text:
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Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control strategies: visual servoing control, force control and tactile control. This paper presents a detailed review on the sensor architectures, algorithmic techniques and applications which have been developed by Spanish researchers in order to implement these mono-sensor and multi-sensor controllers which combine several sensors.
One of the main challenges in current research on robotics is the perception of the environment [
Like humans, robots generally use the sensory information related to the senses of vision and touch in order to interact with the objects in their environment. On the one hand, vision provides the global information which is required to localize the objects in the environment and compute their relative spatial relations. This information can be used by the robot controller to avoid undesired obstacles or to reach the target objects which are necessary for the development of its tasks. On the other hand, touch provides the local information which is required to characterize the way the robot contacts the objects in the environment. This information can be used by the robot controller to manipulate the contacting object or to explore it so that its surface properties (e.g., shape, stiffness, heat…) are extracted for its identification.
Although the sense of vision is usually implemented in robotics through cameras, the sense of touch is implemented with force sensors and tactile sensors. For this reason, three different approaches are developed to control the robot's movements according to the information from these sensors: "visual servoing" (term defined by Hill and Park in 1979 [
These three control strategies determine the movements that have to be executed by the robot in order to perform the desired task according to the measurements registered by the corresponding sensors. This paper is focused on the description of the approaches proposed by Spanish researchers for the implementation of these sensory control strategies. The following sections of this paper present a deep review not only on the algorithmic basis of the implemented controllers but also on the sensors architecture and the real applications of the developed robotic systems. In fact, Sections 2, 3 and 4 describe visual servoing control, force control and tactile control, respectively. Nevertheless, as in human perception, the combination of different sensors provides a richer knowledge of the environment which is indispensable for developing more complex and precise tasks (e.g., assembly and disassembly tasks [
Initially, robotic systems incorporating computer vision worked in open-loop (see
An alternative to the previous approach is visual servoing [
It is possible to place the camera in different positions. Independently of the kind of configuration employed, it is usually necessary to perform a camera calibration to determine its intrinsic parameters like the focal length, aspect ratio and image center. Generally, the camera is mounted on the robot end-effector, giving a more precise vision of the local environment of the task. Nevertheless, in order to perform other tasks, the simultaneous observation of the robot and its environment can be necessary. In this last case, the camera is usually mounted at a fixed position or over a second robot. In this case, the camera has no mechanical connection with the robot which is being visually controlled, but the relation between the camera and the robot base frame is known. Therefore, the cameras in a visual servoing system can be placed following two typical configurations: eye-in-hand (
Sometimes the number of cameras may be greater than one to obtain a more confident geometric reconstruction of the environment.
Another technique that is always developed for robot sensory control, independently of the sensor employed, are neural networks. Neural networks are generally implemented in two steps: training phase and classification phase [
The most widespread classification of visual servoing techniques depends on the input reference of the control loop. Sanderson and Weiss [
Both techniques, position-based visual servoing and image-based visual servoing, are usually implemented in an external loop that provides an input to the robot internal controller. This approach corresponds with the indirect visual servoing. Contrary to indirect visual servoing, the robot internal controller is not present in direct visual servoing (see
Before explaining the two main techniques of visual servoing, two papers describing a global distribute control system are presented. Cervera provides an object-oriented cross-platform network-ready environment for visual servoing simulations [
In a position-based visual servoing system (also called 3D visual servoing), the camera is a sensor used as a pose estimator. Both the current and the desired features are expressed in three dimensional (3D) coordinates (see
In this case, if the pose parameters are perfectly estimated, the robot trajectory is a pure straight line, while the trajectories of the image features are less satisfactory than in an image-based scheme as will be stated below. In the position-based scheme, it is impossible to ensure that the object will always remain in the camera field of view during the servoing task. This is the main problem detected in position-based visual servoing and thus, it is one of the most researched topics. Cervera
The features usually used in a position-based control scheme are 3D points of the object expressed in the camera coordinate frame. In [
The modeling and implementation of a position-based system is presented in [
Pose estimation of the object is perhaps the most important topic in position-based visual servoing research. It is important because the control input reference is defined through this pose estimation. Abderrahim
Montijano and Sagues describe a position-based navigation technique for a mobile robot [
Contrary to position-based visual servoing, image-based visual servoing is more suitable when a geometric model of the task to be developed is not available. In order to determine the control law in this approach, image features of the object in the visual sensor are used without the necessity of calculating their 3D localization, resulting in a more robust approach regarding calibration errors than position-based visual servoing.
Image-based visual servoing computes the control action in the two dimensional (2D) space of the image; and thus, this approach is also known as 2D visual servoing. The 2D visual features used in an image-based visual servoing system are usually basic geometric shapes (e.g., points or corners) which help to recognize without ambiguity the projection of a specific scene object.
The image shown in
As mentioned above, the loop control of image-based visual servoing systems is fed back with the visual features obtained from the images, without the necessity of determining the 3D pose of the object to reach. This involves an advantage with respect to position-based visual servoing systems, it makes the system more robust against calibration errors, and it reduces processing times.
The desired visual features,
In a basic image-based visual servoing approach, the velocity of the camera
In general, interaction matrix is a function of:
Intrinsic camera parameters. The current value of the visual features in pixels. 3D information relating to the 3D points corresponding to the visual features (e.g., the distance from the camera to the corresponding object feature).
Intrinsic camera parameters.
The current value of the visual features in pixels.
3D information relating to the 3D points corresponding to the visual features (e.g., the distance from the camera to the corresponding object feature).
Determining the way in which the interaction matrix is updated in the control loop is not a trivial question due to the dependencies described above and represents the major topic of research in image-based visual servoing topic.
The simplest way to compute the interaction matrix is an offline update. In this case, interaction matrix is computed only once before the visual servoing task is started. The value of the visual features from which the interaction matrix depends is considered equal to the desired features. Therefore, the distance between camera and object is the distance in the final position. This approach reduces the quantity of computing operations during the visual servoing development and maintains the convergence [
Nevertheless, problems of convergence in large movements have been stated when using the desired visual features to compute the interaction matrix during the visual servoing task [
As mentioned above, the values that must be estimated during the visual servoing task in order to obtain a permanently updated interaction matrix are the intrinsic camera parameters and/or the camera-object depth. Usually, intrinsic camera parameters are computed offline in a calibration phase. This is valid for cases where the camera intrinsic parameters do not change during the visual servoing task. However, there are visual servoing tasks that require the high precision that zoom may provide. The use of the images acquired during a visual servoing task to perform the camera online calibration is developed in [
Next, some special topics related to image-based visual servoing research in Spain will be detailed: the visibility problem, the necessity for finding adequate visual features to perform the visual servoing task, the systems proposed to track predefined paths using image-based visual servoing, stereo visual servoing, and finally motion estimators to perform the correct traking of not static objects.
When the camera-object depth is online estimated, the evolution of the features in the image during the visual servoing task tends to follow a straight line [
The use of panoramic cameras may avoid the appearance of outliers. Fisheye cameras provide panoramic vision whereby rich information is obtained. The work developed by Cervera
Online estimation of the camera-object depth is not an easy task. Moreover, it can introduce some undesirable behaviours. Cervera
An important issue in the temporal efficiency of visual servoing systems is the complexity of the objects in the scene. Therefore, the objects are often converted to its simplest form to perform the image-based visual servoing. Techniques like marking the characteristic points on the object over a uniform background are usually used for the visual features extraction. The image processing is then merely a segmentation of these features and the computation of their center of gravity. The works developed by Pages
Vargas and Malis describe a visual servoing system based on the homography decomposition [
Another example of the difficulty of finding an adequated set of visual features to perform the visual servoing task is presented by Ortiz
Image-based visual servoing systems present singularities and/or local minima problems in large displacements tasks [
Stereo rig configurations have been widely applied in the literature to obtain 3D information from the scene. The application of stereo vision in visual servoing was pioneered by Maru
Another stereo visual servoing system is presented by Recatala
Previous research on motion object tracking in real time like [
As it is described in [
Motion estimators are not only used to perform a tracking of a mobile object. One major control problem of visual servoing is to cope with the delay introduced by image acquisition and image processing. Ángel, Sebastian
In the current tendency where robot manipulators are supposed to be more and more autonomous, control of the physical interaction between the robot and the environment is absolutely necessary. A simple motion control (like those described in Section 2) is not sufficient to obtain a successful execution of the manipulation task. Force/torque sensors provide the robot manipulator with the skills required to interact with the objects located in its workspace. A force sensor is defined as a transducer that converts an input mechanical force into an electrical output signal. It is a critical component for extending the capability of manipulation and assembly, especially with contact tasks that require mechanical operations involving interaction with the environment or objects. Most force sensors in robot manipulators have a common basis: a strain gauge. A strain gauge is a sensor whose resistance varies according to the applied force [
When a force/torque sensor is installed in a robot manipulator, it is frequently placed at the robot's end-effector [
Even though the great majority of research groups in Spain place the force/torque sensor on the robot wrist, there are some interesting works that present another configuration. A built-in configuration of the sensor is often chosen for walking robots [
When a robot manipulator has to interact with its environment, motion control is not sufficient to assure a correct task execution [
According to the scheme of the control, active interaction control can be divided into two groups: indirect force control and direct force control [
One of the most used indirect force controllers is the impedance control [
Admittance control is also called position based force/impedance control in the literature, indicating that the desired behaviour is implemented by means of outer loops around an inner position or velocity loop. It is the strategy chosen by Galvez
The works presented by Garcia
One important issue in the research of a certain control topic is to have an open architecture which provides the basis for the easy and fast development of different control schemes. Garcia
Direct force control is intended to control the forces and moments in a robot interaction task. There are several strategies to perform this control of the forces. A pure force control is used in tasks where only the forces have to be regulated. The motion is directly controlled by the force input and the final position of the end-effector of the robot is not important for the correct completion of the task. ROBOCLIMBER is a legged-robot able to climb and walk. It implements a simple control scheme where the prismatic joints of the legs are controlled directly by the measured ground-reaction forces with a proportional force controller [
Hybrid force/motion control is the most extended direct force control scheme. The general scheme of hybrid force/motion control was firstly proposed by Raibert and Craig [
Switch control is often applied to tasks where there is an unconstrained motion of the robot arm followed by a constrained motion [
Although the most extended control schemes belong to one of the two groups described before, there are other techniques that offer excellent results in a specific task. Fine motion planning is a commonly studied issue in the literature. The most commonly used example to define a fine motion task is the insertion of a peg in a hole. It is a precise task that cannot be planned previously, as uncertainties can avoid the complete execution of the task. The position of the end bar is computed by forward kinematics of the robot and by the matrix which relates the end bar frame with the robot end-effector frame. Errors in the matrix relating both frames or in the calibration of the robot may lead to a failed task completion. Contact between parts has to be monitored, and different actions are needed to perform a correct insertion. Suarez
Tactile sensing is a technique which determines the physical properties of objects through their contact with the world [
Tactile sensors can be classified into two main groups according to the measured property: static and dynamic tactile sensors. Static tactile sensors analyze the physical properties of two static contacting surfaces while dynamic tactile sensors are based on the study of the variation of the physical properties of two contacting surfaces which are moving. On the one hand, static tactile sensors are generally based on the measurement of the normal pressure over the contacting surfaces or their deformation [
Tactile sensing is developed by arrays of sensors which emulate the human skin and obtain a distribution of the measured property over the contacting surface. Each of these sensors is implemented through different technologies [
Tactile sensors can be installed in the robot according to two main configurations: intrinsic and extrinsic [
Despite these differences, all tactile sensors share a common property in robotics: they analyze the direct contact between the robot and the objects of the environment in order to adapt the robot's reaction to their physical properties. In particular, the robot can adapt its behaviour to the changes in the environment by processing the tactile information according to two different aims: object identification and manipulation control. On the one hand, the properties of the objects (texture, shape, compliance…) extracted from the robot's tactile sensors can be used to categorize the objects into different classes which have a specific reaction of the robot associated with them. Thereby, the robot's behaviour is adapted to the class of object which is touching at each moment. On the other hand, the measurements obtained from the tactile sensors can also be applied directly into the robot controller. In this case, a tactile-driven robotic control is developed and no identification of the contacting object is needed. The next sections present the research developed in Spain related with these strategies for controlling robots through tactile sensing.
