom-designed to perform each individual task that is automated. Such custom-designed machines are very expensive to build and maintain, and do not take advantage of the similarities between the various tasks that need to be performed. In short, most robotic applications are special purpose, and these robots are not designed to be flexible, self-configurable, and easy to operate.
One particular application that has seen attempts at utilizing robots is in the area of tanks and pipelines (conduits). Since many pipes are of a standard size and regular shape, it is considered less difficult to design robots that can navigate and perform work within the confines of these structures. Therefore, although the concepts of the present invention find application across a wide variety of industries, the examples given herein will be directed to robots utilized inside pipeline networks, as described in more detail below.
Various pipeline networks are used in a variety of different technological disciplines. For example, largely subterranean potable water pipeline networks deliver clean water to homes and businesses, and sewer pipeline networks guide used water and wastes away from these same locations for further treatment or disposal. Likewise, natural gas, petroleum and chemical pipelines operate in a similar manner. In general, pipeline networks are used to guide an almost limitless variety of liquids and gases from one location to another, either under pressure or by the force of gravity.
A section of a conventional pipeline network for subterranean sewers is shown in
The pipeline network also includes a plurality of surface manholes (not shown) that provide access to the subterranean pipeline network at various locations. For sewer pipelines, a distance of 300 feet between successive manhole access points is common. These access points intersect with the main as vertically intersecting laterals.
After years of wear, the walls of the pipelines begin to crack, leak and generally deteriorate, and this wear may adversely affect use of the pipe. As such, various processes have been developed to rehabilitate these pipelines and provide for a longer service life. As used herein, the term "rehabilitation" includes all active tasks performed on a pipe as part of the relining process including inspection, cleaning, debris clearing, relining, and the like. One common rehabilitation method involves relining the interior walls of pipes with an epoxy or resin-impregnated felt liner that is prefabricated and rolled in the form of a rolled-up sock (i.e., one end open and one end closed). The liner is fed down through a manhole access point and is guided into the pipeline main. Pressurized water or steam is then forced into the open end of the rolled liner forcing it to unroll and unfurl down the length of the main. The far end of the liner is tied off or closed to allow for the expansion of the felt liner against the inside of the pipe wall.
The relining process is typically performed on pipes that have been prepared for relining by removing serious flaws, such as collapses and extensive debris. In these cases, a machine or other means, depending on the size of the pipe, is used to assess and repair the main and/or lateral (extending to a house or building) before relining.
After unrolling, the felt liner, often referred to as Cured In Place Pipe (CIPP), is filled with pressurized heated water and is allowed to cure for several hours depending on the CIPP length, thickness and other relining factors. For an 8″ sewer main, a typical cure time may be three hours. After curing, the closed end of the liner is cut open allowing the water to proceed down the main out of the liner. The result is a relined, and hence rehabilitated, pipe that lasts for up to 50 more years with regular maintenance. This process is obviously much cheaper than excavating and replacing the mains of subterranean pipe networks.
At this point, each of the lateral connections with the main is now covered over with the cured epoxy lining. Therefore, to restore service to the houses and other buildings connected to the main through the laterals, new openings in the Cured In Place Pipe must be cut at each lateral connection. Typically, for smaller pipes that do not allow for man-entry within the mains for cutting (e.g., smaller than 24″ in diameter), a small machine is used to cut the laterals open after curing. The machine includes an air-powered routing bit with three axes of manipulation that is operated from the surface. Via operator visual servo feedback (closed circuit TV), the cutting machine is positioned in front of a lateral. This signaling and feedback is all analog.
To accomplish the lateral cutting task using conventional methods, the operator uses a camera view from an inspection sled which is being towed directly in front of the lateral cutting machine which provides a perspective view of the cutting operation. Typically, a conventional video feed (CCTV—analog) is used for tele-operation of the machine. The operator (at the surface) uses the analog video image to look for a "dimple" or depression in the newly cured liner caused by the pressurized water indenting the soft felt liner at the location of most laterals. In some cases, a lateral may not cause a dimple in the liner. In these cases, a pay-out sensor may be used to generally identify the location of each lateral prior to lining, and the lateral cutting machine may be stopped at each of the recorded locations after lining and attempt to drill or punch a lateral hole at each of these locations. In either case, the conventional method lacks a great deal of precision.
Throughout this pipe relining or rehabilitation operation (before and after relining), remotely controlled robots may be used. For example, the initial inspection may be performed based on a robot with camera capabilities. Further, large or small debris may be cleared out of the pipeline via some sort of robotic device. Finally, as explained above, the lateral cutting operation, as well as the sealing or inspection operations, may also be automated.
However, these prior robotic application do not present a universal architecture and robotic device that can be used to perform these, and other similar tasks using a robot with interchangeable tool heads. These prior art systems do not include self-recognizing components connected to the network architecture. Finally, these prior systems do not include a Graphical User Interface ("GUI") that builds itself based upon the recognition of robotic components and robotic functionality. In fact, conventional interfaces are nothing more than analog overlays and are not GUIs at all. These and other disadvantages of the prior art are addressed by the present invention.
Although shown and described herein with respect to sewer pipelines, the present invention could also be used in other industries, such as general industrial, water, gas, or chemical pipes, as well as non-pipe industries such as construction. Those skilled in the art can easily adapt the features of the present invention to these and other alternative uses within the scope of this patent.
In accordance with at least one preferred embodiment, the present invention provides systems, methods and devices for the remote control of a robot which incorporates interchangeable tool heads. Although applicable to many different industries, the core structure of the system includes a robot with an attachment interface for mechanically, electrically and operatively interconnecting a plurality of interchangeable tool heads and sensors to perform various work functions.
The robot and attachment (tool head or sensor) typically include a first level of local digital feedback that provides a quick feedback response for certain time-sensitive signaling decisions. The robot is also communicatively connected to a remote computer (for example a computer at the surface when a robot is exploring subterranean pipes) for a slightly slower feedback loop. This secondary feedback may be used for slightly less time-critical decisions or when human interaction is necessary. Finally, groups of these robot/remote computer systems may all be wired or wirelessly connected via a larger network, such as the Internet, to provide truly remote control of a series of robots with interchangeable tool heads.
These systems have several preferred options. For example, a single umbilical cord may be used to send power, air, and communications signals between the robot and the remote computer (the power and air may also be locally generated at the robot). Additionally, all communication (including video) is preferably sent in a digital format. Also, a GUI running on the remote computer preferably automatically queries and identifies all of the various devices on the network and automatically configures its user options to parallel the installed devices. This "plug-and-play" architecture provides various advantages over the prior art.
Systems according to the preferred embodiments find particular application in the pipeline arts. For example, interchangeable tool heads may be designed to facilitate inspection, debris clearing, cleaning, relining, lateral cutting after relining, mapping, and various other common pipeline-related tasks. This single general architecture is scalable and adaptability in a plurality of ways as defined in the detail description.
For the present invention to be clearly understood and readily practiced, the present invention will be described in conjunction with the following figures, wherein like reference characters designate the same or similar elements, which figures are incorporated into and constitute a part of the specification, wherein:
It is to be understood that the figures and descriptions of the present invention have been simplified to illustrate elements that are relevant for a clear understanding of the invention, while eliminating, for purposes of clarity, other elements that may be well known. Those of ordinary skill in the art will recognize that other elements are desirable and/or required in order to implement the present invention. However, because such elements are well known in the art, and because they do not facilitate a better understanding of the present invention, a discussion of such elements is not provided herein. The detailed description will be provided hereinbelow with reference to the attached drawings.
