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Motion planning for high DOF anthropomorphic hands
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1 9 IEEE International Conference on Robotics and Automation Kobe International Conference Center Kobe, Japan, May -7, 9 Motion planning for high DOF anthropomorphic hands J. Rosell, R. Suárez, C. Rosales, J. A. García and A. Pérez Abstract The paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search space in order to obtain results as a compromise between motion optimality and planning complexity (time) by means of the concept of principal motion directions. Basically, the work includes the following phases: capturing the human hand workspace using a sensorized glove and mapping it to the mechanical hand workspace, reducing the space dimension by looking for the most relevant principal motion directions, and planning the hand movements using a sampling-based roadmap planner. The approach has been implemented for a four finger anthropomorphic mechanical hand, and some examples are included to illustrate its validity. I. INTRODUCTION Advances in robotics are producing a number of complex devices with a high number of degrees of freedom (DOF), lots of sensors, and sophisticated controllers to assure stability and a good performance. These devices include different types of robots, adapted to different environments and tasks, and among them the most representative instances are the humanoids, equipped with anthropomorphic hands with a number of DOF ranging from (four fingers with 3 independent DOF each one) to 5 (five fingers with 4 independent DOF each one plus some DOF in the palm []). Examples of anthropomorphic hands with four fingers are the Utah/MIT Hand [], DIST Hand [3], LMS Hand [4]; DLR Hand [5] and MA-I Hand [6], and examples with five fingers are the Belgrade/USC Hand [7], Anthrobot- Hand [8], NTU Hand [9], ROBONAUT [], Shadow Hand [], Gifu Hand [] and Bolonia Hand 3 [3]. Good discussions about robot hands can be found in [4] and [5]. Despite the advanced features of these mechanical hands, one of the remaining problems in order to obtain a good outcome from them is the automatic determination of their movements, which are quite complex and non-evident for the human being in the space of generalized coordinates. This is a well-known motion planning problem, but in a very large dimensional space, thus some new approaches are still necessary in order to find solutions that can be really implemented and used in practice. This paper presents some developments in this line, looking for procedures that allow the automatic motion planning of anthropomorphic hands in This work was partially supported by the CICYT projects DPI and DPI The authors are with the Institute of Industrial and Control Engineering - Technical University of Catalonia, Barcelona, Spain. C. Rosales is also with the Institut de Robòtica i Informàtica Industrial, CSIC-UPC. A. Pérez is also with the Escuela Colombiana de Ingeniería Julio Garavito placed in Bogotá D.C., Colombia. a smooth way, caring for collisions with the environment as well as between the different parts of the hand. II. PROBLEM STATEMENT AND SOLUTION OVERVIEW Let C = C h + C a be the configuration space of a handarm system, where C h and C a are the configuration spaces of the hand and of the arm where it is mounted, respectively. The basic problem to be solved is the following: given the current hand-arm configuration C o and a final desired one C d (that is not necessarily a grasping configuration), find a collision free path from C o to C d. The dimension of the configuration space of this problem is equal to the number of DOF of the hand plus the number of DOF of the arm, therefore conventional solutions require high computational times. In this context, the proposed approach is based on a reduction of the configuration space dimension, which is done by looking for a representative subspace SC h of the hand configuration space C h, and looking for continuous valid paths in the compound subspace SC = SC h + C a. Of course, there may be solutions in C not included in SC, thus the selection of a proper subspace SC h is a relevant step in the proposed approach. On the other hand, if a solution is found in SC, for sure it is valid in C. The main consideration that supports the reduction of the problem space is that the human hand has several joint movements that are not (completely) independent, and therefore they can be associated in some way. A typical example is given by the last two joints of each finger, which (normally) cannot be moved independently; in the same way some other relations can be found analyzing the hand configuration space. This feature can be extrapolated to mechanical hands where the analysis is done by taking enough samples of C h and looking then for the direction in which the samples present the largest dispersion, which is iteratively repeated considering orthogonal directions until a new basis of C h is generated. Then, by selecting the first vectors of this basis and properly choosing a bounding box aligned with these vectors and centered in the mean value of the original set of points, a good bounded approximation SC h of C h is found. A relevant previous work in this line [6] uses an initial set of grasping configurations to find a bidimensional grasp subspace, i.e. to characterize the configurations of the hand used to grasp different objects. This subspace is used in other works to look for grasping configurations [7], [8]. As a difference with these works, we use here an initial set of unconstrained general hand configurations in order to model all the real hand workspace and not only potential /9/$5. 9 IEEE 45 Authorized licensed use limited to: UNIVERSITAT POLIT?CNICA DE CATALUNYA. Downloaded on November 7, 9 at 7:8 from IEEE Xplore. Restrictions apply.