The identification of the object which the robot is touching can be implemented by two different techniques: geometric modeling and neural network classification. The first approach is based on the definition of a geometric model of contact which determines how the contacting surfaces of the robot and the object interact. The result of this interaction is registered and quantified by the tactile sensors which are installed on the robot. An estimation of the geometric model of the object's surface can be obtained from the combination of the known geometric model of the robot's surface with the interaction response measured by the tactile sensors. Galvez
The other most commonly used technique for object identification from tactile data is neural network classification. In the training phase of the neural network, some known tactile data are applied to the network in order to infer the mapping between these data and the desired classes. The classes can have been established beforehand or can be generated automatically and they correspond to the most representative values for the physical property measured by the tactile sensors. After the training phase, the neural network is able to categorize new input tactile data into a specific class according to the previously inferred rule (
In the approaches described in the previous section, tactile information is processed in order to classify the objects according to a physical property (shape, stiffness…). After this classification process, the robot controller chooses the most suitable reaction for the class of the object. Therefore, the robot controller performs an identification of the object depending on its tactile properties and reacts accordingly. Nevertheless, tactile information can also be used as input for the control law of the robot. In this case, there is neither object identification nor tactile information interpretation, but a mathematical processing of tactile data.
Previous sections have presented the research work which has been developed by Spanish researchers in visual servoing, force control and tactile control separately. However, the combination of the global information registered by visual sensors with the local information registered by force and tactile sensors enables a more complete knowledge of the environment. In other words, visual information provides the robotic controller with an overview of the objects that compose the environment and force/tactile information provides the controller with a detailed description of the contact with them. Both types of information are required for complex tasks where the robot needs to manipulate objects in the environment. For instance,
Visual/force control schemes are commonly derived from the position/force control schemes detailed in Section 3. The only difference is the presence of a computer vision system that usually performs the control of the position of the robot as the position control does. Therefore, the control schemes have to be modified to take the visual servoing component into account. The most employed motion/force control techniques like impedance control or hybrid control are also adapted to obtain a visual/force control. Moreover, a shared control scheme where both, force and image are fused in the image space is also studied by the Spanish researchers. Next, the different visual/force control schemes and their applications will be detailed.
The scheme of the visual/force impedance controlled is derived from the scheme of the general impedance control depicted in
Using impedance control to combine visual and force data for the interaction phase, and a general control that weights each of the sensory control, Pomares
A shared control strategy permits to control all the directions of the task with the information of all the sensors of the system. Opposite to the scheme presented in the last subsection, here the force may be regulated. Therefore, this is a direct force control scheme. The force control modifies the desired features in the image, so that an internal visual servoing control loop is surrounded by an external force loop (see
As described in previous sections, a motion/force hybrid control permits the control of complementary directions using different sensors. When the motion is managed by a visual servoing system, a visual/force hybrid controller is defined. This is the case of the controller described in [
The combination of visual, force and tactile information is the most complete strategy for controlling robots which interact with the environment. On the one hand, visual sensors obtain the global information necessary to detect and approach new objects in the environment. On the other hand, force and tactile sensors provide the local information required to grasp and manipulate the objects that have been previously detected by the visual sensors. These local and global data are generally combined in the literature by applying two different strategies: neural networks or hybrid control.
This paper presents a detailed review on the control strategies developed by Spanish researchers which are used to control the movements of robotic systems depending on the information registered by sensors. As vision, force and tactile sensors are the most commonly used sensors to analyze how robots interact with the environment, the corresponding control strategies have been exposed: visual servoing control, force control and tactile control. In particular, three different techniques have been presented for implementing visual control: position-based visual servoing, image-based visual servoing and stereo visual servoing. Similarly, direct and indirect force control techniques have been enumerated in order to describe force control. Tactile control techniques have been organized according to their application in robotic tasks: object identification and manipulation control. For each of these control techniques, not only their theoretical basis has been explained but also the sensor configuration employed for their implementation and their final application.
This in-depth study permit us to develop an analysis of current research on robotic sensory control and an estimation of future research lines which will be based on it. The great number of works based on visual servoing demonstrates that vision is and will be the most widespread control strategy for adapting robotic systems to their environment. New visual servoing controllers will be based not only on new algorithmic improvements to the current techniques (such as new online estimators for the interaction matrix) but also on new sensors (such as omni-directional cameras which increase the field of view) and new visual features (such as structured light patterns which are independent of the object appearance). However, visual servoing is not sufficient for developing correctly robotic tasks which require physical interaction. Therefore, more and more multi-sensor systems based on vision, force and tactile sensors will be developed in the future. These multi-sensor systems will involve parallel advances in visual servoing and force/tactile control. On the one hand, direct visual servoing will be more widespread because it is able to control the dynamics of the robot which have an important influence on the contact forces between the robot and the object. On the other hand, force and, especially, tactile information will be integrated in the robot controller so that contact properties are not neglected.
The authors want to express their gratitude to the Spanish Ministry of Science and Innovation and the Spanish Ministry of Education for their financial support through the projects DPI2005-06222 and DPI2008-02647 and the grant AP2005-1458.
"Look and move" scheme.
(a) Stereo eye-to-hand visual servoing configuration. (b) Eye-in-hand visual servoing configuration.
Direct visual servoing scheme.
Position-based visual servoing scheme.
(a) Image acquired from an external camera. (b) Image acquired from the camera mounted on the robot end-effector.
Image-based visual servoing scheme.
(a) Six axis force/torque sensor placed at the robot wrist. (b) Built-in strain gauge in a Barrett hand finger.
Impedance control.
(a) Pressure sensing arrays installed on the fingers and the palm of a Barrett hand; (b) distribution of pressure values registered by the tactile arrays.
Example of a robotic task, consisting of grasping a bottle of water, which requires a multi-sensor control strategy.
Visual/force impedance control.
Shared control with an external force loop.
Summary of Spanish research on visual servoing.
|Eye-in-hand configuration.
|Feedforward neural network.
|Industrial inspection.
|Eye-in-hand configuration.
|Reinforcement learning-based neural network.
|Grasping of an object on a table.
|Eye-in-hand configuration
|Reinforcement learning-based neural network.
|Autonomous submarine for underwater cable inspection tasks
|Eye-in-hand configuration.
|Discrete time Cellular Neural Networks
|Test of the proposed visual servoing scheme.
|Eye-in-hand and eye-to-hand configuration.
|Image-based visual servoing.
|Visual servoing open architecture.
|Simulated camera.
|- Image-based visual servoing.
|Visual servoing simulator in Matlab/Simulink.
|Eye-in-hand configuration.
|Position-based visual servoing with change of the camera-object frame.
|Simple tests of the proposed approach.
|Eye-in-hand mono and stereo rig configuration.
|- Image-based visual servoing.
|Test of the proposed algorithms.
|Eye-in-hand stereo rig configuration.
|- Stereo image-based visual servoing with 2D point and major axis orientation features.
|Testbed for a classic position-based scheme.
|Eye-in-hand configuration.
|Position-based visual servoing.
|Testbed for a classic position-based scheme.
|Eye-in-hand configuration.
|- Position-based visual servoing.
|Test of the proposed controller.
|Eye-to-hand configuration.
|Position-based visual servoing.
|Internet Tele-Lab for learning visual servoing techniques.
|Eye-in-hand configuration.
|Position-based visual servoing.
|Testbed for an autonomous satellite repairer.
|Eye-in-hand configuration.
|Position-based direct visual servoing.
|Visual control of a 2 degree of freedom robot.
|Eye-in-hand configuration.
|- Position-based direct visual servoing.
|RoboTenis: a parallel robot playing table tennis.
|Eye-in-hand configuration
|-Position-based visual servoing based on the scene reconstruction using homographies
|Mobile robot navigation
|Eye-to-hand stereo rig configuration.
|Image-based visual servoing from online estimated interaction matrix by using the properties of the epipolar geometry.
|Test of the proposed online interaction matrix estimation.
|Image based visual servoing with a complete interaction matrix without stability problems and using head movements if a stability problem is detected
|Aibo visual control to track the ball in a RoboCup soccer match
|Eye-in-hand configuration.
|Image-based visual servoing with online camera calibration.
|Test of the proposed algorithm.
|Eye-in-hand configuration.
|Image-based visual servoing solving the visibility problem.
|Test of visual servoing tasks with outliers.
|Eye-to-hand fisheye stereo ring configuration.
|Image-based visual servoing with panoramic cameras.
|Safety issues for a robot arm moving in close proximity to human beings.
|Eye-in-hand configuration.
|Image-based visual servoing with structured light external visual features.
|Plane-to-plane positioning tasks.
|Eye-in-hand configuration.
|Image-based visual servoing based on the homography decomposition.
|Simulation of the proposed control scheme.
|Eye-in-hand configuration
|- Switched homography-based visual control
|Mobile robot navigation
|Eye-in-hand configuration
|- Image-based visual servoing with epipole geometry as visual features.
|Mobile robot navigation
|Eye-in-hand configuration
|Image-based visual servoing with epipoles as visual features
|Mobile robot navigation
|Eye-in-hand configuration
|Motion estimator from multiple planar homographies
|Vision based control of unmanned aerial vehicles (UAV)
|Eye-in-hand configuration
|- Image-based visual servoing with epipole geometry as visual features.
|Mobile robot navigation
|Eye-in-hand configuration
|Tracking of a line with Kalman filter predictor
|Autonomous submarine for underwater cable inspection tasks
|Eye-in-hand camera configuration.
|- Image-based visual servoing.
|Tracking of predefined paths.
|Eye-in-hand camera configuration.
|- Image-based visual servoing.
|Tracking of predefined paths in the change of a fault light bulb.
|Eye-in-hand stereo rig configuration.
|- Stereo image-based visual servoing with stacked-mono and stereo-real interaction matrices.
|Test of the proposed algorithms.
|Eye-in-hand stereo rig configuration.
|- Stereo image-based visual servoing with disparity features.
|Test of the proposed algorithms.
|Eye-in-hand stereo rig configuration.
|Stereo image-based visual servoing with grasping points features.
|Grasping of different objects.
|Eye-in-hand configuration
|- Image-based visual servoing.
|Visual servoing of an autonomous helicopter
|Eye-to-hand configuration.
|- Image-based visual servoing.
|Automatic chaser car in a slot game.
|Eye-in-hand configuration.
|- Image-based visual servoing.
|Peg-in-hole task in motion.
|Eye-in-hand configuration.
|- Image-based visual servoing.
|Tests of the proposed motion estimator.
|Eye-in-hand configuration
|- Image-based visual servoing.
|Tracking of a desired path in the image.
|Eye-in-hand configuration
|- Image-based visual servoing.
|Tracking of a mobile object placed at a turntable.
Summary of Spanish research on force control.
|Wrist six axis force/torque sensor.
|Neural networks.
|Fine motion assembly tasks.
|Wrist DSP-based six axis force/torque sensor.
|Impedance control.
|Test of a contact force estimator.
|Wrist six axis force/torque sensor.
|Impedance control.
|Test of a self-calibrated contact force estimator.
|Wrist six axis force/torque sensor.
|Hybrid force/motion control.
|Bone drilling in a surgical repairing task.
|Built-in strain gauges.
|Proportional pure force control.
|Control of a climbing and walking robot.
|Built-in strain gauge placed at the beginning of the link.
|- Switch motion/force control.
|Control of free and constrained motion of a flexible robot.
|Wrist force/torque sensor.
|Geometric analytical models.
|Fine motion assembly tasks.
|Built-in strain gauges.
|Admittance control with the force controller in the joint space.
|Control of a legged-robot.
|Wrist six axis force/torque sensor.
|- Impedance control.
|Open software architecture to test robot interaction tasks.
|Wrist six axis force/torque sensor.
|- Different direct force control schemes.
|Test architecture for the analysis of the mechanical response in car seats.
|Wrist six axis force/torque sensor.
|Proportional pure force control.
|Screwing in an assembly task.
|Wrist six axis force/torque sensor.
|- Impedance control.
|Robot humanoid for household furniture common tasks.
|Wrist six axis force/torque sensor.
|Hybrid force/motion control.
|Service robot for shaving and feeding tasks.
|Wrist-mounted strain gauges.
|Neural networks
|Fine motion assembly tasks.
Classification of tactile sensors.
|Pressure sensing arrays
|- Capacitive
|Static (normal pressure)
|Skin deflection sensors
|- Conductive rubbers
|Static (deformation)
|Dynamic tactile sensors
|- Piezoelectric transducers
|Dynamic (vibration, stress)
|Fingertip force/torque sensors
|- Piezoresistive strain gauges
|Static (force/torque)
Summary of Spanish research on tactile control.
|Built-in force/torque sensor based on strain gauges.
|Intrinsic tactile sensing for normal vector computation.
|Pipe crawling robot.
|Fingertip 16×16 conductive rubber contact layer.
|Method with 3 phases: noise cancellation, image processing and classification by a LVQ network.
|Classification of the local shapes of objects gripped by a robotic hand.
|- Artificial skin on a parallel robotic gripper.
|Neural network organized as a topographic map of joint positions and contact forces.
|Grasping of objects of different stiffness with a predefined force.
|- Three fingertip 8×5 pressure sensing arrays.
|Force-pressure control law for controlling the applied force and maximizing the contact surface.
|Robotic assistant that picks up books in a library.
|- Four FSRs.
|Control algorithm which detects grasping events from sensor data and generates the user's feedback.
|Clinical prosthesis which provides the user with feedback.
|- 16×16 Array of piezoresistive tactile sensors.
|Algorithm implemented in a FPGA which detects slipping according to the number and duration of the digital pulses obtained from the tactile sensors.
|Slipping detection alarm for manipulation tasks.
Summary of Spanish research on multi-sensor control.
|- Wrist six axis force/torque sensor.
|- Shared visual-force control based on the force-image interaction matrix.
|Change of a faulty bulb in a streetlamp.
|- Wrist six axis force/torque sensor.
|- Impedance visual/force control.
|Peg-in-hole task in motion.
|- Wrist six axis force/torque sensor.
|- Impedance visual/force control.
|Different interaction tasks tracking a desired path.
|- Wrist six axis force/torque sensor.
|- Impedance visual/force control.
|Different interaction tasks tracking a desired path in contact with an object.
|- Wrist six axis force/torque sensor.
|Shared visual-force control.
|Disassembly task.
|- Wrist six axis force/torque sensor.
|- Shared visual-force control.
|Service robot opening a door of a wardrobe.
|- Wrist six axis force/torque sensor.
|- Shared visual-force control.
|Different interaction tasks tracking a desired path.
|- Wrist six axis force/torque sensor.
|Visual/force hybrid control.
|Library assistant robot.
|- Stereo-head with 5 d.o.f.
|Neural networks with VAM structure which relate visual and tactile data with joint positions.
|Reaching and grasping tasks of unknown objects.
|- Wrist six axis force/torque sensor.
|Position-vision-tactile hybrid control modified by an impedance force control.
|Service robot which opens a sliding door.