The present invention is generally directed to a network architecture for controlling robotic devices, wherein the robotic device includes a universal interface for attaching a variety of different tool heads and sensors (collectively "attachments") thereto. It should be noted that, although the terms may be considered similar, the present description uses the term "tool head" to denote an attachment that is used to perform some type of work (but may also include sensors) in distinction to a "sensor" which would only be used to sense and return some type of data. Each interchangeable tool head preferably performs a different work function such as imaging (via a camera), digging, cutting, grinding, collecting data, and/or an almost limitless variety of other tasks. Depending on the industry, these tasks may be very complicated or quite simple.
In addition to the interchangeable attachments, the robot of the present invention also optionally includes a variety of other sensors on the robot itself that may be useful in a particular situation. These sensors may be used to sense conditions that are fed back to a local controller (such as a local speed or position controller) or the data may be sent back to an operator using a remote computer. Again, a variety of different sensors and sensor orientations (as part of the robot or attachment) may be utilized, with flexibility being the key.
High level control and monitoring of the robotic device preferably occurs via a remote computer, with signals traveling through an umbilical attached between the remote computer and the robot. Sensor data, video, audio, and position feedback information may be collected from the robot in real-time, and commands may be sent back to the robot from the remote computer. An operator utilizes the remote computer via a graphic display or GUI.
It should be noted here that the use of the term "real-time" within this application does not denote instantaneous time. The concept of what constitutes communication in "real-time" depends upon number of different factors including the given application and the time constraints for that application. In fact, an asynchronous communication link could be considered real-time if on a very high speed network.
In one preferred embodiment of the present invention, all data and signals transmitted between the remote computer and the robot are in a digital format to increase data throughput and to facilitate the easy use of a computer-based GUI. Preferably, the entire system is plug-and-play: the controller recognizes when new components are added to or changed on the robot. In an optional feature, the GUI software uses the detected robotic components and adjusts the control options offered to the operator automatically, based upon safety guidelines, feasibility and other rules that prohibit certain actions with certain robots.
Although this type of flexible robot and system architecture may be used in a variety of different applications, because the various tasks involved are so similar, the present invention finds particular applicability with respect to pipeline robots. As such, and without limiting the scope of the present invention to any particular application, a more detailed description of an exemplary robot, system architecture, and methods for using such a robot in a pipeline are now provided.
An Exemplary Pipeline Device
In a pipeline-based embodiment, the present invention comprises a robot with interchangeable tools and sensors that communicate with a remote (often topside) computer to accomplish certain tasks. Through the use of digital control, automatic recognition of robot components, and other features, the present invention provides a universal platform for accomplishing tasks via a robot that is either tele-operated or autonomous in nature. By breaking down the robot and its control algorithm into its basic parts, the present invention may be best understood.
The robot 50 of
The robot 50 of
Once in place,
Additionally, a third degree of movement is shown along the radial axis (R) perpendicular to the longitudinal axis (L). Since this movement is not always necessary, radial movement is typically accomplished via the attached tool head, if necessary. This radial movement is perpendicular to the inner surface of the pipe (e.g., moving a lateral cutter into and out of the liner surface).
Since this robot is specifically designed for use within pipes, conduits and the like, these three axes of motion are preferred so that cutting and other tools may easily track the curvature of the inner diameter of the pipes. The movement along these three axes is preferably accomplished using closed loop control for position, velocity and torque performed locally at the robot. By providing motion to the tool head interface (and therefore the interchangeable tools and sensors themselves), an almost limitless variety of work and sensing functions may be accomplished.
At the heart of the universal platform robot is the tool head interface 60. This tool head interface provides a common interface for all of the various tools and sensors that may be attached to the robot to carry out different tasks. The tool head interface provides mechanical coupling with repeatable location and rotation, an electrical interface to provide power to motors and other actuators that reside on the various attached tools, and a pneumatic drive supply for an air motor and/or pneumatic air supplies for air logic and solenoid-based actuators. It is noted that in other embodiments the power, air or other signals may be locally generated, at or on the robot or tool/sensor itself.
In addition to these connection-specific features, the tool head interface 60 preferably includes a control interface to provide closed-loop control, digital inputs and outputs (to/from an attached tool or sensor), "spare" lines for specialized tool heads (e.g., RS-232 or RS-485 signals that provide the flexibility to interconnect with additional sensors, tools, etc.), and sealing of all electrical and mechanical interfaces once a tool is connected thereto. The tool head interface 60 is the fundamental connection point between the interchangeable tools of the present invention and the robotic device.
Different interchangeable tools or tool heads are designed to perform different tasks. For example, in the pipeline art described above, tools may be utilized at various stages of a pipeline rehabilitation project such as: video survey and/or range mapping; reference marker implantation and registration; obstruction cutting (roots, intruding laterals, mortar flows); lateral sleeve/mold loading; lateral sleeve/mold grinding and reinstatement; lateral aperture reopening; and other job-specific development tasks. As two exemplary tools attached to the robot shown in
System Architecture
In a tele-operated environment, the robot is in communication with a remote computer (typically at the surface or "topside" which is typically more than 25 meters from said robot) which receives information about the robot's current project.
In more detail, the network architecture is centered around a distributed controller 80 which is the primary connection point between the remote computer 100 and the robot. As shown in
The distributed controller 80 is also shown connected to the tool head interface 90. This tool head interface 90 is shown as including a power take off (to provide movement to a tool shaft) and quick connect mechanical interconnections with an attached tool (not shown). The distributed controller 80 is also shown connected to multiple digital cameras 95 (real-time cameras) and a variety of different plug-and-play sensors 97. The cameras 95 may view in the forward or reverse longitudinal directions, towards the tool, or in any other direction. The onboard sensors 97 may sense a variety of different environmental (e.g., temperature, PH, and gas composition) and robot-specific characteristics (e.g., robot tilt, temperature, humidity and pneumatic air pressure).
On the other side of the distributed controller 80 of
At the other end of the umbilical 105 shown in
It should be noted at this time that although operations within a main pipe are the basis of the preferred embodiments, the present invention is equally applicable to lateral pipes and manholes. All of the same tasks (e.g., inspection, cleaning, grouting, grappling, etc.) available in the main, may also take place in the lateral. Further, the manholes that provide vertical access to the main pipes (and the access points for the master/slave reels) may also take advantage of the concepts of the present invention.
As described above (and shown in
A pipe cleaning tool head may be used to clean a pipe from grease, calcium deposits, or other build-up that may exist within a pipe or conduit. The pipe cleaning attachment may include a brush-type drum with varying degrees of stiffness or other types of heads to clean, sand and/or debur pipes, as necessary.
A protruding lateral trimming tool head may be used with the robot to effectively trim a lateral that protrudes into the main. Additionally, the robot may be integrated with current cleaning technology using high pressure water to directly perform cleaning tasks on a specific area or location. A similar high pressure jet tool could be used to clear debris, such as leaves from the pipes.
Additional attachments for a pipeline rehabilitation robot may include: a pipe joint sealing attachment (used to place joint sealant or other sealing material at each specific joint to stop infiltration, root intrusion, and any other defect that may be required for repair); a pipe joint/lateral testing attachment; a pipe profiler attachment (used to perform specific profiling of a pipe and dimension using laser light to denote pipe deformation and sonar to depict a 3-dimensional image of the conduit in real-time); a pipe sampling attachment (used to take samples at a certain location of the conduit, lateral or pipe junction); and an internal repair attachment (used to repair a pipe using a restraining clamp system or a modified spot repair liner system to address a specific area of concern or defect in the conduit). Tool heads such as grappling attachments, sensors, data acquisition devices, applicators, vacuums, cable layers and internal lining attachments (to pull the CIPP liner through an unlined pipe) may also be used.
In addition to all of the main tools that may be attached to the robot as described above, there is also an almost limitless variety of sensors that may be incorporated into the robot (or a tool attached to the robot) or attached to the robot to sense various characteristics of the robot and its environment. For example, for positioning, the robot preferably includes a tilt sensor for angle relative to gravity, and a inclinometer for feeding back the pipe angle to the remote computer for accurate determination of the tilt of the longitudinal axis.