2 f e d i h j g m l k n o v q p r s t u c b a Fig.. Human hand with the sensorized glove connected to the mechanical hand simulator used in the data acquisition procedure. Fig.. Sensorized glove used to capture the operator hand workspace. 9 ; ; 8 7 grasping configurations. The particular procedure followed to generate the set of hand configurations as well as to find a proper bounded subspace is detailed in Section III. Once the bounded subspace is determined, sampling-based motion planning techniques are used to model the free configurations and to find free paths between any two of them (Section IV). Dimensionality reduction techniques have also been used to synthesize human-like motion in graphic applications [9]. The approach followed in this work can be summarized in the following steps: ) Use a sensorized glove to obtain samples of the human hand workspace ( DOF) (Subsection III-A). ) Map these samples to the configuration space C h of a mechanical hand (3 DOF) (Subsection III-B). 3) Find a representative subspace SC h of the mechanical hand configuration space C h (between 3 and 6 DOF) (Subsection III-C). 4) Use a sampling-based roadmap planner to model the free space of the representative subspace SC=SC h +C a (Section IV). 5) Finally, given an initial and final hand-arm configurations of C (not necessarily belonging to SC), C o and C d respectively, connect them to the roadmap and use it to find a free path between them. III. MODELING HAND MOVEMENTS WITH PRINCIPAL MOTION DIRECTIONS A. Data Aqcuisition The data acquisition is done using the commercial sensorized glove CyberGlove c from Immersion Corporation, shown in Fig.. It is a fully instrumented glove that provides up to high-accuracy joint-angle measurements, using resistive bendsensing technology. The -sensor model has three flexion sensors per finger, four abduction sensors, a palm-arc sensor, and sensors to measure the flexion and the abduction of the wrist. After a calibration procedure for each user s hand, the movements captured with the glove are mapped to move- Fig The anthropomorphic mechanical hand used. ments of the mechanical hand through a virtual simulator (Fig. ), where the user has a visual feedback of the mapping (detailed in the next subsection). Thus, the user freely moves its hand in an unconstrained way, i.e. without performing any specific task, trying to cover the whole mechanical hand workspace. Mapped postures are recorded for processing and analysis. B. Mapping from the Sensorized Glove to the Mechanical Hand The Schunk antropomorphic hand (SAH) [], shown in Fig. 3, is a 3-DOF robotic hand based on the DLR hand [5]. It has four identical fingers and one is equipped with an additional joint to function as the opposing thumb. Each finger has four joints, although the distal joint is mechanically coupled to the middle joint, i.e. there are three DOF per finger. Since the SAH mimics the human hand movements, mapping the data from the glove sensors to the movements of the SAH is done in an almost direct way. The following issues are considered for the mapping (see Figures and 3): The palm of the mechanical hand is rigid and therefore the palm arc sensor v and the wrist flexion and abduction sensors b and a are ignored. The mechanical hand lacks the little finger and therefore the sensors u, t, s and r are ignored. The distal phalanx sensors i, m, and q are not used since the SAH hand has a coupling between the medium and distal phalanx of each finger Authorized licensed use limited to: UNIVERSITAT POLIT?CNICA DE CATALUNYA. Downloaded on November 7, 9 at 7:8 from IEEE Xplore. Restrictions apply.
