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These guided meditations are really like timeless little jewels that take you into a whole other dimension of conscious awareness. The highest purpose of these audios is to help you assimilate the more linear understandings and through holistic integration. You can repeat listening to then as often as you wish… they are coded!!
Written and produced by Tiara Kumara, one of her talents lies in the delivery of divine code through voice transmission. Each audio is produced with her voice plus custom coded music by Jami Deva. Most are using the reference tone of 432Hz, designed to induce alpha brainwave states. No two are alike.
Complimentary Audio Sample: Code of Bliss
Disclaimer: All 'I AM Avatar' products and services included in the I AM Avatar Support including the Audio Meditations and Sessions of Empowerment are not intended to treat or cure any disease, nor should any of the subject matter presented on this website and its educational programs be taken as medical advice. Although the support included on this website may contribute to self empowerment, no claims whatsoever including health related claims are intended, expressed or implied. These products and services are not intended as a replacement for medical or psychological treatment.
A No Refund Policy: Due to the immediate delivery of all digital products, we do not give refunds. The maximum download limit for each digital product is five times and then the link will expire. If you exceed your download limit, lose your files or have internet challenges, this is your responsibility. We do not send out duplicate copies of your digital downloads.
It is your responsibility to know how to download digital files. These audios cannot be streamed from phones. You must download them first completely and then transfer to your listening device. See FAQ
Copyright: I AM AVatar, its educational program snad related products are copyright of I AM Avatar © 2015. The content of this website, including all products, videos and educational content are owned or controlled by I AM Avatar. ALL RIGHTS RESERVED.


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FFXIV Pro had the list of new items from the patch
Pretty much everything is Unique/Untradable. Each class has 4 weapons - 2 r30, 2 r50.
Bathing suits come in 5 colours: Red, Green, Blue, Gold and Silver and are in the Undergarment slots.
And there are FIREWORKS!
Edited, Jul 22nd 2011 11:37pm by Magnesium02

subset: commoncrawl


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With First Tutors: Music you can locate a Ballindalloch saxophone tutor. Saxophone lessons are a brilliant method to learn an entertaining new hobby, pick up a new talent and attain confidence with saxophone. Use our site to find Ballindalloch saxophone tutors and choose which matches your needs so you can start your saxophone tuition in Ballindalloch straight away!
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Turn over a new piece of my art every month with the 2016 Tank Art Calendar!
artist oil tank tanks calender
Wow, your art says so much. I love April!Wonderfully collection, Tank.
Thanks, I'll have a punt and say 'Francine'?
Wonderful artwork!
Thanks Barbara
Thanks Aurora
great collection
Thanks Larry
Great calendar Tank!!!!
Thank you very much Ann.
you're amazing and this is fabulous!
Thanks Catherine
i adore the bittersweet sentiment, the endearing use of colour and your wickedly warped sense of humour and intimacy
Thanks elle, I'm a comedian at heart so I'm glad you see the humour.
you got such a wicked sense of humour and a brilliant painting style, great calender
So good I will actually buy one.SJD avoca
Great selection of images!
Loading more work by tank...
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93% From a strictly financial and realistic point of view, Trump is absolutely right in...
100% Employing Distance - sometime you need some distance in your life...from issues...
67% Eventually......due to other cultures... **blonde-haired blue-eyed children...
100% Looks like a decent old van. I'm just not sure about the color.
100% Ability is of little account without opportunity.
100% Underachievers are the best teachers because they understand mediocrity.
100% A dame who knows the ropes isn't likely to get tied up.
100% Good music lasts forever.
What should Congress do now on health care bill?
100% Update on the interview post: I passed! (16 out of 20pt) Thank you all who gave me tips :D
Where does your state rank? Do you agree?
100% According to the law...what you feel is irrelevant.
How can analytics offered on Amirite be of any use whatsoever when they don't offer...
80% Senate blocks Obamacare repeal . Americans stop dying. See, panic stricken liberals?...
100% Fake olive oil has been well known in Italy, and now it turns up in America.
100% Wow...Sergei Polunin dancing to "Take Me To Church" back in February 2015...
What should Congress do now on health care bill?
Do you agree with Trump decision to ban transgender people from the military?
100% According to the law...what you feel is irrelevant.
How can analytics offered on Amirite be of any use whatsoever when they don't offer...
Amirite is the premier opinion-based social network where people from all around the world discover, debate and discuss today's hottest issues. Share your perspective to the world and interact with like-minded individuals on breaking news, hot topics and controversial issues now!
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Gerard Kroon
The car is a 1979 928 ROW, originally delivered in Belgium. Its in concours condition.
--Gerard Kroon, Nederland
1979 Porsche 928 ROW
Gerard Kroon
Here's a great shot from my 1979 928, maybe nice to put on your website. The picture is one of a session made for a Dutch book which will be released in the end of 2017 called "why i drive Porsche"
The car is a 1979 928 ROW, originally delivered in Belgium. Its in concours condition.
--Gerard Kroon, Nederland
big sur
944S grit
el jefe
when taking the S on short sprints, there's never a shortage of interesting spots for a shot; this time it was in front of mirrored glass...but forgetting the camera and relying on a phone made for a bad shot — perfect opportunity to make art out of it.
Dan Curwin
Pavel Bella
el jefe
Dieter Gerhards
el jefe
Dieter Gerhards was there; Nürburgring, September 21, 1986. he captured these shots of Porsche's new 944 Turbo doing battle in what was one of the most exciting of racing series — the 944 Turbo Cup.
the shot above of the N° 9 car of Birgitt Schmack and N° 42 car of Peter Bienefeld scraping rubber.
Peter Bovyn fotografie
el jefe
Porsche 944 S - 1986 From the earth to the moon
Greg Zhilinskiy
David Babarovich
Klaus Lapine