text:
The body of a man has been found in a dam at a high school in south-west Sydney this morning, police say.
A farmhand made the discovery at Hurlstone Agricultural High School on Roy Watts Road, Glenfield, just before 6.30am today, police said.
Do you know more? Email us, message us on Twitter @smh or text 0424 SMS SMH (+61 424 767 764) with information and images.
Investigators believed the body had been in the water for some time.
The man was yet to be identified and a post mortem examination would conducted to determine a cause of death.
Forensics officers were at the site, police said.
They appealed for anyone with information to phone Crime Stoppers on 1800 333 000.
AAP with smh.com.au

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Upstairs rental only!!! one bedroom, one bath - shared kitchen and common areas. kitchen with granite counter tops, and stainless steel appliances. Sun Room, large fence backyard, parking garage, Central A/C and front Patio.
Open House:
Friday, 7/28
Courtesy: All Service Real Estate
View additional info
2 Bedroom w/ Den. Housing vouchers are welcomed.
Courtesy: Long & Foster Real Estate, Inc.
View additional info
This rental is as-is. Rental price reflects owners position and will not be negotiated.
Courtesy: Fairfax Realty of Tysons
View additional info
No house Voucher. Newly Renovated, 3 level condo townhouse with 3 bedroom and 2.5 bath, hardwood floor, brand new carpet, complete remodel kitchen with granite counter top and stainless appliances, new HVCC and more. Owner is a licensed realtor (VA/MD)
Courtesy: Long & Foster Real Estate, Inc.
View additional info
Courtesy: Preferred Homes Realty
View additional info
Unbelievable rental with a lot of space. 3 bedroom townhouse, with large eat-in kitchen, deck off kitchen. Garage with 2 car parking pad. Master bedroom with private bath. Finished lower level rec room with 1/2 bath. Walking distance to public transportation and shopping.
Courtesy: RE/MAX Specialists
View additional info
Beautiful, spacious three level townhome. Master suite with full bath. Eat-in kitchen, full basement, pre-wired for theater room plus huge bar for entertaining. Home also includes fully fenced in back yard with patio. Main floor featuring hardwood floors. Fully available and waiting on you.
Courtesy: Keller Williams Preferred Properties
View additional info
Stunning home, a lot of renovations. Conveniently located in Forestville, Maryland easy access to METRO, HWY 495 downtown DC, and military bases. Walking distance to bus stops. Convenient access to shopping. This town house has 3 spacious bedrooms,2 full baths/2 half baths. This property will be available for occupancy August 1, 2017. The monthly payment $1830.00 per month plus utilities.
Courtesy: Long & Foster Real Estate, Inc.
View additional info
Renovated condo townhouse has 3br, 1.5ba ready to accommodate any qualified applicant.
Courtesy: Signature Realtors Inc
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Recently updated with wood floor throughout and brand new appliances and Granite Countertop, 2 Bedrooms and 1 Full Bath Condo is perfect and ready to move in. Conveniently located and close to public transportation, and minutes away to downtown Washington DC, close to shopping and the beltway. Tenants only pay electric and cable.
Courtesy: Keller Williams Preferred Properties
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This property boasts 2 levels w/3 spacious bedrooms, 1.5 bathrooms nestled in this cozy 2 level condo. Minutes to DC, metro accessible too...
Courtesy: Taylor Properties
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great spacious 4 bedroom town home with nice fenced yard and washer/dryer.
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text:
Google Goggles* =p
ahh ok lol
its been a very long day for me
Sygic works fine for me on both roms..
Read the thread while you download/flash and see for yourself
[/Salesman mode on]
Yes and this ROM will even do your laundry sir..
[/Salesman mode off]
how long?
Sent from my HTC HD2 using xda premium
well lets see ive had like 4 hours sleep since this rom came out
and between modding it and testing things on it and trying to mod the status bar
as well as other things i had to get done today
im wiped out lol
Is it possible to fix the camcorder now that we got HWA kernel?
XDA Developers was founded by developers, for developers. It is now a valuable resource for people who want to make the most of their mobile devices, from customizing the look and feel to adding new functionality.
Are you a developer?
Copyright © xda-developers. Hosted by Leaseweb