Since a wide variety of tool, sensor and control data is passed back and forth to the robot, communications bandwidth is at a premium. Therefore, another preferred feature of the present invention includes converting remote (robot-based) analog signals to digital and then multiplexing the digital signals to the remote computer (at the surface) digitally. Conventionally, robotic communications are made via a straight wire (multi-conductor point-to-point wiring from topside to the robot) or analog multiplexing (multiple analog signals are multiplexed onto a single or a few conductors to reduce the wiring requirement). The present invention preferably uses pure digital multiplexing to carry out its communications tasks.
In more detail, the most commonly used communications system for command and control components (e.g., power supplies, joysticks, switches) includes connections made through a length of umbilical (electrical wires and/or fluid hoses). Each device (e.g., motor or sensor) on the robot is connected through its umbilical by individual conductors to a control component at the other end of the umbilical. The result is a multi-conductor, discreet function umbilical with multiple control interfaces to operate each device. These devices typically provide no (or very limited) feedback to the operator because of the number of conductors that would be required to transmit this information back to the control interface. This would force the umbilical to grow too large for practical use. Audio and video is captured and transmitted in analog form over dedicated coaxial or twisted pair lines in the umbilical, limiting the number of video or audio devices that can be used and leading to decreased signal strength and electrical noise concerns.
Alternatively, some traditional robotic communications systems (typically used with pipe inspection robots), use a multiplexing strategy to combine video, control, and sometimes power all on a single coaxial or twisted pair conductors. To enable this type of functionality, several signals (e.g., video, audio, sensor status, motion feedback information) are encoded or multiplexed onto common conductors and transmitted through the umbilical to another device which can then decode or de-multiplex the information and process it such that a two-way communication and control structure is established. This approach can reduce the number of conductors, but is still limited. Specifically, this system includes a lossy, slow and short analog signaling scheme that requires custom-designed interfaces to be developed.
Both of these communications architectures for remote robotic control are characterized by undesirable limitations. For example, the number of devices and functions per device is limited because of umbilical size. Functionality expansion is limited or nonexistent because added functionality requires changes to hardware/software and a new/altered umbilical with additional conductors. Data rate limitations do not allow for real-time closed loop control, and analog video data must be converted so that the data is compatible with existing sewer databases.
The robotic communications scheme presented as part of the preferred embodiment of the present invention includes a robotic system architecture based on a time-multiplexed, multi-nodal long haul addressable network. For example, the IEEE 1394 multimedia connection standard may be implemented to provide high-bandwidth isochronous (real-time) data interfacing between the robot and a remote (topside) computer. The low overhead, high data rates of IEEE 1394, the ability to mix real-time and asynchronous data on a single connection, and the ability to mix low speed and high speed devices on the same network provides a universal connection for all robotic application envisioned herein. The communications network may also transmit data according to IEEE-1394a, IEEE-1394b, Firewire, IEEE P802.3z Gigabit Ethernet, and USB 2.0, among other similar communications protocols, past and future. Ethernet's use of Quality of Service (QoS) may be advantageous in some embodiments.
The isochronous communications scheme also allows for real-time transfer of sensor, control and other data while utilizing a more conventional, asynchronous, operating system such as Windows™. By using an isochronous communication scheme with an asynchronous operating system, the preferred embodiment of the present invention maintains ease of programming (e.g., to design unique operator user interfaces) and maximizes the flexibility of the design process because more common software tools are available for asynchronous operating systems.
Closed Loop Control
As stated above, if conventional control methodologies were utilized, the umbilical between the robot and the topside computer would need a large number of physical conductors in order to provide true closed loop control of the features of the robot. In the present invention, because of the multiplexed digital communications scheme, closed loop control of time sensitive elements may be handled by local closed loops (e.g., current, velocity and position of motor is monitored in real-time and closed at the robot) and other non-time critical activities may be closed by sending the feedback to the host and having the host close the loop which then sends the control signal information back down to the remote robot.
This closed loop feedback is especially useful for positioning control. In the past, prior systems have merely sent commands to move a tethered robot to a new position. According to the present invention, the position of the robot is sensed and a closed loop feedback scheme, based on the known actual feedback position from the motor, is used to command the robot to move to a new position.
Digital closed loop control may be used for tele-operation control within a pipe, mobility and dead reckoning within a pipe, operator assist features in a pipe (partial human oversight or control), function scripting in a pipe (see below), forced multiplication, and full autonomy in a pipe (no human oversight or control).
In more detail, the closed loop feedback of the present invention works on a variety of different levels. For tasks and communication that require almost immediate response, the closed loop feedback may exist at a local level—completely onboard the robot and the tool/sensor head 60. For decisions that require a slightly slower response time or that may require interaction with a human, the closed loop feedback may exist between the robot and the remote computer 100 (either wired through the umbilical 105, or wirelessly over the air). Finally, for intermittent decisions and high level decision making, various different robot/remote computer subsystems may be connected to a central remote monitor 130 (which may merely be another PC in another place), for example over the Internet 135. This remote monitor 130, which may exist across vast geographic distances from the robot, provides this high level closed loop feedback (see
GUI and Robot Component Self-Discovery
The Graphical User Interface (GUI) (known generally as a digital dashboard) utilized by the operator has a variety of different functionalities based upon the digital nature of the communications between the robot and the remote computer. In preferred embodiments, the operator navigates the user interface screens and inputs data by way of a conventional personal computer input device such as a joystick, mouse, or keyboard. The functionality of the user interface will be determined by the operator selection of a mode of operation, in one of four main modes.
In the winch/reel control mode, the operator uses the input device to progress the robot forward and backward (longitudinally) in the pipe. In this case, the GUI displays the position of the robot within the pipe calculated based upon the umbilical cable reel odometry system. Additionally, the user interface may include a "record location" function which saves a current location and allows a quick means to relocate the same position during a latter "playback" sequence. This is useful in marking robot positioning adjacent to certain pipe features (e.g., laterals that will need to be cut). The angular position of the robot may be displayed based on an onboard tilt sensor.
The second main mode of the user interface is the robot control mode. In robot control mode, the winch is disabled and the robot is "locked" into position within the pipe. As described above, a variety of different clamping mechanisms may be used. In this mode, the operator may use the input device to move the location of the tool using the onboard motors. The user interface preferably keeps track of the tool position, tool status (e.g., running, stopped, enabled), tool speed (if applicable), and various other sensor data. Digital I/O will be displayed as graphical "buttons" to allow for actuation of devices and scripted functions. These scripted functions and actuations will differ depending on the attached tool.
A third mode of the user interface is teach mode. The teach mode is similar to the robot control mode described above, with the additional feature that it can record all of the axes, sensor states, and I/O states in a sequential list to be used for a subsequent playback. These recorded lists are then editable by the user. The final mode is the playback mode which allows the selection of any recorded sequence from teach mode or any pre-defined path or scripted function sequence.
Preferably (although not required), the various components of the present invention are self-recognizable, and the graphical user interface (GUI) utilized by an operator (e.g., topside) builds itself automatically based upon the detected architecture. This aspect of the present invention is broken up into discovery (identifying the attached components) and GUI presentation (automatically building the appropriate GUI).
The "discovery" process is the process whereby all of the robots features and attached components (including their functionalities) are registered to the system controller. This process occurs automatically as new tool heads and/or sensors are added to or deleted from the robot. In its most basic form, the discovery process includes three fundamental steps: (1) identification; (2) fabrication; and (3) assembly.
During the identification stage, intelligent modules on a plug-and-play network announce themselves to the network. In other words, a robot may be made up of several different component pieces (e.g., a lateral cutting tool, a temperature sensor and a tilt sensor). During the identification phase, each individual component puts some sort of identifying signal on the network bus or its memory is queried for the information. For example, by putting a serial number and product model number on the network, the topside computer recognizes that a new device has been connected and is able to identify the device and its features (taken from a saved database of features for all potential devices).