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love of fabric
A piece of fabric is a beautiful thing.
I was in my favourite Auckland fabric shop the other day, in search of lovely pieces that would lend themselves to some simple summer tops.
On the counter there was a guide to self-knowledge: 10 indicators of whether or not you're an addict.
One of them was: you buy fabrics and don't care what you'll use them for.
My purpose was clear this time, but my garage tells another story. It's lined with containers full of lovely materials that I can't part with, just in case I ever have that little beach shack that will need the retro pillow, or the old farmhouse with walls that will hold the many quilts I'll make one day when I get around to it.
Here are some of the pieces I bought which are going to turn, fairly soon, I promise, into summer tops.
a lovely crepe de chine
a second colourway of the piece above. I love the way this looks like a blurred floral, as if some one hurried by on a bicycle and you tried to capture a photo.
These days I'm not the ambitious seamstress I used to be. At 15 I spent my entire winter vacation making a fully lined, tailored jacket from a length of fabric donated by my clothier uncle who appreciated my need for thrift and my passion for making things. As I recall, it puckered in places but I didn't care. I was really proud of it and wore it everywhere. Perhaps it's just as well there's no photographic record of my achievements.
Now I tend to keep my sewing projects easily achievable because, sadly, I'm more of a perfectionist.
It just so happens that I've recently acquired two books that appeal to me for their simplicity and style.
The first is dedicated to projects made from One Piece of Fabric, so it's perfect for all of us hoarders.
I'll use it to make my new summer blouses, and perhaps a bag or two with the contents of my bins. There are 15 projects in all, a few that caught my eye as perfect teen or mother-daughter projects, like a dress, a pair of culottes and a camisole top, all shown in mouth-watering photographs.
The second book is Jane Brocket's The Gentle Art of Quilt-Making
This is a beautiful book containing patterns for 15 quilts inspired by the author's surroundings. They are all made of simple shapes put together in ingenious ways. Brocket has an eye for colour, so those who lack confidence can follow her guidance. Many of the quilts are a riot of beauty, such as "Russian shawl"
and "floral frocks"
I particularly like "sample book" which would lend itself very nicely to my bits and pieces of vintage fabrics. Now I'm dreaming again, of that cute old farmhouse, whereas in reality I'm living in a modern house with my fair share of modern furniture. But the romance of a lovely quilt always pulls at my heartstrings.


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What is the difference between Warfarin and Plavix?
Both Warfarin (brand name - Coumadin) and Plavix (generic - clopidogrel bisulfate) are considered blood thinners, but they are very different drugs with different actions.
Warfarin works by counteracting Vitamin K in the plasma of the blood. Vitamin K is key in the coagulation pathways responsible for the clotting of blood, and with less activity of Vitamin K blood takes longer to clot. Too little, as well as too much warfarin can be dangerous. If taking a dose that is ineffective, clot formation is not adequately prevented and the problem you are trying to treat or prevent may very well occur. Taking too much warfarin raises the risk of bleeding, especially in the gastrointestinal tract and, in the elderly, the brain. People taking this drug must have their blood monitored to measure the time it takes to clot, which can result in frequent adjustments of their dose. The use of warfarin is considered "full anticoagulation" and is felt to be more effective (a higher level) than other oral blood thinners.
Plavix is a drug known as an anti-platelet drug. This drug works on the platelets in the blood stream by causing them to be less "sticky". When clots form, platelets stick to each other as part of the clotting process. Other medications in this class of drug are aspirin, persantine and aggrenox. Unlike warfarin, monitoring blood levels or activity is not necessary.
Different situations require different levels (and types) of anticoagulation. Each case has its particular circumstances that influence a physician's choice, and in some cases, medications are combined to provide the optimal therapeutic benefit.
What is the difference between Warfin and Plavix. There is a recall on Plavix and Insurance will not cover it. If my Mother takes Warafin does she need to take Plavix?READ MOREYou should know Answers to your question are meant to provide general health information but should not replace medical advice you receive from a doctor. No answers should be viewed as a diagnosis or recommended treatment for a condition. Content posted by community members does not necessarily reflect the views of Remedy Health Media, which also reserves the right to remove material deemed inappropriate.DISPLAY TEXTLINK URL
Most PopularLiving WithWhat to Eat With Atrial FibrillationLiving WithCelebrities with Atrial Fibrillation


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The 7S COG is the best all around small wave board I have rode. Works well on the soft and mushy waves of Pleasure Point. I take it for some spins (360s), lip floats, head dips, a chop hop, and lots of cutbacks. This was a small glassy day in November of 2013. Guest appearances by Denise and Big Ray.
Filmed and edited by Will Church
Music Information
Song Title Thank You Dub
Author Tyrone Sturk
Copyright Tyrone Sturk
Album Glory Dub
Uploaded on Tue May 28, 2013
Genre World Reggae
Share URL


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Karachi, Aug 27: Former Pakistan captain Shahid Afridi has advised the Cricket Board (PCB) to appoint specialist coaches and a powerful manger with the national team instead of a head coach.
Afridi said that a powerful manager is the need of the hour for the Pakistan team under whom specialist coaches for batting, bowling and fielding should work. "Not appointing a head coach will be the best decision. There should, instead, be a strong and competent manager along with assistant coaches," he said.
Afridi was of the view that the new formula will help in avoiding controversies.
"The assistant coaches will focus solely on their jobs rather than get involved in other issues. The manager will be there to look after everything. Matters will become simpler and things will go smoothly," Afridi told ''Express Tribune'' daily newspaper from London where he is representing Hampshire in the English county championships.
Afridi's suggestion does not come as a surprise as since his much reported dispute with head coach, Waqar Younis, he has been critical about the role of the head coach. Afridi, who was sacked as captain after the West Indies tour, said that appointing department specific coaches would be better for the national team.
He also felt that even if the PCB wanted to appoint a head coach in place of Waqar, it should be someone of equal stature and caliber as former Pakistan coach, Bob Woolmer.
"I won't go into the debate of whether the PCB should hire a foreign or a local coach. Pakistan just need a qualified coach. The team needs a coach like Woolmer who was qualified and had plenty of experience," said Afridi, who had announced his retirement in protest following his sacking as captain.
"I remember easily that no player had any major issues under Woolmer. He used to keep his focus on the job without having any agendas on the side," he added.