text:
Ask a Lawyer and Get Answers to Your Legal Questions
Yes, I have a valid lease. I just want to know how to calculate the interest correctly. A bank I check with said interest on a savings account, for example, is done monthly. Someone else told me to calculate the interest yearly.
I understand why you are asking me the questions. I also understand that over 13 years from 2000 to 2013 interest rates have changed. According to NJ Security Deposit law, since my landlord has not provided me with my security deposit information over the years and therefore I could not give this to my tax accountant for declare the interest as income to pay my federal tax on it, I am entitled to sue my landlord for 7% over the 13 years. I can also use my security deposit toward paying my July rent because of his negligence in this area. I just need to know how to correctly calculate the interest for a 2.5 % interest rate and a 7% interest rate in case I need to take him to small claims court. Thank you.


text:
"We don't accidentally sign up for Pocketshots. I think we've all sought Robyn out because she can pinpoint and capture our relationships with these supreme beings. She's the love-story whisperer."
Dogs, people, & stories.
Hi, I'm Robyn. I'm a photographer and I love dogs. I love my dogs. I love your dogs. I love crusty lonely dogs on the street. I love big fluffy fancy dogs. In fact, one of my superpowers is being able to work in the subject of dogs to any conversation with anyone. Read more.


text:
sultan Abdul Hamid I
Praise Of The Prophet - Poem by sultan Abdul Hamid I
O my master, O Messenger of Allah, take my hand:
I have none besides you, nor will I pause to rely on anyone but you.
For you are the light of guidance in everything that exists
and you are the secret of munificence and the best reliance.
And you are in truth the helper of all creation,
and you are the guide of mortals to Allah, Owner of help.
O you who stand on the Station of Praise, singled out
by the One Who is Single, Who is not begotten and does not beget.
O you from whose fingers rivers burst forth
so that he quenched the thirst of the numerous army.
Verily, if I am faced with harm and fearful injustice
I say: O Master of masters, O my support!
Be my intercessor with the Merciful regarding my mistakes
and grace me with what eludes my heart.
And look upon me always and ever with kind eyes,
and cover with your favor my shortcomings all my life.
Kindly bestow on me encompassing forgiveness
for from you, O my master, I was never separated.
I have sought as my means the elect one, the noblest of any
that ascended the heavens, the secret of the Unique One?
O Lord of beauty! Exalted is Allah Who created him,
for such as him in all creation I have never seen?
The best of creatures, the apex of Messengers,
the treasure of humankind and their guide to integrity!
In him I have taken refuge: perhaps Allah will forgive me.
This is what I count on and firmly believe.
Therefore his tireless praise shall never cease to be my task
and love of him sustains me in the presence of the Lord of the Throne.
Upon him the purest of endless blessings without cease
together with greetings that cannot be stemmed nor counted
And upon his Family and Companions, a glorious folk all,
The ocean of forgiveness, the people of generosity and aid!
Poet's Notes about The Poem
Comments about Praise Of The Prophet by sultan Abdul Hamid I
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Famous Poems
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Maya Angelou
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Stopping By Woods On A Snowy Evening
Robert Frost
A Dream Within A Dream
Edgar Allan Poe


text:
The federal government is resisting calls to intervene in the industrial brawl on the nation's waterfront amid warnings a looming strike and lockout at Melbourne, the nation's busiest container port, could damage the economy.
The Australian Financial Review reported on Thursday that the Maritime Union of Australia (MUA) planned to strike for 24 hours at DP World's Melbourne terminal starting on Sunday night. That prompted the threat of a 24-hour lockout of workers from DP World that would effectively shut down half of the port for two days.
A lockout at stevedore POAGS in the West Australian ports of Bunbury and Fremantle was ended prior to Christmas after Workplace Relations Minister
But Mr Shorten is taking a different view of the Melbourne dispute, maintaining that the parties should be left to negotiate ahead of a meeting today.
"They've both got strongly held positions," Mr Shorten said.
"Both parties have advised that they don't think the negotiations have been exhausted yet. At this stage no-one's indicating any desire for arbitration. So I think it's appropriate to allow people to negotiate.
"What you've got to understand is that if parties see a value for assistance then we're able to assist."
Opposition workplace relations spokesman
"It is not only the [DP World] business at stake here, it is all the businesses and workers and jobs that rely on the imports and exports that DP World facilitates," he said. "They also have their livelihoods at stake. It is getting to that stage where I think it gets serious enough for the minister to ask the parties and see if he can sit down with the parties to resolve it."
Senator Abetz said he did not believe the dispute had reached the stage where it warranted using the government's powers under the Fair Work Act to force an end to the action by either side.
Australian Industry Group Victorian director Tim Piper said the long-running work bans and the closure were concerning.
"As an industry we would hope the port issue can be resolved very quickly," he said. "We can't afford to have additional costs imposed on industry because it is hard to remain competitive already." The DP World lockout coincides with the MUA's annual picnic, meaning the port's other terminal, operated by Patrick, will not work to full capacity either.
Shipping Australia chief executive
"Grain exports in containers, dairy, meat and automotive parts are particularly at risk," he said.
Victorian Farmers Federation grains group vice-president Peter Tuohey said about 30 per cent of the grain harvest was transported by container and the shutdown would cause unwelcome disruption.
Mr Tuohey said firms faced tens of thousands of dollars in demurrage fees if their ships had to wait, which would hurt smaller players in particular. Companies could also breach supply contracts if shipments were late reaching offshore customers.
Victorian Employers Chamber of Commerce and Industry chief executive Mark Stone said he hoped the action would not be repeated.
DP World declined to comment and the MUA was unavailable for comment.
The Australian Financial Review