After identification, during fabrication, each identified component is queried (no configuration file is required) for its functionality and the software robotic components are fabricated. Finally, during assembly, each robot component is queried for its virtual, physical, and electrical connections, and components that can be logically assembled into functional robots are assembled by the software. In other words, a virtual robot (or robots) that logically may be created based on the interconnections identified above are created in the system. This information is used to tailor the GUI as described below.
There are two main steps to the GUI presentation process. First, the capability of the robot is assessed. During the robot component fabrication phase, each robot component publishes its capabilities to the network. During the robot assembly phase, robot level capabilities are published based upon the presence of robot component capabilities. The GUI then queries the robot for its capabilities.
During the GUI assembly process, process level capabilities present themselves in the process control and Process Navigator regions of the GUI. World-view capabilities present themselves in the Windshield region of the GUI. Robot status capabilities present themselves in the dashboard region of the GUI. Diagnostic capabilities present themselves in the diagnostics region of the GUI. These diagnostic capabilities include robot, robot component and hardware level (raw I/O query and control).
The keys to the GUI process include the plug-and-play networking of controls, intelligent controls present in the functional components of the robot (local non-volatile storage identifying the robot component and its configuration parameters, and the self-configuration GUI based upon capabilities.
The lower portion of the GUI is the "dashboard" 230 which reflects the real-time status of certain sensors on the robot. For example, the rotational angle, radial height, and longitudinal length of the tool relative to gravity and the robot chassis is shown in the first three boxes. This information comes to the GUI 200 through the umbilical via onboard sensors. Further, the bit RPM of the lateral cutting tool is shown—this characteristic would not appear if the controller detected that no such lateral cutting device existed. Additionally, the dashboard 230 depicts the roll/incline of the chassis and includes a software-based emergency stop button.
The "control panel" 240 on the left-hand side of the GUI graphically depicts the assembled virtual robot (with lateral cutting tool) and provides customized controls based on the attached tool head and the requested process.
Further, the various cutting (and other work functions) may be controlled by the operator using the GUI in an intuitive fashion. For example, the software of the present invention preferably translates the "real-world" spatial coordinates of the tool head (e.g., the cutting tip) to a two-dimensional contour plot (radial axis shown in color) of the selected region of the pipe (
Further a program or script can be written to provide easy "access" to repeated functionality. In this way, a script could be written to "pre-program" a button on the GUI to perform a repeated function on pipe. For example, a script may require the robot to orient itself to upright, cut a 2″ diameter hole at 12:00 in the pipe (straight up), find a magnetic source in a pipe, and stop in proximity to the magnetic source to perform another series of procedures. The script could be activated, for example, with a mouse click.
The entire architecture is plug-and-play. If a different robot was connected to the network (or if a similar robot had different sensors attached), then the GUI would look completely different. Only those processes that are both feasible (mechanically and electrically possible) as well as safe (according to predefined standards) are displayed to the operator. In this way, the GUI has the maximum amount of usefulness (because the display is automatically tailored to the device) and minimizes operator error (by not allowing certain "dangerous" combinations of activities to occur. This automatic identification and the ease of use of the GUI is a product of utilizing purely digital signaling in the present invention.
Similarly, if more than one robot were strung together via the communications interface, the GUI would identify and adapt to the added functionality. In essence, reconfiguration occurs for different specific robot assemblies as well as different groups of robots connected in a train-like fashion through the common communications interface.
Mobility Options
There are a variety of different mobility options—methods for moving the robot and the attachment head through the pipeline network. Four exemplary methods that may be applied to the present invention include: (1) dual reel/winch (traditional); (2) tug; (3) "inchworm" mobility; and (4) a corkscrew/bending methodology. The conventional dual winch method, in which opposing sides of the robot are attached to winches located at adjacent manholes (the robot in the pipe between the manholes), has been described and is common in the art.
As an alternative, to a dual winch method, a tug may be used to "drive" (push or pull) the robot around the pipe or other space. A tug is a small, mobile, wheeled vehicle that provides the force to move the robot. Control of the tug is preferably provided in line with the rest of the present invention, and the tug may be connected through the common communications channel.
Two unconventional mobility methods may also be used. First, an air bag or bellows attached to the tool head interface may be inflated to pin the air bag against the walls of the pipe. By then moving the tool head interface in the longitudinal (L) direction, because of this pinning, the robot chassis will actually be forced in the longitudinal direction. After movement, the bag can be deflated, moved to the opposite end of the robot, and then re-inflated to "inch" the robot down the pipe.
Likewise a corkscrew approach may be taken. With this approach, one of the end pieces of the robot is bent out of alignment with the longitudinal (L) axis. When this end is then rotated around the longitudinal axis (with the opposite end free), the off-center axis will cause the robot to "screw" its way down the length of the pipe. Any of these mobility methods may be useful in a particular circumstance.
The previous discussion included a description of an exemplary robotic device with interchangeable tool heads and sensors, a communications and network architecture scheme for use therewith, and an operator GUI that automatically presents the operator with screens that are useful based on the auto-detection of the installed robotic components. Such a system may be used in a variety of different industries for a variety of purposes. To complete this detailed description, some exemplary uses of a robotic device with interchangeable tool heads will now be described.
General Lateral Marking
Position marking is a method of identifying a point (a feature of interest) in a pipe which may serve as a "fiducial" so that the pipe is referenced to a coordinate reference frame. After marking a point and leaving the area, the robot can later sense and return to the marked point, and align itself with the new and old reference frames. Lateral marking (hereafter "marking") is a method of using simple devices or other cues to stake out the location of a lateral in advance of lining (or relining), that can be found again after lining by a cutter robot.
Position markers can be used to register the official starting point datum. The purpose is to designate the zero position from which all odometry is recorded for a particular main and its laterals.
Lateral markers (hereafter "markers") are devices that can be installed at any location on the inside surface of a pipe, prior to re-lining, nearby a lateral (or any other feature of interest) that can be accurately re-located after being covered over with a lining material. In other words, markers must be able to be blindly located using some non-contact and non-visual method, such as magnetics, radio frequency (RF), or metallic identity that is detectable through the liner material. The location of a marker in longitude (L), rotational (T), and radius (R) coordinates can be used by other robotic tool systems, such as the 3-D scanner (laser or otherwise), cable odometry as a zero reference, or calibration reference. Multiple markers can be used in combination to form a reference frame for other sensor data, such as 3-D scans of the edges of a lateral opening.
The optimal location to place markers is near the extremes of the "bounding box" of the lateral or other feature of interest (see
In some pipe diameters and circumstances, it may not be necessary to determine the radius value from the marker, such being the case for smaller diameter pipes in which the L/R ratio of the robot constrains the amount of pitch relative to the pipe. This may be the case, for example, for 6-10″ pipe, while 12″ and greater diameter pipes are likely to require the reading of the radius (or may somehow derive the radius) distance for each marker location in order to determine pitch and yaw of the robot in the pipe, both at marker placement time and prior to cutting using marker data. In other cases, measuring and tracking all three (3) coordinates for each marker may not be necessary. Rather, two (2) coordinates is accurate enough based on the accuracy constraints of a particular pipe configuration.
A marker system according to the present invention preferably comprises three main components: (1) the physical markers; (2) a marker reader; and (3) software for signal capture. The physical markers are consumable devices or materials that are permanently placed in the pipe and continuously retain their ability to be sensed once obscured by lining material. A marker reader is the sensor that senses the marker location, giving at a minimum an indication of the presence/absence of the marker, extending to the capability to provide range and direction from the reader to the physical marker. Finally, a software module performs the functions of: signal capture from the reader; search algorithm and command; reference frame construction; and calibration to other sensors, cameras, and scanners. Also, the calibration of markers to pipe odometry, and the use of markers as an index to the overall lateral database are key considerations in the lateral marker management software.