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The Handprint Identity Project: An Exchange Between Artists and Poets
A diverse group of poets and visual artists were selected to collaborate on an interdisciplinary project with a common theme for a period of seven months with an outcome of a unique traveling exhibition of poetry and art. Participants were selected based on recommendations from respected artists and poets, as well as considering gender, nationality and creating opportunity for younger artists and poets who might be less advanced in their careers, and those who might bring a unique perspective to the project. A primary objective for project participants is to create new works that might not otherwise be considered within their genre, and through an exchange respond and create new work based on other's perspectives for the theme.
The following list of artists and poets were invited to participate in The Handprint Identity Project:
1. Shirley Ainoo, Gaithersburg, Maryland/Ghana
2. Scott Cairns, University of Missouri
3. Jennifer Foerster, San Francisco, California
4. Sandra Kohler, Boston, Massachusetts
5. Leslie Mcgrath, Stonington, Connecticut
6. Ethelbert Miller, Howard University
7. David Mura, Minneapolis, Minnesota
8. Julia Spicher Kasdorf, The Penn Sate University
9. Carmine Sarracino, Elizabethtown College
10. Ravi Shankar, Central Connecticut State University
11. Barbara Crooker, (Guest) Fogelsville, Pennsylvania
Visual Artists:
1. Stacey M. Carter, San Francisco, California
2. Bivas Chaudhuri, Brooklyn, NY/India
3. Carol Cole, Philadelphia, Pennsylvania
4. Donald Forsythe, Messiah College
5. Milt Friedly, Elizabethtown College
6. Carol Galligan, Lancaster, Pennsylvania
7. Fred Metz, Seattle, Washington
8. David Reif, the University of Wyoming (Retired)
9. Kebedech Tekleab, Savannah College of Art and Design
10. Leslie Kaufman, Philadelphia, Pennsylvania
11. Claire Giblin, (Guest) Franklin & Marshall College
The Handprint Identity Project
Collaboration Takes Art, Poetry to Greater Heights
From Lori Burke's article The Handprint Identity Project: Collaboration Takes Art, Poetry to Greater Heights, which appeared in the Elizabethtown Magazine, winter 2009.
Sitting at the crossroads of human identity and artistic expression is an inspiring collection of work created by 22 respected poets and artists as part of the Handprint Identity Project. Lending an interesting twist to a timeless concept, the project introduces the complexity of collaboration into the intensely personal theme of human identity. Cross-genre pairings of artists and poets challenged the collective thinking of the participants, inspiring them to work harder, think differently, and explore more deeply the handprint theme. The resulting showcase begs observers to make a more personal introspection of their own thinking and a broader exploration of what it means to "be."
According to Project Creator and Director Milt Friedly, the Handprint Identity Project found part of its genesis in the turmoil of the Sept. 11, 2001, terrorist attacks. Friedly remembers being profoundly affected by media reports about the attacks. "After the twin towers collapsed, news reports began focusing on the process of identifying those lost," he explains. "They spoke of discerning life through the smallest of remnants—mere fragments of the whole person." The day after the attacks, Friedly took a piece of clay and pounded it with his hands to express his deepest feelings about the loss of life. The handprints in the clay planted the seeds that just a few years later would grow into this exhibition.
Friedly believes that the Handprint Identity Project addresses timeless questions typically assigned to the arts. "Given shared experience and broad diversities, can artist and poets create works that elucidate both common and individual identity? Can new works be created that are truthful to the artists' experience, yet contain resonant meaning for all human beings?" he reflects. "These are old questions … lasting ones … that have been posed throughout the ages. These times of economic globalization, war, and the diminishment of environmental resources compel us again to examine the tension and balance between the individual and the broader human community. And the better we understand each other, the better we understand this idea of diversity."
Friedly—together with literary activist E. Ethelbert Miller, of Howard University, and poet Leslie McGrath, of Stonington, Conn., who joined the project as co-directors—recruited 11 poets and 11 visual artists to join the effort.
In the first phase of the project, each participant worked independently, interpreting the theme within their genre and creating works that speak to the concept of identity, as both an individual experience and as part of the universal experience. In the second phase, artists and poets were paired. After exchanging some of the work created in the first phase, the collaborators reflected on and responded to, in his or her own genre, the work created by their partners. "We explored questions like how do collaborative artistic exchanges between artists and poets come into being? Are certain artistic genres more or less amenable to the expression of what it means to be, at once, deeply human and a unique individual?" Friedly explains.
Among the participants were two recent Elizabethtown graduates, artist Thomas Yurkovic '08 and poet Pierce Hibbs '07. Comparatively new to their craft but no less gifted than the more experienced project participants, Yurkovic and Hibbs not only collaborated on their own pieces, but they also worked with Friedly and Miller to curate the art and poetry, respectively, for the exhibit.
During the fall 2008 semester, the Handprint Identity Project exhibit was displayed in Elizabethtown College's Hess and Lyet Galleries. To bring the exhibit to life, interviews with the participating artists and poets were recorded and provided on iPods near the work. In addition, a full-color, glossy catalogue and a collection of poetry inspired by this project also were prepared. Designed by Pulse Direct, the catalogue includes high-quality photographs of the art collection, excerpts of the poetry, and reflections from the artists and poets about their participation in the project. The forward for the piece was written by Thomas Zummer, regular visiting professor in the Transmedia programme/post-graduate at the Hogeschool Sint-Lukas/Universite Leuven in Brussels and visiting professor at the Transart Institute in Linz, Austria. The poetry collection, titled "The Handprint Identity Project: Selected Poems," was edited by Leslie McGrath, designed by Pulse Direct, and printed by Continental Press. Proceeds from the sale of the pieces are earmarked for the creation of an Elizabethtown College scholarship fund for students studying art or literature.
The project received support through a grant from Elizabethtown College's Collaborative Interdisciplinary Scholarship Program, which is administered by the College's Center for Excellence in Teaching and Learning and was created through a grant from the Pennsylvania Department of Education. Also supporting the project were Amelia Alft '10, web design; Caitlin Cain '10, intern designer for the poster and mailer; Christina Darretta '09, digital editing; Matthew Fischer '05, web design; and Amanda Morgan '09, director's assistant. Amy Hammond was the exhibition designer, assisted by Jessica Hill '09.
The Handprint Identity Project is scheduled for West Chester University from January 27 through February 26, 2010. The project at West Chester will feature 39 works of art, and poetry readings by select participants. In addition, Guest Artist, Claire Giblin and Guest Poet, Barbara Crooker will collaborate and present their work for this venue.
The Handprint Identity Project is available for art galleries, museums and writing centers. For more information please contact Milt Friedly, Director for the HIP at firstname.lastname@example.com.