3 TABLE I C ORRESPONDENCE BETWEEN THE C YBER G LOVE SENSORS (F IG. ) AND THE JOINTS OF THE SAH HAND (F IG. 3). SA Hand Joint Name thumb base finger base (thumb) proximal phalanx (thumb) medium phalanx (thumb) finger base (index) proximal phalanx (index) medium phalanx (index) finger base (medium) proximal phalanx (medium) medium phalanx (medium) finger base (ring) proximal phalanx (ring) medium phalanx (ring) Id th Joint (rad) th Joint (rad).5.5 8th Joint (rad) Fig. 4. Top-left: Positive correlation between proximal phalanxes (8 and ); Top-right: Negative correlation between the abduction of the index and the ring (4 and ); Bottom-left: Smooth positive correlation between medium phalanxes (6 and 9); Bottom-right: No correlation between consecutive phalanxes of the medium finger (8 and 9) C. Principal Motion Directions.5 5 Fig. 5. Total variance covered when using an increasing number of PMDs. 4th Joint (rad).5 6 PMD th Joint (rad) 9 4 th Joint (rad) th Joint (rad) 9th Joint (rad) Total variance (%) Cyberglove Sensor Id. Name c thumb roll c thumb roll e thumb inner f thumb outer j index abduction g index inner h index middle medium abduction k medium inner l medium medium n ring abduction o ring inner p ring medium Using the sensor c to control joint produces a more natural motion of the SAH hand than using sensor d, therefore sensor c is used for both joints and. In the glove, the abduction is measured in a relative way, i.e. sensors j and n give, respectively, the relative angle between the index and the middle fingers and between the middle and the ring fingers. Then, the mapping is done using the middle finger as reference, i.e. the base of the middle finger (joint 7) is fixed to zero, and sensors j and n are directly associated to joints 4 and, respectively. Then, only values from the available in the glove are used in the mapping to the joints of the SAH mechanical hand. The complete mapping is shown in Table I. Note that this mapping makes the motions of the SAH hand to be defined with independent parameters, although it has 3 DOF. Dimensionality reduction of a feature set is a common preprocessing step used for pattern recognition and classification applications as well as in compression schemes. Principal component analysis (PCA) is often used in these fields to reduce multidimensional data sets to lower dimensions for analysis []. It is also used as a tool in exploratory data analysis and for making predictive models. PCA involves the computation of the eigenvalue decomposition of a data covariance matrix or the singular value decomposition of a data matrix, usually after mean centering the data for each attribute. In this work, PCA is used to reduce the configuration space of the mechanical hand SAH to a more tractable space of smaller dimension, using the data recorded from the hand postures (Section III-A). Fig. 4 shows some examples of the existing correlation between joints, illustrating that an effective reduction can be obtained. The vectors that define the new base of the hand space are called Principal Motion Directions (PMDs). Selecting only the first vectors with higher associated variances a reduced hand space is obtained: The first PMD represents the 4.9% of the total variance in the analyzed dataset; the first two components the 77.%, and the first three components the 84.7% (the complete evolution is shown in Fig. 5). Therefore, in this work the use of three PMDs has been considered sufficient. Fig. 6 shows the hand postures along the two principal components, and Fig. 7 the postures resulting from their linear combination. IV. MOTION PLANNING Sampling-based motion planners have demonstrated to be one of the best alternatives for path planning problems, since they avoid the explicit characterization of the obstacles of the configuration space C. These planners generate collisionfree samples of C and connect them with free paths capturing the connectivity of the free space either by forming roadmaps [] or trees [3]. A sampling-based roadmap planner, using a deterministic sampling sequence as sampling source, will be used here to find the motions of the hand and of the arm where it is mounted. It relies on generating samples from the lower dimensional space SC obtained by considering, for the hand motions, the subspace SC h defined by the first three PMDs. 47 Authorized licensed use limited to: UNIVERSITAT POLIT?CNICA DE CATALUNYA. Downloaded on November 7, 9 at 7:8 from IEEE Xplore. Restrictions apply.