Several technologies have been considered for marking locations within the pipe interior that allow for post-lining detection including magnetic field and metal detection. A magnetic field marker system is characterized by a physical marker with minimal hardware, a low cost and small detector/reader (less than �″ diameter) and high spatial repeatability and position resolution. A metal detection marker system, on the other hand, is characterized by a low cost physical marker, low spatial resolution, and a medium-sized detector for spatial resolution (˜several inches in diameter.
A self-drilling, self-locking drill-plug is a preferred mechanical solution to the physical marker design. In such a solution, the drill would be part of the marker itself, so that drill bit changing would be eliminated.
The sequential steps of one preferred method for marker placement and substantial identification routine are as follows:
1. Install marker placement attachment on robot;
2. Load multi-marker magazine loaded with markers (a device that holds a plurality of markers that can then feed the markers to the marker placement attachment).
3. Navigate the robot near the desired marking location (feature of interest).
4. Drill and place marker whereby the robot establishes a coordinate reference point in relation to the marker and other features/points in a pipe. Ensure that the robot remains in a fixed position in a pipe to ensure reliable positioning.
5. After the robot leaves that position, it may return to that position to re-establish the coordinate point in space or the coordinate reference frame.
In some instances, the markers may also have other relevant information concerning the pipe location and features via RFID tag (or another) technology.
Marker Lateral Cutting
The following are preferred steps for a preferred marker lateral cutting method:
1. Perform marker placement near a lateral (or feature of interest) such that the marker may be applied and cutting can be performed in a single robot positioning (i.e., robot will not have to move and cut twice).
2. Additional markers may be placed near the lateral to improve the coordinate reference frame alignment.
3. Identify and record for later use the lateral (or feature of interest) dimensions via captured 3D pipe data or cut path by sensing through a laser scan, camera object recognition, or haptic (touching) method.
4. After the pipe is lined, return the robot to the lateral location by measuring lateral footage (pay out) and by sensing markers to determine the location of the previously applied markers.
5. Index the robot reference frame to the pipe reference frame based on prior marker placement and location.
6. Based on the recorded lateral dimensions in the cut path and the robot position relative to the markers, cut the lateral to the desired shape and location.
7. Perform multiple cuts and coordinate brushing or trimming (finishing) to prior cut laterals.
8. Advance the robot to the next lateral and begin the process again.
Nothing in the above description is meant to limit the present invention to any specific materials, geometry, or orientation of elements. Many part/orientation substitutions are contemplated within the scope of the present invention and will be apparent to those skilled in the art. The embodiments described herein were presented by way of example only and should not be used to limit the scope of the invention.
Although the invention has been described in terms of particular embodiments in an application, one of ordinary skill in the art, in light of the teachings herein, can generate additional embodiments and modifications without departing from the spirit of, or exceeding the scope of, the claimed invention. Accordingly, it is understood that the drawings and the descriptions herein are proffered only to facilitate comprehension of the invention and should not be construed to limit the scope thereof.
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|Hochschild Richard
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|Nov 5, 1996
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|Process and device for inspecting and/or servicing and repairing subsidiary canals branching off from a main drain
|Jan 12, 1996
|Jun 30, 1998
|Tokyo Gas Co., Ltd.
|Method of inspecting abnormality occurring inside pipe and apparatus for practicing the method
|Apr 1, 1996
|Mar 9, 1999
|British Gas Plc
|Pipeline vehicle
|Jun 4, 1997
|Sep 7, 1999
|Geiger; Michael B.
|Underwater self-propelled surface adhering robotically operated vehicle
|Jul 11, 1997
|Sep 7, 1999
|Intelligent Inspection Corporation
|Downhole tools using artificial intelligence based control
|May 21, 1996
|Feb 29, 2000
|Bg Plc
|Self-powered pipeline vehicle for carrying out an operation on a pipeline and method
|Jul 1, 1999
|Oct 24, 2000
|Asyst Technologies, Inc.
|Universal tool interface and/or workpiece transfer apparatus for SMIF and open pod applications
|Dec 7, 1998
|Dec 19, 2000
|Wan Sing Ng
|Robotic endoscope and an autonomous pipe robot for performing endoscopic procedures
|Mar 11, 1999
|Apr 23, 2002
|Ernst Mayr
|Cable network in a system of ducts and pipes having a flowing media and a method of securing the network in the system
|Jul 2, 2001
|Aug 6, 2002
|Westinghouse Savannah River Company, Llc
|Pipe crawler apparatus
|Apr 28, 2000
|Sep 17, 2002
|North Carolina State University
|Modular observation crawler and sensing instrument and method for operating same
|Oct 23, 2000
|Dec 10, 2002
|Ati Industrial Automation, Inc.
|Stud welding tool changer
|Mar 16, 2001
|Feb 8, 2005
|Fraunhofer-Gesellschaft Zur Forderung Der Angewandten Forschung E.V.
|Method for retrieving predetermined locations in sewer and pipeline systems
|Jul 8, 2003
|May 9, 2006
|Board Of Regents Of The University Of Nebraska
|Microrobot for surgical applications
|Jan 24, 2006
|Oct 24, 2006
|Board Of Regents Of The University Of Nebraska
|Robot for surgical applications
|Nov 13, 2003
|Nov 7, 2006
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|Pipeline rehabilitation systems
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|Nov 21, 2006
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|Crawler device
|Oct 17, 2002
|May 1, 2007
|Fathi Hassan Ghorbel
|Autonomous robotic crawler for in-pipe inspection
|May 4, 2004
|Jun 10, 2008
|Intuitive Surgical, Inc.
|Tool grip calibration for robotic surgery
|Oct 17, 2002
|May 15, 2003
|William Marsh Rice University
|Autonomous robotic crawler for in-pipe inspection
|Mar 5, 2003
|Sep 18, 2003
|Oswald Scherer
|Device and method for internal coating of a pipe
|Jul 8, 2003
|Jan 15, 2004
|Marius Batrin
|Combination tool with automated tool change for robot assisted assembly
|Feb 20, 2003
|May 6, 2004
|Jeong-Gon Song
|Robot cleaner, robot cleaning system and method for controlling the same
|Oct 1, 2004
|Apr 6, 2006
|Eric Close
|Network architecture for remote robot with interchangeable tools
|Jul 19, 2005
|Dec 21, 2006
|Sheth Pradip N
|Inspection system of structures and equipment and related method thereof
|Citing Patent
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|Apr 7, 2010
|Nov 15, 2011
|Redzone Robotics, Inc.
|Network architecture for remote robot with interchangeable tools
|Nov 16, 2007
|Nov 20, 2012
|Immersion Corporation
|Systems and methods for medical tool auto-capture
|Sep 17, 2007
|Jun 18, 2013
|RedzoneRobotics, Inc.
|Manhole modeler using a plurality of scanners to monitor the conduit walls and exterior
|Feb 19, 2011
|Aug 12, 2014
|Richard Arthur Skrinde
|Submersible robotically operable vehicle system for infrastructure maintenance and inspection
|Jul 30, 2012
|Aug 19, 2014
|Lmk Technologies, Llc
|Manhole liner having a wireless data transmitter
|Jul 30, 2012
|Sep 30, 2014
|Lmk Technologies, Llc
|Pipe liner having a wireless data transmitter with sensing capabilities
|Jan 21, 2013
|Nov 25, 2014
|Andrew Flessas
|Robotically controlled entertainment elements
|Sep 5, 2011
|Apr 28, 2015
|I.S.T. Innovation Sewer Technologies GmbH
|Device for renovating a pipe
|Jul 10, 2014
|Oct 6, 2015
|Lmk Technologies, Llc
|Manhole liner having a wireless data transmitter
|Jun 9, 2014
|Jan 12, 2016
|Richard Arthur Skrinde
|Apparatus and method for enabling rapid configuration and reconfiguration of a robotic assemblage
|Aug 22, 2014
|Feb 16, 2016
|Lmk Technologies, Llc
|Pipe liner having a wireless data transmitter with sensing capabilities
|Sep 30, 2014
|Nov 15, 2016
|Andrew Flessas
|Robotically controlled video projectors
|Dec 7, 2015
|May 23, 2017
|Richard A. Skrinde
|Apparatus and method for enabling rapid configuration and reconfiguration of a robotic assemblage
|Sep 17, 2007
|Mar 20, 2008
|Thayer Scott M
|Manhole modeler
|Nov 16, 2007
|May 29, 2008
|Peter Maspoli
|Systems and Methods for Medical Tool Auto-Capture
|Feb 4, 2010
|Jun 10, 2010
|Andy Flessas
|Method and system for transmitting robot control instructions
|Apr 7, 2010
|Jul 29, 2010
|Redzone Robotics, Inc.
|Network architecture for remote robot with interchangeable tools
|Feb 19, 2011
|Aug 23, 2012
|Richard Arthur Skrinde
|Submersible robotically operable vehicle system for infrastructure maintenance and inspection
|Sep 5, 2011
|Aug 29, 2013
|I.S.T. Innovative Sewer Technologies Gmbh
|Device for renovating a pipe
|Aug 26, 2015
|Mar 2, 2017
|Airbus Operations Gmbh
|Modularer Roboter-Bausatz, Schwarm modularisierter Roboter und Verfahren zum Erledigen von Aufgaben durch einen Schwarm modularisierter Roboter
|Aug 4, 2016
|Mar 1, 2017
|Airbus Operations GmbH
|Modular robot assembly kit, swarm of modularized robots and method of fulfilling tasks by a swarm of modularized robots
|U.S. Classification
|700/245, 73/865.8, 138/97, 405/184.3, 405/156, 405/184.1, 405/184.2
|International Classification
|Cooperative Classification
|European Classification
|Jan 17, 2005
Owner name: REDZONE ROBOTICS, INC., PENNSYLVANIA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:CLOSE, ERIC;SLIFKO, ADAM;GENISE, RONALD G.;REEL/FRAME:015576/0234
Effective date: 20041213
Owner name: REDZONE ROBOTICS, INC.,PENNSYLVANIA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:CLOSE, ERIC;SLIFKO, ADAM;GENISE, RONALD G.;REEL/FRAME:015576/0234
Effective date: 20041213
|Jun 6, 2008
Owner name: REDZONE ROBOTICS, INC., PENNSYLVANIA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:HUDSON, EDISON T.;REEL/FRAME:021061/0912
Effective date: 20080529
Owner name: REDZONE ROBOTICS, INC.,PENNSYLVANIA
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:HUDSON, EDISON T.;REEL/FRAME:021061/0912
Effective date: 20080529
|Jun 25, 2008
Owner name: SILICON VALLEY BANK, CALIFORNIA
Free format text: SECURITY AGREEMENT;ASSIGNOR:REDZONE ROBOTICS, INC.;REEL/FRAME:021147/0387
Effective date: 20080613
Owner name: SILICON VALLEY BANK,CALIFORNIA
Free format text: SECURITY AGREEMENT;ASSIGNOR:REDZONE ROBOTICS, INC.;REEL/FRAME:021147/0387
Effective date: 20080613
|Oct 23, 2013
|Fee payment
Year of fee payment: 4