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Recommended Citation
Ian F. Haney-Lopez,
Race, Ethnicity, Erasure: The Salience of Race to LatCrit Theory, 85
Cal. L. Rev.
Available at: http://scholarship.law.berkeley.edu/facpubs/1912
Discusses issues related to race relations in the United States using the `Hernandez v. Texas' case. Social constructionist understanding of Latino racial identity; Salience of race in Latino identity; Extent of Latino racialization; Question of the language of race's appropriateness.


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- Description
Bunk beds are quickly becoming mainstays in children's bedrooms. Why so popular? Because they are amazing space-savers, that's why. Instead of crowding the floor space with two separate beds, one bed stacks on top of another, utilizing all that unused vertical space. It is fun for kids too since it gives them a cool place to sleep and play in. Compared to traditional wooden bunks, the Keagan Twin Over Full Bunk Bed has a light and casual look that is perfect if you have a modern interior.
Includes sturdy ladders and safety rails
Clean-lined tubular design with curved corners
Built-in support on each bed for secure mattress foundation
Ideal for contemporary themed kids rooms or guest rooms
Pillows, mattress, and linens shown are not included
1 Twin Full Bunkbed
56"W x 77"D x 59"H
More from this collection: Low Lofts / Tent lofts
- Additional Information
Additional Information
SKU 15800340 MPN 4502-3S GTIN No Brand Donco Collection Low Lofts / Tent lofts Assemble Length No Assemble Width No Assemble Height No Assembly Required Yes Material Metal Finish Silver Bed Styles No Shipping Time 4-7 Days Free Shipping Yes
- Reviews


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Freedom (2006) FRENCH R2 Blu Ray CoverTweet
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Listen to free music by Cyantific Vs Tactile
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tikal on a cyantific kick right now :)
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According to reports, for the first time, the Chennai Corporation is venturing to install roof top solar panels of different wattage atop school and hospital buildings. It has called for tenders for installing one five-kilo-watt and five one-kilo-watt power producing panels. This move will allow the civic body to reduce its electricity bills and be more environment-friendly.
"This will be done on a trial basis. After gauging the performance, we will expand to more buildings. We already have solar-powered street lights in slum areas. Solar power installations in schools and hospitals will create awareness among children and the public about the need to use renewable energy," said a civic body official.
Sources said the corporation was trying to explore possibilities with such installations. It plans to try out systems with and without battery backup. The latter would have supply backup from the grid.
It also plans to try out hybrid renewable systems that come with solar and wind energy in areas like Tiruvottiyur and Sholinganallur. The civic body is collecting data for such systems .
A one kilo watt (one kilo watt equals 1,000 watts) unit without battery backup can support several tubelights and fans for a minimum of six hours and those with battery can go up to 10 hours.
P. Parthasarathy of Sunbind Renewable Energy, who has been in the business for over 30 years now, says standardised systems have come to stay. And with a Central government subsidy of 30 per cent, it has become very fashionable for even individual homes to have roof-top solar power panels.
"The units that come with special batteries that run for a minimum of 5 – 7 years have a life time of 15 to 20 years. And the battery and solar panel require very minimum maintenance. Even if there is no sunshine for three days, the battery backup will take care," he explained.


text:
These institutions join around 60 others that hope to put increasing pressure on the publishing giant in ongoing negotiations for a new nationwide licensing agreement.
A Not-So-Short Circuit?
October 1, 2011|
As neuroscientists look to the future of their field, they are beginning to delve into more complex factors that define our emotions and intentions.