text:
|Dixie Baseball Summaries
|From Staff Reports
April 1
Red Sox 18, Twins 2
April 26, 2006 - Ryan Humphries had a home run and triple, while Simeon Taylor and Brennan Seymore added triples for the Red Sox. Heston Wilburn and Harrison Fite each doubled.
For the Twins, Holdan Culpepper and Cameron Matthews each hit a double, while Dylan Wiggins, Connor Burgin and Cade Lovelady all hit safely.
Rangers 14, Orioles 7
Dedrich Godbolt led the Rangers with a pair of doubles, and Collen Armstrong, Casyn Garcia and Andrew Escobar each had a two-bagger. Tyler Armstrong had three hits.
For the Orioles, D'Corian Young had three singles, Jermon Amos added two hits, and Dantae Morales, Kolby Savage and D.J. Abrong each hit a double.
April 3
Cardinals 16, White Sox 7
The Cardinals had four players with multiple hits as Logan Oxford had three singles, Gage Penson added two doubles, Bryson Lynn hit a double and a triple and Garrett Shelby had two singles. Tanner Nalls added a triple.
For the White Sox, Jose Kirkpatrick and Da'Korian Sims each had a double, Denton Lawson added two singles, and Layton Keller and Jadon Miles each hit safely.
Blue Jays 15, Scrappers 7
Jack McCoy led the Blue Jay attack with a pair of triples and Jalik Cleveland added two doubles. Joshua Edwards hit three singles, River Thomas had two singles and Hunter Wallis added a double.
Dawson Draper was the top hitter for the Scrappers with a pair of doubles. Kaden Pace hit two singles, and Nathan Tiegiser, Logan Caton and Riley Shepard all hit safely.
April 4
Braves 12, Angles 4
Ryder Caddell had two extra base hits for the Braves, and Mason Boyd hit a triple. With doubles were Preston Price, Norris English and Bryce McQueen.
The Angels were paced by Kristian Goree and Bryson Van Kennon each with a pair of hits. Cooper Adams, Branson Thomas and Cole Johnson all had doubles.
Longhorns 16, Riverdogs 8
Twelve players for the Longhorns had extra base hits, led by Taylor Arrington with a home run and a triple, Nathan Frye with a triple and double, and DeAnthony Moore with two doubles. Also with extra-base raps were Owen Lee, Jaden Price, Alex Nichols, Brennan Murry, Dawson Mathes, Blayne Hohenberger, Tyler Kelley, Trey Dial and Elmer Rodriguez.
Zane Haywood and Stone Richardson each hit home runs for the Riverdogs, and Gabe Flanders, Grant Baker, Connor Walls, Kaleb Mills and Hunter Freeman all hit safely.
April 6
Aggies 18, Express 6
Shaden Burton hit a triple and double and Colton Clark had a double to lead the Aggies. Also with doubles were Gavin Milsap, Triston Sickles, Triston McCormick and Andy Eddins.
For the Express, Pacen Edwards and Michael Arnold both doubles, and Austin Ratliff, Blake Talmage, Matthew Peuges and Dawson Sears all singled. Also, Connor Nix caught a pop fly.
Orioles 17, Rockhounds 3
D'Corian young, Dantae Morales, D.K. Abron and Jeremond Amos all had two extra base hits, while Kobe Savage and Rhett Reid added doubles for the Orioles.
Heston Golightly hit a home run to lead the Rockhounds. Christian Huff doubled, while Spenser Brewer, Dee Dugan and Shandler Whiston singled.
April 7
Red Sox 17, White Sox 1
Simeon Taylor paced the Red Sox with a triple and two doubles, and Ryan Humphries had a triple and double. Sam Ottinger and Carson Bridges both doubles.
Layton Keller hit a double and Denton Lawson a single for the White Sox.
Rangers 13, Scrappers 9
Casyn Garcia hit a triple and double for the Rangers, and Dedric Godbolt, David Helfreich, Colton Armstrong and Travis Pundt all hit doubles.
The Scrappers were paced by Cade Goldsmith and Nathan Tiegeser, each with doubles, Dawson Draper with three singles, and Logan Caton and Riley Shepard each with a single.
April 8
Cardinals 10, Riverdogs 1
Tucker Hathcoat had two triples, and Tanner Nalls and Bryson Lynn both had three hits for the Cardinals. Garrett Shelby and Logan Oxford both doubles.
For the Riverdogs, Cameron Morris, Hunter Goodson, Zane Haywood, Connor Walls and Stone Richardson all hit safely.
Blue Jays 14, Angels 10
Jamal Hobson-Cox hit a home run and a double for the Blue Jays. Others with extra base hits were Richard Green, Keaston Willis, Jack McCoy and Hunter Wallis.
For the Angels, Bryson Van Keenon caught a fly ball and hit a double. Cole Johnson and Josh Sprague each doubles, and Chase Crouch and Kristian Goree both had two hits.
Aggies 7, Longhorns 5
Triston McCormick had a triple and a double for the Aggies, while Andy Eddins, Colton Clark, Max Humphries and Jabe Humphries all hit safely.
For the Longhorns, Taylor Arrington had two hits, Elmer Rodriguez, Trey Dial and Nathan Frye hit doubles, and Owen Lee added a single.
April 10
Express 14, Braves 3
Dawson Sears had two hits for the Express, while Michael Arnold and J.J. Morales each added extra-base hits, and Blaine Flemmons and Bryce Hornback each singled.
For the Braves, Jace Thompson, Michael Goldsmith, Ryder Caddell, Carter Monk and Preston Price all hit safely.
White Sox 18, Twins 7
Denton Lawson had a double and a triple and Weston Vasquez added three hits for the White Sox. Cameron Jones and Kasen Price had two hits each, and Jase Kirkpatrick doubled.
Zachery Burgin had two doubles to lead the Twins. Holdan Culpepper, Jordan Gable, Connor Burgin and Corey McFarland all hit safely.
Older Archives
Looking for News-Telegram Sports and News Archives for January 2004 - November 2008


text:
"The right to vote is the key to our democracy," Boxer said. "And I believe if citizens are made to wait on line, it is an infringement of that right." One study, conducted by a professor at Ohio State University, found that as many as 49,000 people in central Florida were discouraged from voting because of long lines at their polling places.
Obama facing pressure on election reform
Current Status: Published (4)
Seeded on Sat Jan 5, 2013 6:25 AM
keyboard shortcuts: V vote up article J next comment K previous comment


text:
Web Site
Spy Phone Accessories
Shawn Davis
Using a spy phone is a great way to get information and evidence. However, there are plenty of supplementary tools to go with your spy phone to help you make your detective work and information gathering more efficient. Some of these accessories include recorders that not only record the conversation but also decode the phone number dialed, a room monitor that can be used with any telephone, and a transmitter device disguised rather effectively as a phone jack. All of these tools can make your spying more effective.
A conversation recorder that can help you know what number was dialed out can be a very useful complement to your spy phone needs. It allows the recording of both sides of the telephone conversation, and it also records the pulse or tone signals used to dial out. This means that you can check and see what numbers were dialed out on the phone, and match those up with the properly recorded phone conversation.
Monitors that work with your spy phone needs are very effective and useful. These are sleek little devices that are very discreet; they look like a small device that one might see lying near a computer or near other electronic equipment. You can leave it in your office or at home and listen in when you are away. Its access is through the phone line, so you use a telephone receiver to listen in. It hears everything that is going on in a room, so you can be there even when you are not.
Finally, you can increase your spy phone capability by making use of a dual modular adapter. This is in actuality a radio frequency transmitter that sends two sides of the conversation to your listening post. All you need is an FM receiver and you can listen in. It works just like a regular phone jack, so your subject will not suspect a thing as you make use of your spy phone technique.
With the right accessories, you can improve your capabilities, especially when it comes to phone conversations. The phone is one of the most used communication devices, and so with the help of accessories you can be more effective in your spy phone use.
(c) 2005 Copyright www.spyassociates.com. This article is about: Spy Phone.
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text:
Many companies sell gizmos that let you mount your hand-held GPS device or smartphone to your windshield so it's at eye level -- you see them everywhere.
But that may actually be illegal in your state -- or in a state you are passing through on vacation this summer -- and you could wind up with a fat ticket.
A user at the POI Factory, a website for GPS users, recently collected each state's laws on windshield visibility, and Cars.com has turned it into this color-coded map below that illustrates whether your state allows windshield mounts.
Green indicates yes on windshield mounts. Yellow means yes, but only in specific, limited space on the glass. Red is a flat no.
The categories on the map are non-legal opinions, and are conservative, aiming to avoid the hassle of being pulled over by a cop taking the strictest view of the law. See the full post at POI Factory here to get the full details, including links to each state's vehicle code regarding windshields.
-- Dave Lee, Cars.com's Kicking Tires
Chris Woodyard is an auto writer for USA TODAY who covers all aspects of motoring. He revels in the exhaust note of a Maserati and the sharp creases of a Cadillac CTS. Chris strives to live a Porsche life on a Scion budget. More about Chris