text:
Apartment Suzi Apartment
Rokova 20, Split, Croatia
Atmosphere 87%
Cleanliness 95%
Facilities 89%
Location 96%
Safety 95%
Staff 98%
Value 93%
- Air conditioning
- Free Wi-Fi
- Self-Catering Facilities
- 24 Hour Reception
- Cable TV
- Free City Maps
- Fridge Freezer"
- Hair Dryers
- Hot Showers
- Internet Access
- Iron / Ironing Board"
- Linen Included
- Luggage Storage
- Towels Included
- Utensils
- Washing machine
Check-in / Check-out
Earliest check-in: 00:00
Latest Check-out: 10:00
- Child Friendly
- Taxes Included
Group booking?
Group of 15 or more traveling to Split?
About Apartment Suzi
Welcome to Split and welcome to 'Apartment Suzi.' We provide quiet and comfortable accommodation in the city center. Our apartment is located 5 minutes by walk from the bus, train station and ferry port.
The apartment is located in one of the most beautiful areas, where are typical Dalmatians and traditional Mediterranean houses.
The first apartment has 2 bedrooms, bathroom with shower and a small kitchen. In the first room have one double bed and a sofa bed, with air-conditioner and satellite TV. Second room has 2 single beds also with air-conditioner and satellite TV. If you want to book this apartment please book "Private 4 beds en-suite", apartment Rokova double ensuite or Apartment triple ensuite.
Outside there is a garden where you can enjoy a peaceful place to spend your time.
The second apartment it's located 150 meters away from the first one. This apartment has two floors. First floor has kitchen with all the appliances, bathroom with shower and washing machine. Second floor has one room with double bed and a sofa bed for one more person, air conditioner, sat tv and DVD player.
If you want to book this apartment, please book Apartment Manuš double ensuite or Private triple ensuite. Photo for this apartment is 6 and 7.
De lux 4, 3 or 2 person is 200 meters from Diocletian Palace and consist 2 flour. First flour consist big dining room with sleeper sofa for 2 peoples and kitchen,air conditioner and sat tv. Second flour has double bed, bathroom with shower and also air conditioner. Apartment is 2 minutes from Diocletian palace.If you have laptop there is free internet.If you want book this apartment please book 4 beds snsuite de lux, 3 beds ensuite de lux or 2 person ensuite de lux.
Another twin apartments is studio with 2 separate beds,kitchen,private bathroom with shower and air conditioner.This apartment is on Radunica street.
If you want book this apartment please book Private twin ensuite.
Private double ensuite is located on top of Rokova street.Apartment consist room with double bed, bathroom with shower, kitchen and living room with sofa, air conditioner and sat tv.
All apartments are on different address only 2-5 minutes by foot from Diocletian Palace.
Apartment for 2 persons with kitchen, room with double bed, balcony, tv, air conditioner is located 100 meters from first on the first flour.
If you want book this apartment please book Apartment.
- Air conditioner/heating
- TV satellite
- DVD player
- Mp 3 player
- Washing machine
- Hair dryer
- Iron
- Towels and linen included
- Tourist information and free map of city
- English and Italian speaking staff
- Free pick up from bus station, train station or ferry port
All taxes included in price
Please state your arrival time when you book.
Check out is 10:00 am after that you can leave your luggage, which is free.
Check in 13:00 pm. If you arrive before you can leave your luggage and come beck at 13:00 pm.
Please note
if you want cancel your booking please do that one week before your arrival time.
Why Apartment Suzi:
- 100 meters from the city center
- 50 meters from Split's restaurants
- 50 meters from supermarkets
- 1000 meters from the beach
- 100 meters from bank
- 200 meters from post office
Cancellation Policy
Customers can cancel their reservation free of charge up to 1 day before arrival. After this date, charges will be applied by the property up to the first nights cost of the reservation, unless otherwise stated in the property's conditions. Deposits paid are non refundable.