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Teleoperation of Domestic Service Robots: Effects of Global 3D Environment Maps in the User Interface on Operators Cognitive and Performance Metrics
- Egbert Barnett
- 2 years ago
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1 Teleoperation of Domestic Service Robots: Effects of Global 3D Environment Maps in the User Interface on Operators Cognitive and Performance Metrics Marcus Mast 1,2, Michal Španěl 3, Georg Arbeiter 4, Vít Štancl 3, Zdeněk Materna 3, Florian Weisshardt 4, Michael Burmester 1, Pavel Smrž 3, Birgit Graf 4 1 Stuttgart Media University, Germany 2 Linköping University, Sweden 3 Brno University of Technology, Czech Republic 4 Fraunhofer Institute for Manufacturing Engineering and Automation, Germany Abstract. This paper investigates the suitability of visualizing global 3D environment maps generated from RGB-D sensor data in teleoperation user interfaces for service robots. We carried out a controlled experiment involving 27 participants, four teleoperation tasks, and two types of novel global 3D mapping techniques. Results show substantial advantages of global 3D mapping over a control condition for three of the four tasks. Global 3D mapping in the user interface lead to reduced search times for objects and to fewer collisions. In most situations it also resulted in less operator workload, higher situation awareness, and higher accuracy of operators mental models of the remote environment. Keywords: global environment map, service robot, teleoperation, user interface 1 Introduction Service robots may assist people in the home in the future. Frail elderly people and people with disabilities may particularly benefit from such robots. However, there are still numerous technical challenges associated with building reliable autonomous robots for unstructured environments. For example, robots can fail to find navigation paths through narrow passages or objects to be fetched can fail to be detected in cluttered scenes or under low illumination. Semi-autonomous robots [1] may be a viable shorter-term solution: when a robot cannot complete a task, a remote human operator takes control and tries to solve the local problem. The design of suitable teleoperation user interfaces therefore remains an important subject of research. Studies have shown that user interfaces merely relying on the visualization of a video stream from a camera on the robot and a floor map lead to high collision rates [2], long task completion times [3, 2], high operator workload [4], and low situation awareness [5]. The camera s narrow field of view prevents operators from acquiring environmental cues from the surrounding. Also, people form mental models of spatial environments and rely on them for spatial reasoning [6]. In video-centric interfaces,
2 operators need to infer a spatial mental model from two-dimensional data, which may result in less accurate models and negatively affect performance. It has thus been established that teleoperators need more comprehensive information on the robot s environment to be able to control it effectively. Visualizing data from various sensors in separate areas of the screen has however shown to be problematic with regard to operators task performance and cognitive load [2, 4]. To avoid divided attention and information overload, sensor fusion, augmentation, and ecological interfaces, where data from different sensors are integrated with direct spatial reference to the environment, have been proposed [7, 2]. To address the field of view problem, the use of multiple and panospheric cameras has been explored [8]. However, such approaches impose a high load on network bandwidth while not allowing, for example, assessment of distances between objects. Approaches where 2D map and video are enriched with a schematic 3D environment model have shown to lead to improvements in user performance [3, 4] but they require manual modeling of each apartment and can be misleading when environment features have changed. With the advent of affordable depth sensors, techniques for generating complete 3D representations of the environment have emerged more recently. With infrared sensors, time-of-flight cameras, or 3D laser scanners, the robot acquires 3D data while moving around. Algorithms generate, and update in real-time, a global 3D environment map in form of a voxel-based point cloud [9, 10] or a set of geometric primitives [11, 12]. Research on global 3D environment mapping has so far focused on algorithms and applications in autonomous reasoning [9-12]. In this paper, we examine the suitability of displaying global 3D environment maps during teleoperation. The maps provide a teleoperator with recent and detailed information on objects all around the robot, on environment features further away, and on distances between objects. 2 User Interface, Robot, and Mapping Techniques The user interface employed in this study (Figs. 1 and 2) was developed as part of a wider semi-autonomous human-robot interaction framework for assisting elderly people in the home in an iterative user-centered design process involving studies with a total of 241 participants [1]. The user interface s main intended user group is teleassistance staff but we do not regard its use limited to professional applications. The user interface is integrated with the Care-O-bot 3 service robot [13] (Fig. 2). Care-Obot 3 has an omni-directional base, three laser range finders, and a Kinect RGB-D camera. During teleoperation, the robot autonomously avoids obstacles of up to 40cm above ground based on 2D laser range data but not currently higher objects. The user interface is based on RViz as part of ROS (Robot Operating System) Electric [15]. Following the idea of ecological interfaces [2], it offers the following elements visualized in a unified way in a single 3D scene (Figs. 1 and 2): (1) laserbased 2D floor map (grey/black), (2) laser-based historic obstacle map (purple, active in Fig. 2 only), (3) live laser data (red), (4) live 3D colored point cloud in the robot s field of view, (5) global 3D environment map (voxel-based or geometric), (6) robot in accurate size and shape, (7) collision-relevant safety area around the robot ( foot-
3 print, yellow, Fig. 2), (8) a sectioned band of collision indicators around the robot lighting up when the robot slows down on approaching an obstacle or movement in a direction is not possible (not shown in Figs. 1 and 2). As a ninth element, a video image is overlaid. Users can freely rotate, pan, and zoom the 3D scene using the mouse. Navigation of the mobile platform is realized with the SpaceNavigator 3D mouse [14] in the coordinate system of the operator s current viewpoint on the scene. Fig. 1. User interface in zoomed-out perspective with apartment-sized environment mapped using voxel-based mapping technique Two types of global 3D mapping techniques have been implemented. The voxelbased technique is based on OctoMap [9], a probabilistic approach that uses octrees to represent 3D occupancy grids. The geometric 3D mapping technique [11] segments consecutive point clouds into homogeneous regions, derives geometric primitives like planes or cylinders, and merges them into a map. From a technical point of view, its main advantages over the voxel-based technique are lower network bandwidth consumption and less required client-side computational resources for display. 3 Research Questions We assumed that, due to the complete 3D representation of the environment, global 3D environment maps in the user interface should usually lead to improved user performance, decreased workload, increased situation awareness, and more accurate mental models of the remote environment. On the other hand, it is conceivable that they might not be needed in some situations or even be disadvantageous. For example, the visualization of a global 3D map might negatively impact user performance because close objects can obstruct the view on task-relevant objects behind them or lead to higher cognitive load due to additional interpretation effort. Concerning the