text:
Ontario Health Study (OHS)
Principal Investigators (PIs):
- Philip Awadalla, Ph.D.
Ontario Institute of Cancer Research and University of Toronto
Funded Since: 2010
Funding Source: Ontario Institute for Cancer Research and the Canadian Partnership Against Cancer
Year(s) of Enrollment: 2010
Study Website: https://ontariohealthstudy.ca
Launched in September 2010, the Ontario Health Study (OHS) is a prospective longitudinal cohort study. The OHS is an integrated platform for investigating the complex interplay of environmental, lifestyle and genetic components that increase individual and community risk of common adult diseases. Recruitment and a baseline questionnaire have been conducted using online tools at https://ontariohealthstudy.ca. To date, more than 230,000 adults have been recruited into the cohort. In addition to ongoing recruitment, the current focus for the OHS is on enrichment of the resource through data linkage to administrative health data, and through the collection of biospecimens and physical measures. The Study is a strategic project of the Ontario Institute for Cancer Research and the Canadian Partnership Against Cancer.


text:
Just another working mother out doing some shopping.
Well, not really.
First lady Michelle Obama, donning sunglasses and a baseball cap, snuck out of the White House to do some business at a nearby Target store.
Of course, Mrs. Obama was not alone at Target.
Some of the photos show a fellow, also in ball cap, standing behind Mrs. Obama?
Hint: He's not a shopper.
This from the Associated Press:
Casually dressed Secret Service agents arrived about a half-hour before Mrs. Obama, who walked in through the main entrance with an assistant. She spent 30 to 40 minutes shopping, pushing her own cart. She apparently was recognized only by the cashier who rang up her purchases.
Since coming to the White House, Mrs. Obama has lamented missing out on what she calls "normal stuff," like Target runs.
She isn't the first first lady to try to go out unrecognized. Hillary Rodham Clinton went for walks wearing a baseball cap and sunglasses, too.
David's journalism career spans three decades, including coverage of five presidential elections, the Oklahoma City bombing, the 2000 Florida presidential recount and the 9/11 terrorist attacks. He has covered the White House for USA TODAY since 2005. His interests include history, politics, books, movies and college football -- not necessarily in that order. More about David
Follow the Oval on Twitter: @The Oval, @djusatoday.
Also contributing to the Oval: Richard Wolf @richardjwolf; Aamer Madhani @AamerISmad


text:
PART I--**///Official E46 2013 Calendar Voting Thread\\\**
View Single Post
Valentino Rossi
Registered User
Join Date: Mar 2005
Location: San Diego, CA
Posts: 1,707
My Ride: 2005 Imola Red ///M3
View My Garage
PART I--**///Official E46 2013 Calendar Voting Thread\\\**
Here is the moment we have all been waiting for!!
First and foremost BIG thanks to everyone who has participated to this point and took the effort to submit their photos. The total number of entries we received for this contest was 72! That is a great turnout and a large sample size. So much so that it would be unrealistic to make a poll with all 72 entrants and expect to see legitimate results.
We that being said, after much thought and collaboration with a few other non-forumites, we decided to pick a total of 24 cars that had a real shot at making the calendar. Our decisions were based off of certain criteria that we charted. With 24 choices and 12 slots available, every 2 cars will be fighting for one month.
Most importantly, if your car was not chosen to be in this poll it is not for any reason other than the fact that we felt certain members had a better chance of enhancing the overall quality of this calendar. Please do not take it personally and like I said before, if it were mathematically possible every single one of you would be included. I still hope that all 72 of you vote, spread the word and still end up purchasing this calendar regardless!
How voting works:
The poll is in multiple pick format where you will be required to choose your top 12 favorites, 1 vote for each month. This will keep the voting balanced and eliminate a shift of votes towards one particular pick. The photos are listed alphabetically per username and directly correspond to the poll. If there is a tie after the polls close, we will then have a run-off between the tied contestants.
I emphasize that YOU MUST MAKE EXACTLY 12 PICKS. No more, no less. Voting will be monitored on a daily basis to ensure we stick to the rules. Polls close at midnight on
Sunday November 18th
giving everyone ample time to vote.
Rule 1:
*Make exactly 12 picks*
Rule 2:
*If youre chosen to be in this poll and cannot provide a high enough resolution image upon request, you will be replaced by someone else*
Rule 3:
*If 10 or more members collectively feel another members car should have been selected/added or removed from list of candidates, suggestions may be heard via*
Rule 4:
*If 10 or more members collectively feel a different photo of the same members car should be used instead of the one shown below, considerations will be taken*
Rule 5:
*If for any reason you feel you need to ABSOLUTELY make more than 12 picks i.e. 13, or accidentally made more/less than 12 picks, please PM or e-mail so we can take note/adjust immediately*
Below, I will be posting 1 photo from each candidate. Additionally, with a link to their original post to reference back to in case any of the aforementioned rules apply.
Have fun and let the voting begin!
Last edited by Valentino Rossi; 11-08-2012 at
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Historical Perspectives
Ft. Hood Whitewash (NEW YORK POST EDITORIAL) 07/22/12)
Source: http://www.nypost.com/p/news/opinion/editorials/ft_hood_whitewash_Nia0dLF7KaCQ90Hd7eMxOK
NEW YORK POST Articles-Index-Top
After a more-than-two-year review, a report released last week accuses the FBI of having dropped the ball when it investigated the Fort Hood jihadist before the 2009 massacre.
So how many people will be fired?
Exactly . . . none.
Thats right: The agency might have been able to prevent the killing of 13 people by a home-grown Islamic fundamentalist, Maj. Nidal Malik Hasan but failed to do so.
And yet, not a single FBI official will lose his or her job.
We do not find, and do not believe, that anyone is solely responsible for mistakes in handling the information, concluded former FBI Director William Webster, who conducted the probe.
We do not believe it would be fair to hold these dedicated personnel . . . responsible for the tragedy that occurred months later at Fort Hood.
How convenient for the agency and its staff.
And what a blow to the victims families and the rest of America.
Websters report determined that the agencys probe of Hasan in the run-up to his shooting spree was belated, incomplete and rushed and influenced by an unhealthy dose of political correctness.
Indeed, the FBI had caught on to the fact that Hasan was in regular e- mail contact with (the now happily deceased) radical Islamic cleric Anwar al-Awlaki nearly a year before the mass shooting.
That included messages in which Hasan expressed support for suicide bombers and one in which he said: I would assume that [a] suicide bomber whose aim is to kill enemy soldiers or their helpers, but also kills innocents in the process is acceptable.
Yet the FBI like the Army concluded that Hasan had contacted the cleric merely to research Islam.
Agents in Washington, alerted to the e-mails by the FBIs San Diego office, expressed fears that questioning Hasan might jeopardize his military career.
And one in San Diego said he was told the matter was politically sensitive and that the FBIs Washington office doesnt go out and interview every Muslim guy who visits extremist Web sites.
Yet Americans are supposed to accept that nothing in all this FBI bungling rises to a level that would require at least one person to be fired not even one.
Its beyond outrageous.
Indeed, its not even clear that the report itself fully understands the very problem that allowed the massacre to take place.
As Sens. Joe Lieberman (I-Conn.) and Susan Collins (R-Maine) noted: We are concerned that the report fails to address the specific cause for the Fort Hood attack, which is violent Islamist extremism.
Even more political correctness, it seems.
The lawmakers also expressed skepticism that FBI analysts are now well-integrated into the FBIs operations, as the report states.
All of which means another Fort Hood-type massacre is probably no less likely today than it was three years ago. (Copyright 2011 NYP Holdings, Inc. 07/22/12)
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text:
May 20, 2013 - The Associated PressCHEYENNE -- Sen. Mark Udall of Colorado called on the U.S. Forest Service on Friday to make certain that a contract dispute doesn't ground large air tankers used to fight wildfires as warmer, drier weather boosts the risk of destructive blazes.
The move came after Neptune Aviation formally protested national firefighting contracts awarded May 6 by the Forest Service.
Missoula, Mont.-based Neptune was passed over for one of the contracts allowing as many as seven large, next-generation tankers to be operated by five other companies to fight blazes. The latest planes are faster and carry more fire retardant than the tankers previously contracted for use.
The Forest Service unfairly discriminated against Neptune, which needs the contract to help it remain viable, Chief Operating Officer Dan Snyder said.
"When we don't have a 10-year contract, we really have to start questioning our planning, our financial investment," Snyder said. "It has major implications to us from a longevity standpoint."
The dispute could put the contracts in limbo because the contracts won't take effect until the protest is resolved or the U.S. Government Accountability Office grants emergency authority allowing the agreements to take effect.
"Lives and homes are at stake, and I refuse to stand idly by as red tape suffocates any chance of the U.S. Forest Service" finally acquiring use of the air tankers, Udall said in a release.
Few wildfires have broken out in the Rocky Mountain region so far this year, but a dangerous fire season is predicted.
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text:
Tuesday, February 28, 2012
Press Release: CMU's Children's School To Host Family Healthy Mind & Body FestivalContact: Shilo Rea / 412-268-6094 / email@example.com
PITTSBURGH—Americans are struggling with weight and health-related issues at an alarming rate. First Lady Michele Obama is championing the battle against childhood obesity, and now Carnegie Mellon University's Children's School is joining the fight.
At the Children's School's annual Family Festival, students and their families will learn various ways to increase the health of their minds and bodies. Activities will include creating a snack with the recommended nutritional balance, exploring the power of the five senses and learning how to promote strong teeth. Participants also will play games designed to sharpen the brain and make a personalized Zen garden.
"The goal for families and educators working with young children is to build foundations now for lifelong healthy habits," said Sharon Carver, director of the Children's School. "Meeting this goal requires consistent modeling, direct instruction, frequent coaching and daily practice. Our initiative also supports CMU's 2012 campus-wide health slogan, 'Strive to Thrive.'"
Founded in 1968, CMU's Children's School is a laboratory school that focuses on hands-on learning for children between the ages of 3 and 5. The school is part of the Dietrich College of Humanities and Social Sciences' Department of Psychology and allows the university to sustain a world-class level of child development research.
What: Family Healthy Mind & Body Festival
When: 4:30 - 6:30 p.m., Thursday, March 1
Where: Margaret Morrison Carnegie Hall 17, Carnegie Mellon University
Media: Members of the media are invited to attend but must register by noon, Thursday, March 1 at 412.268.6094 or email@example.com.