4 PMD PMD Fig. 6. Configurations of the SAH hand when it is moved along the first two PMDs. PMD PMD Basic Sampling-Based RoadMap(N) G.vertexSet, G.edgeSet i For i = to N do: s = GET-SAMPLE() If FREE(s) then INSERT(s, G.vertexSet) ForAll q G.vertexSet s q and q NEIGBORHOOD(s) do If CONNECT(s, q) then INSERT((s, q), G.edgeSet) End If End For End If End For RETURN G Fig. 7. Configurations of the SAH hand when it is moved along a combination of the first two PMDs. A. The algorithm A basic sampling-based roadmap planner has an initial preprocessing phase to construct the graph that represents the roadmap capturing the connectivity of the free configuration space (C free ). The nodes of the graph are the configurations sampled from C free and the edges the collision-free paths that connect them. Fig. 8 shows the algorithm that returns the graph G representing the roadmap. The input is the number N of configurations to sample. The functions used are: Function INSERT(s,V ): inserts a node to the set V of nodes of the graph. The use of an efficient graph structure like the ones provided by the Boost Graph Library [4] greatly enhances the implementation. Function INSERT((s, q),e): inserts the edge (s,q) connecting configurations s and q to the set E of edges of the graph. Function GET-SAMPLE(): generates a configuration of SC, using the PMDs for the hand configurations, as it is detailed in the following subsection. Function FREE(s): returns TRUE if the configuration s belongs to C free. The use of a simple and efficient collision detection library like PQP [5] is mandatory since this is a time-consuming step of the process. Function NEIGBORHOOD(s): returns the set of up to K samples that lie within a predefined neighborhood of s. This can be efficiently implemented using either the Fig. 8. Algorithm for the preprocessing phase of a basic sampling-based roadmap planner. MPNN algorithm [6] or taking advantage of the grid structure if grid-based deterministic sampling sequences are used [7]. Function CONNECT(s,q): determines whether the rectilinear path in C connecting s and q is free or not by performing the collision-check test to several of its configurations. This can be efficiently done using the binary method [8]. The second phase of a sampling-based roadmap planner is the query phase where the initial and the goal configurations (C o and C d ) are connected to the roadmap, and graph search algorithms are used to find a path connecting them. In the proposed implementation, the initial and the goal configurations of the hand are free configurations that are not constrained to lie in the subspace SC h defined by the PMDs, but they can be any configuration of C h. The connection of C o and C d to the roadmap is done searching for free paths in C between these configurations and the nearest nodes in the roadmap, using the CONNECT(s,q) function. The search algorithm used is the A*. B. The sampling source Sampling-based methods usually rely on the use of a random number generation source, although the use of deterministic sampling sequences is a good alternative [9]. Deterministic sampling sequences provide an incremental and uniform coverage of C, with a better dispersion than random sampling. Deterministic sampling has given slightly better results than random sampling in roadmap planners [3] 48 Authorized licensed use limited to: UNIVERSITAT POLIT?CNICA DE CATALUNYA. Downloaded on November 7, 9 at 7:8 from IEEE Xplore. Restrictions apply.
5 TABLE II COMPARISON BETWEEN APPROACHES FOR THE TEST CASE # samples # nodes Mean Mean 95% Confidence Interval 6-RND 63 [.9, 8.3] 6-SDK 5 5 [., 7.9] a) b) Fig. 9. Configurations: a) C o and b) C d. (although Hsu et al. [3] constrained this improvement to few degrees of freedom tasks and considered it much less significant than the importance sampling issue devoted to bias the samples towards regions relevant to the task). With the objective of sampling uniformly over the space defined by the first main PMDs, the use of a deterministic sampling sequence is therefore a good option. In this work, the s d (k) deterministic sequence has been chosen [3]. It is a deterministic sequence based on a multi-grid cell decomposition and on the use of the digital construction method first proposed in [33]. The s d (k) sequence is a sequence of cells of the maximum partition level. Samples are random configurations within those cells, with coordinates in the range [,]. Let H = dim(c h ), A = dim(c a ), and h = dim(sc h ). The function GET-SAMPLE() uses the s d (k) sequence to obtain a d-dimensional sample from SC, with d = A + h. The first A components are scaled to obtain the A joint coordinates of the arm within the corresponding joint ranges; the last h components are used to obtain the H joint coordinates of the mechanical hand as follows. Let: e i, i =,...,h, be the unitary vectors defining the first h PMDs (when ordered in a decreasing order of the variance given by the corresponding eigenvalues λ i, of the eigenvalue decomposition of the data covariance matrix). b = (b,...,b H ) T be the data mean (Section III-C). i = 4 λ i be the range (centered at b) covered by the 95% of the dataset along the direction defined by e i. E be a H h matrix defined as E = [ e,..., h e h ]. p = (p,...,p h ) T be the last h components of the sample generated by the s d (k) sequence, shifted