subset: commoncrawl


text:
Magglio Ordonez and Ryan Raburn hit home runs and the Detroit Tigers held off a late charge to beat the New York Mets 6-5 on Thursday.
Armando Galarraga (3-1) picked up his first victory since his brush with a perfect game. The right-hander gave up four runs on five hits over six innings for the win following three straight no-decisions.
Jose Valverde pitched a perfect ninth for his 17th save in 18 opportunities.
The Tigers built a 6-1 lead against Hisanori Takahashi (6-3), who gave up the six runs on eight hits in four-plus innings and allowed both homers.
Miguel Cabrera's sacrifice fly opened the scoring in the first and Ordonez added to the lead with a two-run shot in the third. Raburn, who entered the game hitting .184, went 3-for-3 with a solo homer in the fifth. Brennan Boesch also had three hits for Detroit.
The Mets scored three in the sixth and one in the seventh to cut it to 6-5, but they left the bases loaded in the seventh and stranded two in the eighth.
Jesus Feliciano went 3-for-5 and scored two runs and David Wright was 2-for-5 with an RBI double for New York.


text:
MSU's Corpse Flower Blooms! Plant is 7 feet high!
Don't you wish we had scratch 'n sniff screens?
How about a time-lapse video of the corpse flower? More #MSU featured photos: http://t.co/YwNw1f2vDA pic.twitter.com/zKRhaXza9G
— MSU (@michiganstateu) June 20, 2014
One of the attendees said, "I can't imagine seeing this thing in nature... I didn't think the plant smelled as bad a people thought it did.
"You've really got to stick your nose right down in it," he added. "It's definitely huge."
The corpse flower will continue to be on display at the Plant Biology Conservatory located on Wilson Road, just east of Farm Lane from 10 a.m. to 2 p.m. weekdays and 1 to 4 p.m. this weekend.
Source: MLive


text:
Our team are both OFTEC & Gas Safe registered and, as mentioned above, can offer more than just a basic service facility for your Aga.
We are a progressive Company using the latest technology and systems, whilst offering the most important element – Excellent customer service.
We know you have a choice, and for that reason we appreciate it is important to answer your call for assistance promptly together with offering a first class service every time.
We are fully Independent Aga Specialists and provide all services relating to the product known as an Aga. Our Gas Safe and Oftec registered engineers are fully trained to service, repair and install Aga cookers.


text: CCU's Gary Ewen Earns Doctorate and is Named Faculty Member of the Year Thursday, May 03, 2007 at 2:20 PM Colorado Christian University associate professor Gary Ewen recently completed his Doctor of Strategic Leadership (DSL) degree from Regent University in Virginia. The accomplishment is a welcomed success for Ewen, whose role at CCU has been highly instrumental in the school's technological growth.Ewen joined CCU in 1987 as a faculty member and also as Chief Technology Officer. Since then he has served as Assistant Vice President for Academic Technologies and Distance Learning, has administrated the Undergraduate Leadership Minor Program, and is currently Associate Professor of Management and Leadership Studies. He was recently named the 2007 Faculty Member of the Year by the CCU student body.Across the last two decades, Ewen has helped CCU obtain an impressive list of technology-based grants. In 1996 he landed a $68,000 PC Hardware Grant from J.D. Edwards and Company and also a $73,800 Software License Grant from Microsoft. In 1997 he secured J.D. Edwards's One-World Software Grant, which totaled in excess of $1.25 million. In 1999 Ewen brought in a $135,000 Distance Learning Grant from eCollege.com. And last year he raised $70,000 in hardware and funding through Hewlett-Packard's Higher Education HP Technology for Teaching Grant Initiative.Ewen graduated from Illinois State University (1978) with a bachelor's degree in elementary education and then earned a Master of Education in Educational Technologies from Colorado State University (1984). His published works and software include a CD-ROM lecture support package for H.L. Capron's "Computers: Tools for an Information Age" (4th Edition: Benjamin Cummings, 1996); projects for Microsoft Windows (1998 Edition); and introductions to the Lotus 1-2-3, IBM PC, and MS-DOS Training Guides for Martin Marietta Data Systems (1986, 1988, 1991). His largest book to date is "Computers in Context" with coauthor Carl A. Scharpf (2nd Edition: Addison Wesley, 1998).This May 4 at Regent University's graduation ceremonies, Ewen will be formally recognized by the School of Global Leadership and Entrepreneurship for his outstanding dissertation project entitled "Strategic Problem Solving and Decision Making for Leaders." A multidisciplinary degree, Regent's DSL program is designed to help leaders diagnose and solve modern business and organizational challenges.Born in Chicago, Ewen is married with three children -- the eldest graduating this May from CCU -- and enjoys fly fishing, music, and outdoor photography. Tweet


text:
La Loggia del Instant Gaming Rush
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text:
Wilderness Paw Pattern Dog Sweater Vest by A. Deborah Grinke
Welcome! You are browsing as a guestWould you like to see 4 projects made from this pattern and much more? create a free account What am I missing?
Wilderness Paw Pattern Dog Sweater Vest
This pattern is available for $4.99.
Sized to fit dogs 12 to 28 inches around the chest.
The paw print design is knit using Fair Isle knitting style.
The paw print design is written out and is not charted.
The pattern ISBN # 978-0-9738037-1-6
For more information, see: http://www.karpstyles.com/catalog.html?item=2684


text:
5.0 Mega Pixel LCD Digital Binocular Camera
I really like this concept. The BinoCam gets you eight times closer to the action, then you'll view the images on a 1.5-inch full-color LCS screen. But it gets better! This product has been upgraded to include 5.0 megapixels. Also, the BinoCam takes AVI video clips, so you can capture the action, then come home and relive the moment on you computer screen. The BinoCam combines powerful binoculars, a high-resolution camera and a camcorder in one.
I have no use for this, and quite honestly it scares me to think of someone using it. But I've got to say it's an incredibly smart conceptTags: video, writing, pens, recorders, spy, video recorders, audio recorderAdded 8 Years Ago from Gadgetuniverse


text:
Monsignor Robert K. Golombek: Dad's beautiful hands led me to priesthood
He was a simple man, quiet and reserved, but a man of wisdom and love. He loved people, and they loved him. He was the best of teachers, not only with words but through his example.
In 1954, I graduated from Buffalo Technical High School and had won a scholarship to attend the Pratt Institute of Design in New York City. I spent two weeks at Pratt and returned home. Something didn't seem right.
My return puzzled my parents. My father sat down beside me and asked what had happened. I couldn't give a clear answer, but I told him that perhaps I should get a job as my brother had done.
I had scarcely finished the sentence when he grasped my hand and placed it next to his on the table.
"Look at our hands," he said. "I never wanted you or your brother to have hands like mine." His hand was calloused and twice as large as mine.
My mind drifted back a few years when I recalled him giving the same talk to my brother when he came home from the Army. My brother chose work over college.
Staring at my father's hands, I understood what he was trying to tell me. For 40 years, he worked at Pillsbury Mills, where his hands became calloused and scarred.
But these beautiful, manly hands were to become my passport to more years of college than I ever dreamt. Eight years of college and two degrees later, I recalled his words to me at that kitchen table: "As long as these hands can work, they will supply what you need to complete your education."
Spending three years at Buffalo State College, my life changed once again as I entered the seminary to study for the priesthood.
His advice to me at that time was simple: "Follow the call you have received, but make sure that you become the best priest you can be."
I then began an eight-year journey of countless challenges – the study of Latin was my greatest. After my first year, a seminary professor advised me that I would never make it; the road ahead was too difficult for me.
Coming home that day, I went to my room, closed the door and began to cry. I heard the door open and my father enter.
"What happened?" he asked. I told him what the professor had said.
He smiled and placed his big hand on my shoulder: "Did you tell me that God called you?"
"Yes," I answered.
"Then don't you have enough faith in him to help you?"
Once again, the man with the beautiful hands shared with me his wisdom and faith. My father strengthened my resolve that God really was calling me.
Through the years of my priestly life, my father would often teach me what faith can accomplish against insurmountable odds.
The only thing in this life stronger than his hands was his faith.
Often in ministering to people, I use my hands to touch and comfort the needy, the troubled and the dying. It is at these moments that I look at my hands and remember the large and scarred hands of my beloved father. And I am humbled to know that these blessed hands worked so hard to make my ministry as a priest possible.
My last act of love when he died was to kiss his hands and bless them with my tears.
On Father's Day and every day, I remember.
Monsignor Robert K. Golombek is pastor emeritus of Blessed Sacrament Catholic Church in Town of Tonawanda.