4 suitability of voxel-based versus geometric mapping, likewise, arguments for differences in both directions are feasible. For example, the more simplistic, reduced visualization of the environment with a geometric approach might reduce required interpretation efforts. On the other hand, the algorithmic processing of the point cloud necessarily introduces artifacts that might be confusing. Due to a wide range of factors that might affect results and a lack of directly comparable studies in the literature, we adopted an exploratory attitude towards this research. Our main goal was to identify usage scenarios where global 3D environment maps in the remote user interface would be advantageous as well as scenarios where this would rather not be the case. We were further interested in potential differences in the suitability of voxel-based versus geometric mapping approaches. 4 Method Research Design. We adopted a between-subjects experimental design with three conditions: control condition without global 3D environment mapping (C), voxelbased global 3D mapping condition (V), geometric global 3D mapping condition (G). The user interface did not differ between conditions other than in the type (or absence) of global 3D environment mapping. All other visualization elements described in Section 2 were available in all conditions. Participants. 27 people participated in the experiment (9 in each group). Their age ranged from 19 to 41 years (mean age group C: 27.4; V: 23.4; G: 26.7). All participants were male to avoid a confounding effect due to known gender differences in spatial problem solving [19]. Participants had no previous experience with robots, teleoperation user interfaces, or 3D mice. They used computers at least 12 hours per week but played 3D games or used professional 3D applications only up to 2 hours per week (mean 3D usage hours C: 0.5; V: 0.6; G: 0.5). All but two participants had university degrees or were currently pursuing such. Participants received 30 of compensation. Participants underwent a spatial ability test (abbr. Vandenberg Mental Rotations Test) [20] and were assigned to experimental conditions based on their score in a balanced way (mean score C: 4.4 out of 6; V: 4.3; G: 4.6). Participants also underwent a Snellen visual acuity test and all achieved a score of 5 or higher (mean score C: 6.7; V: 7.2; G: 6.1). According to a further color vision test, one participant in each group did not have full color vision. Metrics. We employed objective and subjective metrics to investigate several constructs. Metrics mainly relating to performance were: time to complete the task, length of the path the robot traveled, and robot rotation. We assessed perceived workload with the NASA Task Load Index (TLX) in its unweighted (raw) form [16] posttask. We further measured perceived situation awareness post-task with the threedimensional Situation Awareness Rating Technique (SART) [17]. We adjusted the SART scale to a range from 0 to 100. To assess perceived quality of the mental model of the remote environment, we employed (6) the subscale spatial situation model
5 (SSM) from the Spatial Presence Questionnaire MEC-SPQ [18] post-experiment. For applicable tasks, we also asked participants to recall the number of obstacles around the robot as an indicator of the accuracy of their spatial mental model. For one task, we further recorded the number of collisions as a performance metric and an implicit indicator of situation awareness. Procedure. The experiment took place in three rooms connected by two corridors. We installed 80 household furniture items and objects to simulate a home environment with a kitchen, a living room, and a bedroom. To control for illumination we covered all windows and used interior lighting only. Participants operated the robot from a separate fourth room and did not see the robot or its environment until after the trials. After initial spatial ability and vision tests, participants underwent a 45-min training on robot hardware and sensors, user interface concept and visualization elements, SpaceNavigator device, teleoperation (in simulation). The type of global mapping visualized during training corresponded to the participants experimental condition. Participants then carried out four teleoperation tasks (Fig. 2) with the real robot and filled in a questionnaire after each task. The tasks were designed to cover a range of different scenarios. At the beginning of each task, participants were confronted with a problem of the robot and asked to solve it quickly but without becoming stressed or sacrificing accuracy. The room s global map was always up to date, assuming the robot had moved around prior to contacting the teleoperator for assistance. Task 1 Task 2 Condition C Task 2 Task 3 Task 2 Condition V Task 4 Task 2 Condition G Fig. 2. Overview of the task setups with robot at starting positions (upper row); robot during task 2 at similar positions in the three experimental conditions (lower row) Task 1: For this task in the kitchen only, we simulated darkness, so no video and only grayscale live depth data were available. The global maps were generated while the room was still illuminated. The robot s problem was that it could not find a medicine package to be fetched. The participant was told that the local elderly user stated to have left the package on the chair in the kitchen. The goal was to find the chair (which was hidden in a corner and there were three such corners) and approach it.
6 Task 2: This task took place in the living room. The robot s problem was that it could not find a navigation path to its destination due to a narrow passage. Participants were asked to navigate the robot to the other side of the room. There were elevated protruding obstacles so it was possible for the robot to collide. Participants were asked to make the robot pass without collisions. Task 3: This task took place in the corridor and the robot s problem was that it could not find a navigation path to the bedroom. All obstacles were on the floor. Towards the end of the task, participants had to push aside a carton with the robot. Task 4: This task took place in the bedroom. As in task 1, participants had to find an object but it was small and without a characteristic shape (a rectangular pack of tea bags). The room was cluttered with objects and there were five possible hiding places. After the last task, the session was recapitulated, participants were interviewed on their impressions, and then completed the post-experiment questions. Data Analysis. We performed pairwise group comparisons using two-tailed independent samples t-tests, assuming normal distribution. For the collision metric only we used a two-tailed Wald test, assuming Poisson distribution. We used robust estimation of variance (Huber-White sandwich). Due to the exploratory nature of the experiment we did not adjust for multiple testing [21]. 5 Results All participants were able to complete all tasks, indicating effectiveness in all experimental conditions. Results on the investigated metrics are described subsequently. Task 1: Finding a Large Object. As shown in Table 1, participants in both global map conditions were able to find the target object (chair) significantly faster with much shorter path lengths and less required robot rotation than in the control condition. They also experienced significantly lower workload and were subjectively more aware of the situation in conditions V and G. There was a tendency for condition V to be somewhat more efficient than condition G but statistical significance is only reached for the path length metric. Task 2: Navigating Around Elevated Obstacles. Results in Table 2 show that task 2 was completed the fastest in the control condition. The difference to both, conditions V and G is statistically significant. Perceived workload was highest in condition G and the difference is significant over conditions C and V. In condition C, object collisions were most frequent and participants recalled significantly less obstacles than in the global map conditions. No significant differences were found for path lengths, robot rotation, perceived situation awareness. Task 3: Navigating Around Obstacles on the Floor. Results for task 3 (Table 3) show no significant differences between conditions. There was a tendency to report more obstacles in condition V than in conditions G and C.