by.5 along each component, i.e..5 p i.5 (recall that s d (k) gives values within [,] and sample p should span the joint coordinates around b). Then, the joint values Θ = (θ,...,θ H ) T of the mechanical hand are obtained as follows: Θ = E p + b V. EVALUATION AND DISCUSSION The evaluation of the proposed approach is done by comparing its efficiency with that of a basic probabilistic roadmap planner. Fig. 9 shows the initial and goal configurations (C o and C d ) of the planning problem to be solved, where the SAH hand is mounted on a robot with three revolute joints. Therefore, considering three PMDs, SC is 6-dimensional (this scenario is called 6-SDK). On the other hand, the basic PRM samples randomly over all the joint space, and therefore the space C where the planning is done is 6-dimensional (this scenario is called 6-RND). Table II shows the summary results of trials per scenario. It can be seen that the proposed approach is able to solve the problem with less samples than the basic PRM, and with less variability between trials. One reason for this efficiency is that the sampling over PMDs provides (self)collision-free samples more often than sampling over all the joint space, and with hand-postures that mimic those of the human hand, being therefore best suited to avoid collisions with the objects to be grasped. Aside from the quantitative results, it is worth noting that the motions obtained with the proposed approach look more natural from the anthropomorphic and aesthetic points of view, as it can be appreciated in Fig. where two sequences of snapshots are shown, respectively, for the 6-RND and 6-SDK case. This advantage is less evident if a postprocessing smoothing is done in the 6-RND case, although this adds an extra computational cost. VI. CONCLUSIONS This paper has presented an efficient methodology to compute collision-free motions of a hand-arm system based on the principal motions direction (PMDs). These directions, obtained by demonstration using pattern recognition techniques, capture the natural motion of the human hand. Taking the PMDs with more weight (those with larger variances), allows a reduction of the dimension of the hand-movement space that greatly eases the work of a sampling-based roadmap planner. Added to a good computational efficiency, the hand motions obtained by the proposed planner are more natural than those obtained when all the degrees of freedom of the hand are directly sampled using a random sampling sequence in the joint space. Currently, the proposed planner is being enhanced by the use of an importance sampling method to bias the samples towards more relevant regions of the configuration space, in order to perform tasks with smaller clearances. Future work includes the implementation of rapidly-exploring random trees to quickly solve single queries. REFERENCES [] E. Peña, J. Yang, and K. Abdel-Malek, Santos TM hand: A 5-degreeof-freedom model, in Proc. of SAE Digital Human Modeling for Design and Engineering, 5. [] S. C. Jacobsen, J. E. Wood, D. F. Knutti, and K. B. Biggers, The UTAH/M.I.T. dextrous hand: Work in progress, The Int. J. of Robotics Research, vol. 3, no. 4, pp. 5, December Authorized licensed use limited to: UNIVERSITAT POLIT?CNICA DE CATALUNYA. Downloaded on November 7, 9 at 7:8 from IEEE Xplore. Restrictions apply.
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text:
Eric Gordon was given full clearance last week after undergoing surgery on his left ankle in May.
"Yeah this is the first time that I have felt very good in about two years for sure since I have been here," Gordon said on Monday at the Pelicans' media day. "Since I have been here I have been injured here and there and had surgeries each year. So it's the first time that I have been pretty healthy since I have been here."
Gordon has played in just 51 games over the past two seasons since being traded to the New Orleans Pelicans.
"I've been with the team for about two weeks," Gordon said. "I did all the running and the basketball workouts. But now it's time for me to progress because I am going to have a slow buildup as this training camp (continues) because it's different from what I have been doing this summer to what we are going to be doing now."

subset: commoncrawl


text: Armored Ascension Printings/Rarity: Cost: CMC: 4 Card Type: Enchantment — Aura Oracle Text: Enchant creature Enchanted creature gets +1/+1 for each Plains you control and has flying. Flavor Text: With skill and strength honed upon the prairie, Naxtil won his battles high above it. Retrieved from "http://mtg.wikia.com/wiki/Armored_Ascension?oldid=69617" Ad blocker interference detected! Wikia is a free-to-use site that makes money from advertising. We have a modified experience for viewers using ad blockers Wikia is not accessible if you've made further modifications. Remove the custom ad blocker rule(s) and the page will load as expected. Categories: Magic 2011 Uncommon Magic 2010 Shadowmoor Cards CMC: 4 Enchantment Aura White Flying Enchant Creature


text:
Sarah Dunn Tusk & Sapphire Silver Chain Bracelet
Sarah Dunn Tusk & Sapphire Silver Chain Bracelet
An oxidized silver links bracelet with black sapphire stone and silver tusk on adjustable chain. Shown here layered with Silver Bar Bracelet (from top to bottom) and Black Sapphire Bracelet. Measurement: 8" Chain Made in Portland, OR.