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An Exclusive New Online Series Uses Your Facebook Profile To Generate Content
Warner Brothers will gather your information to create a new series featuring Twilight actor Jackson Rathbone.
Warners Bros will premiere a new show designed to be watched exclusively on Facebook. The show is called 'Aim High' and will incorporate elements from the viewer's own Facebook profile to provide a more immersive experience. For example, the soundtrack will include songs the viewer has listened to or liked and posters and images in the show will be taken from the viewer's profile photos or albums. In fact, just about any element from your Facebook profile could make an appearance in the show.
Aim High will be directed by respected filmmaker, McG and also feature Jackson Rathbone, who was an actor in Twilight. The story line will centre around a high-school kid who is secretly a spy.


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Shoot Bubble Deluxe
by: City Games LLC • 863.6K
All Android applications categories
by: City Games LLC • 863.6K
Published: 2011-05-17, by Manu Galvez.
Gameplay has no mistery: it works like the well-known bubble buster, that's it, make combinations of 3 or more bubble to make them burst. Point and shoot the ball. Clear all the bubble in the stage to level up. Unlike the classic control, you won't have to push any button to shoot the ball, just tap on the screen where you want to throw the ball.
There are two different game modes, what other bubble buster-type doesn't include: Puzzle mode with 150+ fun levels of puzzles, and Arcade Mode, the bubbles will go down gradually so you need to shoot quickly to clear the level up.
For each ball you blast you will get ten points. You will be able to share your score to a global leaderboard to show off how good you are busting.
There are some catches that have to be commented. The first 100 levels of the puzzle mode are derived from Frozen Bubble which means that are exactly the same except for the layout. This is not good for those who are looking for new challenges. What's more, compared to the original bubble buster, Shoot Bubble Deluxe is not as accuracy as what we expect for this kind of games.
Shoot Bubble Deluxe has been developed by City Games LLC, an emerging developer who is focusing on puzzle mobile games.
Despite those little flaws, the game is worth. And if you have played this kind of games and you like it, it won't disappoint you.
Tags: shoot bubble deluxe online , shoot bubble deluxe , bubbles deluxe , shoot bubble deluxe play online , shoot bubble deluxe indir , bubble deluxe , play shoot bubble deluxe online , shoot bubble deluxe arcade , shoot bubble deluxe games
by Manu , Appszoom
May 17, 2011
from 863.613 reviews
by Bill Cearbaugh
Jul 25, 2017 | "Great"
by Queen Redskins
Jul 25, 2017 | "Awesome"
I love this game keep me calm when mad lol you should download it work great?
by akasha sohail
Jul 25, 2017 | "Awesome"
this is very good game
by Syed Mannan
Jul 25, 2017 | "Awesome"
v good game
by A Google user
Jul 25, 2017 | "Awesome"
Great game
by Komal Dsouza
Jul 25, 2017 | "Awesome"
it's an amazing game I play it the quote day
Download Shoot Bubble Deluxe
Free - V3.7 - 3M
Share this app


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Doll Buying Etiquette
I am resolved to be nicer than I need to be, to all I meet this year, due in large part to my recent experience selling dolls and toys at Christmas.
Doll Memo Pad
This article is about an adorable doll that hangs on the wall in my doll making studio. It would also be perfect for a kitchen or office wall as well. It is the perfect way for doll lovers to stay organized and its such fun to look at.
Doll Shop Review
I visited a doll shop, this week that is an absolute delight for doll lovers.
Doll Studio Wall Decor
Here is a cute idea for decorating your doll studio.
Doll Therapy
For those of us who love and collect dolls, the title of this article needs no explanation, but there are other ways that dolls can be therapeutic.
Dollmaking For the First Time - Book Review
For those of you who have never made a doll, and don't know where to start, I have the perfect suggestion. Get a copy of Dollmaking For the First time, by Miriam Gourley. If, on the other hand, you have some experience making dolls, you will still enjoy this book.
Dolls For Boys?
This is a question I've returned to many times over the years, and the start of many discussions I've had with family members and friends. It is a question that is sure to result in an animated debate, no matter who you ask.
Dolls For Charity
Making dolls and doll clothes for others is such a wonderful way to share your passion for dolls with others.
Dolls in the News!
We don't often see articles in the news about dolls, but this past week that's exactly what happened.
Dolls of Christmas Past
We're coming down to the wire on Holiday preparations, rushing around to find those last minute gifts and stocking stuffers, baking cookies and all the traditional goodies. I thought this would be a nice time to remember the dolls that made my Christmases so special.
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Alnico-2, alnico-5, alnico-8, ceramic
what will the differences be, everything else being equal, in switching out magnets?
i think each coil of an HB pickup has its own magnet bar. can you mix and match different magnets in the same HB?
and what's the difference between hex-wrench, and flat-head screw driver adjustable pole pieces?