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NSF: Regaining Our Energy Science and Engineering Edge
RE-ENERGYSE (REgaining our ENERGY Science and Engineering Edge) is a program to help the nation retain its leadership position in science and engineering by attracting and educating future scientists in the clean energy field. RE-ENERGYSE will be jointly funded by the Department of Energy and the National Science Foundation.
RE-ENERGYSE will support the following kinds of projects:
RE-ENERGYSE would prepare up to 8,500 highly educated young scientists and engineers for clean energy careers by 2015. Additionally, RE-ENERGYSE would provide training for thousands of skilled clean energy technicians.
Media Contacts
The National Science Foundation (NSF) is an independent federal agency that supports fundamental research and education across all fields of science and engineering. In fiscal year (FY) 2017, its budget is $7.5 billion. NSF funds reach all 50 states through grants to nearly 2,000 colleges, universities and other institutions. Each year, NSF receives more than 48,000 competitive proposals for funding and makes about 12,000 new funding awards.
Useful NSF Web Sites:


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- Where are you located?
The soon to be world famous North Carolina Music Factory
- What is the dress code?
Casual and airy with a hint of French Couture. It's one of the best comedy clubs in the country. Look decent. No Tube Tops
- Do you Serve Food
Yes, very good food. Apps, Salads, Entrees, Desserts
- Do you Serve Drinks
Yes, the good stuff
- I have a group of people, what can you do for me?
Give us a shout and let us set up preferred seating, group discounts, buffet, plated dinner, open bar (see where we are going with this?) We will make your event a smash hit.
- What is the fastest mammal?
The Cheetah
- How about Parking
3500 free spaces – Take that Epicenter
- How long are the shows
1 ½ – 2 hours
- Do you offer an Open Mic Night?
E-mail email@example.com for the most current information


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Time Schedule:
Diana Fletschner
Seattle Campus
Second quarter of a two-quarter sequence aimed at helping students become informed users and critical consumers of research and statistical analysis. Combines material on research design and data collection methods with tools for multivariate analysis. The multivariate analysis methods include correlation and an introduction to multivariate regression. Prerequisite: PB AF 527.
Class description
This course is the second in a two-course sequence aimed at helping Evans School MPA students become informed users and critical consumers of research and statistical analyses. This course introduces the application of probability, hypothesis testing, and confidence intervals to multivariate models in the context of policy and management research.
Student learning goals
Formulate answerable research questions that address complex policy questions;
Be aware of the conditions necessary to establish causal relationships on a given outcome, emphasizing the need to disentangle the effects of multiple factors;
Recognize the implications of research design choices, randomization, concept measurement, and good data collection for the validity and reliability of research results;
Discriminate among data collection methods appropriate to answer a given research question, such as surveys, focus groups, key informant interviews, administrative data, or other methods;
Select appropriate univariate, bivariate, or multivariate analytic techniques to answer a given policy or management question;
Understand the mechanics, assumptions, and interpretation of regression models to policy or management questions, how to use regression models for both prediction and hypothesis testing, and the assumptions behind and possible "fixes" for problems with models.
General method of instruction
Recommended preparation
Class assignments and grading


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Spread over 6 floors, the hotel has a total of 57 rooms, including 18 singles and 39 doubles. The hotel's facilities include a foyer with 24-hour reception, safe, cloakroom, conference facilities and lift access. The hotel also offers a caf�, bar and breakfast room. Room and laundry services are available. Internet access is also available.
This upmarket hotel is situated on the famous Kurf�rstendamm and offers wonderful views out over the Ged�chtniskirche (Kaiser Wilhelm Memorial Church). There are also countless shopping venues and various cultural highlights located just a short walk of the hotel. Public transport can also be accessed in the immediate vicinity.
The pleasantly furnished rooms come with en suite bathroom with hairdryer, direct dial telephone, satellite/ cable TV, radio and Internet access. They also have a minibar, double bed, safe and central heating.
The hotel accepts American Express, Diners Club, MasterCard and VISA as payment options.
Room Facilities:
Direct dial telephone
Satellite cable TV
Internet access
Double bed
Central heating


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February 21, 2013
Maple Leafs great Tim Horton remembered as 'amazing man'
By STEVE SIMMONS, QMI Agency
The phone call Don Luce will never forget woke him from a deep post-game sleep at 4 in the morning. And he still gets emotional when talking about it, 39 years to the day of the tragic car crash.
The morning and night Tim Horton died.
The Leafs had played the Buffalo Sabres earlier that evening, just as they did Thursday night at the Air Canada Centre. The Sabres took a team bus to that game at Maple Leaf Gardens and rode it home safely on wintery roads. But Horton, at age 44 and a Sabres blue-liner, was given special permission to drive his own vehicle by general manager Punch Imlach.
He never made it home.
"Joe Crozier (the Sabres coach) called in the middle of the night," said Luce. "He said, 'Tim's been killed in a crash.' That was all he said. We didn't go back to sleep. We couldn't. We just sat up and cried, my wife and I. We didn't know what to say, what else to do. We had a game to play that night, I think against Atlanta."


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* All digital cards and invitiations have moved! Check out the new pingg.com >
2/9 previous photo next photo Best Wedding Venues from Around the World
Château Vaux-le-Vicomte
Image via Paris Sharing
Château Vaux-le-Vicomte
Maincy, France
Paris may be the city of love, but the most romantic French wedding spot is actually located south of the city, in a small commune called Maincy! Château Vaux-le-Vicomte, designed by the same masterminds behind Versailles in the 17th century, is set on 100 acres of land. Wealthy socialiate Vanisha Mittal was famously married here in 2004 for a cool $75 million.
Image via Paris Sharing


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A recent development in residential construction is Post Frame home construction. Post Frame has been around for years in the agricultural building market, but has not reached the residential market.
Post Frame is similar to metal framing and timber framing in that the primary structural loads are cariied in a framework that is later enclosed to create a building. In metal framing, the framework is metal and metal frame buildings are generally covered with metal. The metal frame is either bolted to a foundation or set in the slab into a sub-grade foundation pier.
In timberframing, enclosure is done with panels and the timber frame is either set through the floor deck on the foundation or the floor deck is supported from the foundation at the timber frame posts and the timber frame sets on the deck. Mortisse and tenon joinery is used to join timber members together.
Residential Post Frame has similarities to both methods.
|The laminated timber posts are generally installed into the foundation piers. Trusses are bolted to the posts and other structural members using heavy metal brackets
|Enclosure is generally done with structural insulated panels to maximize spans and close in quickly.
|Most structures leave the structural members (posts, timbers, brackets, and braces) exposed.
|Typically the posts are either wrapped with wood or painted. Trusses and other exposed materials are often painted- sometimes to reduce their visibility, sometimes to increase their visibility.
The completed structure has many advantages:
|Very fast to close in
|Highly energy efficient
|Often, very inexpensive to build- especially for large simple structures.
|Virtually unlimited open space.
|A very satisfying interior for a number of designs. This system works well with rustic, craftsman, yankee barn, colonial, and other mostly-open design approaches.
Follow THIS LINK to a pdf format picture of a post frame pool room enclosure which utilizes post frame trusses and SIPs gives you an idea how architecturally clean the post frame look can be.
The leading proponent of this residential construction method is Dixie Builders (email@example.com ). They will be working closely with us to develop this system. In addition to helping us at our exhibit in February at the Post Frame Trade Show in Nashville (2/26-28/2003 Opryland Hotel), Dennis Lee, of Dixie Builders, will also be exhibiting at Paducah Home Show (2/14-16/2003, Paducah Expo center) and the WICA Home & Garden Show (3/29-30/2003, Assembly Hall, University of Illinois, Champaign, IL).
If you are interested in being contacted when plans are ready, send an email to email@example.com and put Post Frame Plans in the subject line.
Post Frame home from Dixie Builders
SIPs going on a post frame project
SIPs being installed on a post frame roof
General Panel Corp
Johnson City, TN and Union, MS
(423) 747-8710