7 Task 4: Finding a Small Object. As shown in Table 4, participants in condition V found the pack of tea bags the fastest, with shortest path lengths, least rotation, and least cognitive load, statistically significant over conditions C and G. Perceived situation awareness was highest in condition V with a significant difference over C but just as a tendency over G. There was a tendency for better suitability of condition G than C for this task but the differences are not statistically significant. Spatial Situation Model. Results of the post-experiment MEC-SPQ SSM subscale (Table 5) show that participants rated the perceived quality of their mental model of the situation significantly higher in condition V than in conditions C and G. Table 1. Results of task 1 (conditions: C - control; V - voxel map; G - geometric map) Metric Means with 95% confidence intervals Difference betw. means Task completion time C: 235s V: 109s G: 126s p = ** p = Robot path length C: 8.4m V: 3.1m G: 4.2m Robot rotation Perceived workload (NASA-TLX raw) Perceived situation awareness (SART) C: 2.5rev V: 0.6rev G: 0.8rev C: 40.4 V: 16.8 G: 23.1 C: 55.9 V: 72.0 G: 72.9 p = ** p = * p = ** p = ** p = p = ** p = * p = p = * p = * p = Table 2. Results of task 2 (conditions: C - control; V - voxel map; G - geometric map) Metric Means with 95% confidence intervals Difference betw. means Task completion time C: 121s V: 171s G: 206s p = * p = Robot path length C: 5.6m V: 5.5m G: 5.4m Robot rotation Perceived workload (NASA-TLX raw) Perceived situation awareness (SART) C: 0.6rev V: 0.7rev G: 0.8rev C: 36.8 V: 34.9 G: 52.0 C: 53.1 V: 59.3 G: 49.1 Object collisions C: 1.7 V: 0.6 G: 0.9 Obstacles recalled C: 2.1 V: 3.3 G: 3.4 p = p = p = p = p = p = p = p = * p = ** p = p = p = p = * p = * p = p = 0.771
8 Table 3. Results of task 3 (conditions: C - control; V - voxel map; G - geometric map) Metric Means with 95% confidence intervals Difference betw. means Task completion time C: 139s V: 155s G: 160s p = p = p = Robot path length C: 6.1m V: 6.0m G: 6.1m Robot rotation Perceived workload (NASA-TLX raw) Perceived situation awareness (SART) C: 0.6rev V: 0.6rev G: 0.6rev C: 37.1 V: 30.9 G: 33.2 C: 60.7 V: 65.3 G: 62.0 Obstacles recalled C: 2.9 V: 3.3 G: 2.8 p = p = p = p = p = p = p = p = p = p = p = p = p = p = p = Table 4. Results of task 4 (conditions: C - control; V - voxel map; G - geometric map) Metric Means with 95% confidence intervals Difference betw. means Task completion time C: 215s V: 97s G: 174s p = p = * Robot path length C: 5.9m V: 2.8m G: 4.0m Robot rotation Perceived workload (NASA-TLX raw) Perceived situation awareness (SART) C: 2.2rev V: 1.2rev G: 2.0rev C: 42.5 V: 21.6 G: 36.9 C: 55.8 V: 72.8 G: 60.1 p = * p = p = * p = * p = p = * p = * p = p = * p = * p = p = Table 5. Results of MEC-SPQ SSM (conditions: C - control; V - voxel map; G - geometric map) Metric Means with 95% confidence intervals Difference betw. means Perceived quality of spatial situation model 5-point scale C: 3.6 V: 4.3 G: 3.9 p = ** p = p = * 6 Discussion When searching for a large object, there were strong benefits of using either type of global 3D map, voxel-based or geometric. Participants were around twice as fast in the mapping-enabled conditions than in the control condition when navigating the robot to the hidden chair in task 1. They also experienced less cognitive load and
9 higher situation awareness. When searching for a smaller object (task 4), benefits were only clear in case of the voxel-based mapping approach. Likely, due to the more schematic and coarse environment representation in the geometric map, operators could not obtain a direct cue as to the target object s location. There still was some non-significant tendency for benefits of using the geometric map over not using a 3D map. Perhaps operators had better overall orientation than without a global 3D map. When navigating around obstacles, benefits of using global 3D maps were only apparent for task 2, where obstacles were elevated. Interestingly, users in the control condition accomplished this task the fastest. However, they also had the highest number of collisions (C: 1.7, V: 0.6, G: 0.9 collisions on average). It seems that operators rushed through the obstacle course unaware of the existence or proximity to obstacles. This is corroborated by the fact that substantially too few obstacles were recalled in the control condition. A further interesting result for task 2 is that operators using the geometric map experienced higher workload than in the two other conditions. For other tasks too, there was a tendency for higher workload in the geometric condition than in the voxel condition. Perhaps this can be attributed to some ambiguity in visualization due to artifacts of algorithmic processing compared to the more unprocessed representation in a voxel map. The fact that results for all metrics were similar for task 3 suggests that this might be a scenario without benefits of using global 3D mapping. A likely reason is that all obstacles were on the floor and thus well visible through laser scanner visualization in the control condition too. Participants using voxel-based maps rated the quality of their mental model of the remote environment highest on average. Results on the recall metric further suggest that whether or not 3D mapping leads to more accurate mental models may also depend on the environment or task. For task 2, participants in both mapping-enabled conditions were clearly much more accurate in recalling obstacles (C: 2.1, V: 3.3, G: 3.4 recalled; correct: 4). In task 3, where all obstacles were on the floor, no significant differences were found. Results thus suggest that global 3D maps tend to support the formation of accurate mental models but need not necessarily in every situation. To summarize, visualizing global 3D environment maps in the teleoperation user interface in most situations showed to have positive effects on user performance, workload, situation awareness, and accuracy of users spatial mental models. It substantially reduced search times for objects and reduced collisions when navigating around elevated obstacles. On a broad level, our results corroborate the findings of earlier studies on the benefits of 3D-enhanced teleoperation user interfaces [2, 3]. The automated, sensor-based, and fully three-dimensional mapping techniques evaluated in this paper can be regarded an evolution of those earlier approaches. Benefits of the voxel-based mapping technique were overall more pronounced than of the geometric mapping technique but the geometric mapping technique tended to show benefits over the control condition too. Due to its technical advantages, geometric mapping should be considered especially when identifying fine detail in the environment is not crucial. Acknowledgements. This research was funded by the European Commission, FP7, Grant Agreement We would like to thank Thiago de Freitas Oliveira Araújo, Ali Shuja Siddiqui, Markus Noack, and Anne Reibke for supporting work.
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text:
BP has struck oil at the Guadalupe prospect 180 miless off the coast of Louisiana in the deepwater U.S. Gulf of Mexico.
The company said the discovery well, on Keathley Canyon Block 10, was drilled by operator Chevron on behalf of the Guadalupe co-owners. The well encountered significant oil pay in Paleogene age Wilcox Sands.
Located about 180 miles off the Louisiana coast in 3,992 feet of water, the well was drilled to a total depth of 30,173 feet. More tests are being conducted on the well and additional appraisal activity will be needed to determine the extent of the resource.
BP has previously made three discoveries in the emerging Paleogene trend in the deepwater U.S. Gulf of Mexico: Gila in 2013, Tiber in 2009 and Kaskida in 2006.