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Lloyd Millard Bentsen, Jr., Secretary of the Treasury of the United States, U.S. Senator and Representative, businessman, Texas county judge, and decorated World War Two veteran, was born in Mission, Texas, on February 11, 1921. He ran for Vice-President of the United States in 1988 on the Democratic ticket with then Massachusettes governor Michael Dukakis. He served as Secretary of the Treasury under President Bill Clinton from 1993 to 1994. Bentsen kept up a full schedule until 1998, when he retired after a decline in his health. He died on May 23, 2006.
Correspondence, printed material, creative works, legal documents, financial documents, minutes, photographic materials, sound recordings, and works of art make up the papers of Senator Lloyd M. Bentsen, Jr. (1930-1994, bulk 1971-1993). Bentsen and his staff created the bulk of the material during his term as United States Senator from Texas (1971-1993), though the papers also contain records from Bentsen's term as United States Secretary of the Treasury (1993-1994). A limited amount of the material documents Bentsen's career in business and his private life. Few records exist from his term in the United States House of Representatives (1948-1955).
The material is organized in ten subgroups. The first seven subgroups consist of records from Bentsen's Senate offices.
Casework and personnel files are restricted for 75 years after creation, up to the year 2068.
Use of some audio and video materials is by appointment only; please contact sound archivist.
Use of digital material by appointment only; please contact digital archivist.
A portion of these papers is stored remotely. Advance notice required for retrieval. Contact repository for retrieval.
Lloyd M. Bentsen, Jr., Papers, 1921-1998, Dolph Briscoe Center for American History, The University of Texas at Austin
Click on a subgroup link below to view the detailed inventory for that subgroup.
Senator Bentsen's state offices were responsible for significant constituent service duties and for campaign coordination, including fund-raising. Bentsen maintained offices in Austin, Houston, and Dallas. The Austin office had the largest staff, including Bentsen's State Director. The Dallas office was opened in 1977.
Constituent services undertaken in Texas included projects, cases, and academy appointments. The Austin office coordinated project work undertaken on behalf of municipalities, businesses, groups, and non-profit entities in Texas. Austin staff, occasionally in collaboration with Bentsen's Washington staff, performed most project work. The state offices also undertook cases for individuals, investigating and resolving problems with federal agencies. Dallas staff handled a small proportion of cases, but most were resolved by staff in Austin. Cases originating in Houston were forwarded to the other offices or resolved with telephone calls. (See Constituent Services Subgroup for project and case files.) Staff members in Houston also worked with high school students who contacted Senator Bentsen in an effort to gain appointments at Unites States military service academies.
In addition to processing service academy applications, Senator Bentsen's Houston office was responsible for maintaining the Senator's campaign funding accounts. Senator Bentsen's business had been based in Houston, and his office there included personal items documenting his life before his election to the Senate.
Bentsen's Dallas office performed some casework and sent congratulatory letters and telegrams to Texans. (See Correspondence Subgroup for those files.) Staff in Dallas also maintained clipping files. Prior to 1987, while the Dallas files were in General Services Administration storage at the Federal Records Center in Fort Worth, a series of scrapbooks and up to 25 boxes of political files were mistakenly destroyed. The material included documentation of Bentsen's 1976 Presidential and Senatorial campaigns.
Staff in Bentsen's offices in Austin, Dallas, and Houston performed constituent service and campaign work. This subseries contains records created by Bentsen's State Directors (based in Austin), personnel, and work tracking records, as well as campaign and clippings files. Items from Bentsen's Houston office include personal materials, photographs, and scrapbooks documenting Bentsen's life before his election to the Senate.
Correspondence, printed material, scrapbooks, photographic material, sound recordings, and artifacts characterize materials from Bentsen's Houston office. The Houston office files contain a mixture of personal and political materials, as well as records related to the function of the office and its services to residents of South Texas. Many of the records among the personal materials document Bentsen's life and career before he was elected to the Senate. Three series: Personal/Political Files, 1921, 1942-1991 (37 cubic feet); Constituent Service Files, 1990-1992 (6 cubic feet); Office Administration Files, 1954, 1956-1987 (7 cubic feet); Artifacts, 1971-1992 (5.5 cubic feet)
Personal/Political Files stored in the Houston office include personal mementos of Bentsen's political career and rich documentation of his 1970 Senate campaign. Also among the personal materials are significant items related to Bentsen's military career (1942-1965). The Political/Personal Files series includes three subseries, Mixed Files, Political Files, and Scrapbooks. The Mixed Files contain limited documentation of Bentsen's campaign for and career as U.S. Representative (1948-1953), and his continuing involvement in Texas Democratic Party politics after leaving the House. The latter includes his involvement in the 1956 State Democratic Convention and his exploratory Senate campaign (1963-1964). The files include correspondence with numerous Texas politicians, among them Sam Rayburn, Jim Wright, John B. Connally, Dolph Briscoe, and Price Daniel. Correspondence with national political figures, including letters from and artifacts associated with Lyndon B. Johnson and Lady Bird Johnson, Richard Nixon, Gerald Ford, Jimmy Carter, and Ronald Reagan, also forms the Mixed files. The Mixed files contain numerous files related to Bentsen's 1970 Senate campaign, including correspondence and printed material. Political Files contains records from Bentsen's 1976 Senate campaign against Alan Steelman, Campaign finances records (1971-1991), Videotapes (1970-1971, 1974-1976), and Audiotapes (1970-1972, 1974-1975). Most of the 1976 campaign material relates to Bentsen's Harris County organization. Financial records include Federal Elections Commission reports (1971-1991), bank statements (1977-1990), and cards recording contributors to Bentsen's campaigns (1975-1991), in addition to other materials. Videotapes and audiotapes include advertisements from Bentsen's 1970 campaign. Scrapbooks and clippings includes a subseries of eleven scrapbooks (1921, 1946-1970) and a Newspaper clippings subseries, 1975-1990. The scrapbooks contain valuable information on Bentsen's early political career, his work as a businessman, and about the 1970 Senate campaign. The scrapbooks are available on microfilm.
Constituent Service Files consist of telephone inquiries (1990-1992). Binders contain logs of these calls, many of which concern issues of the day.
The Office Administration Files also includes documentation of Bentsen's life before joining the Senate. It includes Appointment and address books (1954, 1956-1990), Daily logs (1971-1987), Mail reports (1973) and Congressional directories (1953, 1971-1987, incomplete). A few related records, including a guestbook, office manual, and office study, are among the Mixed files in the Personal/Political series.
Artifacts from the Houston office include plaques, paperweights, pins, coins and medals, textiles, and keys to cities in the United States and Canada.
[photo scrapbook separated?]
[several photos, including Dr. Fernos-Isern, Commissioner of Puerto Rico]
Clippings and other printed materials predominate in Bentsen's Dallas office files, which also include financial and legal records and correspondence. Political/office management files from 1988 include political and constituent correspondence, information on 1988 Senatorial opponent Beau Boulter, and various financial and legal documents related to managing the Dallas office. Clippings files maintained in Dallas make up the bulk of the records (12 cubic feet). The clippings date 1983-1993, and are extensive for the years 1990 and 1992.
Dallas staff created routine constituent correspondence, such as congratulatory letters, using the Correspondence Management System. See Correspondence Subgroup.
In late 1992, President-elect Bill Clinton selected Senator Bentsen as his nominee for Secretary of the Treasury. Bentsen stepped down as Chairman of the Finance Committee and resigned from the Senate to take the position. Jack DeVore, his press secretary since 1972, accompanied him to the Treasury, as did some members of his legislative and administrative staffs.
As Treasury Secretary, Bentsen worked to lower international trade barriers. Important accomplishments included passage of the North American Free Trade Agreement (NAFTA), the Uruguay Round of the General Agreement on Tariffs and Trade (GATT), and the Interstate Banking and Branching Efficiency Act of 1994. He also advised Clinton and helped with strategy on non-finance issues, such as a 1994 crime bill containing significant gun control measures.
Bentsen took the oath as the sixty-ninth Secretary of the Treasury on January 20, 1993. He stepped down in December 1994, at what would have been the end of his Senate term.
Bentsen's Secretary of the Treasury files contain detailed documentation of his day-to-day activities, the information he received from his staff, and his public statements. Five series: Schedules and Briefing Books, 1993 -1994 (4.4 cubic feet); Correspondence Files, 1993-1994 (10.3 cubic feet); Speech Files, 1993-1994 (3 cubic feet); Press Relations Files, 1981-1994 (5.3 cubic feet); Personal Materials, 1993-1994 (2.5 cubic feet).
Schedules and Briefing Books Series contain schedules, reports, talking points for meetings and press appearances, and background material including copied clippings and correspondence.
Correspondence Files Series consists of two subseries, Letters chron and Memos chron. Both files consist of photocopied correspondence filed in binders. The letters files contain copies of Secretary Bentsen's outgoing correspondence. Many of the letters are to members of Congress regarding pending legislation, reports, and nominations. Letters to private citizens include thank-you correspondence. A few letters are addressed to foreign dignitaries. The memoranda files contain copies incoming memos to the Secretary from his staff. Memos to Bentsen primarily consist of factual reports on issues and Congressional affairs, background material for telephone calls and meetings, and queries about decisions and courses of action. These record copies include Bentsen's notations in response. A small number of memoranda in the files are from Bentsen to President Bill Clinton or to White House staff. They concern issues and appointments.
Speech Files Series includes files for Secretary Bentsen's speeches before business and political groups, his testimony before Congressional committees, prepared material for official and ceremonial functions including meetings, and for remarks to the media. Most of the files contain speech cards and printed versions of the addresses. A small number of the files include memoranda.
Press Relations Files Series include press summaries and clippings. Some of the clippings in the series were originally filed in Bentsen's Senate office, and include coverage of his family and the 1988 presidential election. Treasury-era files created by Jack DeVore, Bentsen's Press Secretary, are listed as part of the Press Section subgroup, Office of the Press Secretary series.
Personal Materials Series includes a small amount of photographic material, items from December 1994, when Bentsen announced his retirement, appointment certificates, souvenir legislation, and a banner commemorating a speech at the Beijing Institute of Social Sciences.
(laminated photocopy, incomplete)
Lloyd Bentsen stepped down as Secretary of the Treasury in December, 1994. He joined the Verner, Liipert, Bernhard, McPherson and Hand law firm's Houston office.
In addition to printed material about Bentsen, the series contains a letter from Senator Daniel Patrick Moynihan about an issue in the Omnibus Budget Reconciliation Act of 1987, and a letter to Bentsen from his long-time friend, Joe M. Kilgore (1918-1999).
Lewis L. Gould, Professor, Department of History, the University of Texas at Austin, wrote widely on American politics and the presidency. He undertook an oral history project with Senator Bentsen and interviewed him several times, 1989-1992.
The subgroup includes printed material, notes, correspondence, ephemera, and magnetic media. Transcripts of Gould's interviews with Bentsen and his press secretary, Jack DeVore, constitute a significant part of the sub-group. Gould's research files on Bentsen, which include clippings and material collected from other repositories, are a significant source of information concerning Bentsen's career, 1948-1970. Correspondence with Bentsen and his staff concerning the oral history project is also included in the Gould files.