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- Material: 100% Nylon
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text:
GATHERING n. – an assembly, like a social, held to come together
Innovative regional dishes served with Southern hospitality and inspired by the season's offerings using local artisans and farmers.
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For supper reservations and private dining, please call 601.667.4282.
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If an item you ordered from TextbookRush does not meet your expectations due to an error on our part, simply fill out a return request and then return it by mail within 30 days of ordering it for a full refund of item cost.
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Description: With an encyclopedic knowledge of opera and a delightful dash of irreverence, Sir Denis Forman throws open the world of opera--its structure, composers, conductors, and artists--in this hugely informative guide. A Night at the Opera dissects the eighty-three most popular operas recorded on compact disc, from Cilea's Adriana Lecouvreur to Mozart's Die Zauberflöte. For each opera, Sir Denis details the plot and cast of characters, awarding stars to parts that are "worth looking out for," "really good," or, occasionally, "stunning." He goes on to tell the history of each opera and its early reception. Finally, each work is graded from alpha to gamma (although the Ring cycle gets an "X"), and Sir Denis has no qualms about voicing his opinion: the first act of Fidelio is "a bit of a mess," while the last scene of Don Giovanni "towers above the comic finales of Figaro and Così and whether or not [it] is Mozart's greatest opera, it is certainly his most powerful finale." The guide also presents brief biographies of the great composers, conductors, and singers. A glossary of musical terms is included, as well as Operatica, or the essential elements of opera, from the proper place and style of the audience's applause (and boos) to the use of surtitles. A Night at the Opera is for connoisseurs and neophytes alike. It will entertain and inform, delight and (perhaps) infuriate, providing a subject for lively debate and ready reference for years to come.
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List price: $24.95Publisher: Random House Publishing GroupPublication date: 9/1/1998Binding: PaperbackPages: 976Size: 6.25" wide x 9.25" long x 1.75" tall Weight: 2.244Language: English
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The new year is always bitter sweet
Not that it means I am soon to be another year older, but it also means that my babies will be older also :( I want my tiny babies back. Anyone else see it as bitter sweet other than me?
Wellllll... I wish I could say I don't want 2014 to come so fast.. BUT it means we get to meet our FIRST baby.. so of all New Years.. I think this I am most excited for :)
And take as many pictures as possible lol.
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About Celeste Whitehead
Current: Spring Hill, Florida
Birth: August 26
On Moms.com since: Aug 5, 2013
Stay at home and work at home mom of two loud, crazy, adorable kids that are the center of my entire world. We all live together with the love of my life and the father of my children in sunny Florida with 3 of out four-legged kids.


text:
Will I Need Glasses After Cataract Surgery?
It depends.
If you choose standard cataract surgery with intraocular lens (IOL) implantation, it's likely you will need reading glasses and possibly computer glasses or other special-purpose eyewear afterward, depending on your visual needs.
But there also are cataract surgery options that can reduce or sometimes even eliminate your need for glasses. In particular, the combination of laser cataract surgery and premium implantable lenses such as multifocal IOLs and accommodating IOLs can provide excellent outcomes that enable many people to be glasses-free for much of their day.
Modern cataract surgery often can eliminate or reduce the need for prescription eyeglasses and reading glasses.
Another option is monovision cataract surgery where the power of the single vision IOL is customized in each eye to expand the range of clear vision when the two eyes are used together. In this scenario, the dominant eye provides sharper distance vision, and the non-dominant eye provides sharper near vision.
Recommended For You
Still another option is to have a secondary refractive procedure after cataract surgery. For example, implantation of a presbyopia-correcting corneal inlay in one eye after cataract surgery improves near vision, reducing the need for reading glasses.
If you want the greatest freedom from eyeglasses possible, ask your cataract surgeon to discuss available options and the best choice for your visual needs during your pre-op eye exam and cataract surgery consultation.
[Page updated August 2016]