Fit tip
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Shop rad labels like Rag & Bone, Nili Lotan, The Odells, Tina + Jo, Loeffler Randall, Smythe, Hoss Intropia, Prairie Underground and more from this curated Portland boutique.
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text:
For other uses, see The Image (disambiguation)
The Image is a 1975 American film, re-released in an edited version 1976. The film is also known by two other titles: The Punishment of Anne and The Mistress and the Slave and was directed by Radley Metzger. The film is based upon the classic 1956 sadomasochistic novel L'Image, written by Catherine Robbe-Grillet and published under the pseudonym of Jean de Berg.
The story of Jean (played by Carl Parker), a writer who meets an old friend, Claire (Marilyn Roberts), at a party and is soon drawn into her world of sadomasochism along with her slave, Anne (Mary Mendum, aka Rebecca Brooke, and Metzger's girlfriend at the time).
The movie's structure is divided in 10 chapters, separated by white writing on a black background:
"Anyone into sado-masochism will get obvious fulfillment by watching the surface physical thrills that Metzger provides. The true fulfillment for this viewer was delving deeper into the themes of dominance and submission that the characters were exploring in their relationships."[1]
"This is a must own for anyone interested in the fetishes portrayed (graphic oral sex, bondage, whipping, and urination), and also for those who would like to see what quality porn can look like."[2]
References Edit
- ↑ "Boris Lugosi", girlsgunsandghouls.com
- ↑ "Tuna" und Johnny Web (Uncle Scoopy), The Image (1998)


text:
A sleek chrome finish adorns the chic base of this contemporary floor lamp. A slender column leads up to a unique interlocking circle design while a simple pure white faux silk shade tops off the look. A truly contemporary design perfect for any interior space.
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Shipping and Delivery Information - For item EU2P558 if ordered by 1 pm Pacific Time


text:
Elena (ID: 80358)
Date of birth:November 26, 1964
Height:5' 4" (164 cm)
Weight:125 lb (57 kg)
Hair color:chestnut
Eyes color:gray
Religion:Russian Orthodox
Marital status:divorced
English language:beginners' level
Others foreign languages:No
Seeks partner:52 - 65 years old
Total photos:9
Bikini photos:0
Hobbies and interests:
I have a huge variety of hobbies and interests so I never get bored no matter what I do. I feel comfortable and interested outside on nature, going out with my freinds or staying at home and making my place cozy. I love cooking and put a piece of my heart to every dish so when my friends ask me what is my secret ingredient I give them smile for an answer.
About me:
I bet, you noticed me, because of my a little bit unique appearance, didn't you? I am sure, that everybody has a lot of individual features and it's very important to find somebody who is the same unique as you are. Do you agree? What about my special inner world I 'm very open-minded, loyal and sociable person. So, be aware, when we start knowing each other better, you'll be able to forget about everything. Hah, but you would have an opportunity to get to know something new about the world, because I like travelling. And, please, don't be surprised, if we come together, suddenly we'll go to some unknown city to have a romantic trip
Looking For Men Type:
I am not looking for a man I can live with, I am looking for the man I cannot live without! I am very sincere, when I tell you I want to share my life with a special man. I want a man I can share my joys, sorrows, dreams, goals, love, and life with. I want to give my heart to him and I hope also to win his heart. I believe in faithfulness, fidelity, love, communication, honesty, and respect are very important in relations between a man and woman.
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text:
Looking glass - Brandi you're a fine girl MP3
The song Brandi you're a fine girl by the band looking glass.
Brandy Looking Glass MP3
Brandy You're a Fine Girl by Looking Glass w/ lyrics MP3
Brandy You're a Fine Girl by Looking Glass w/ lyrics.
Looking Glass - Brandy (You're a Fine Girl) MP3
Released in 1972. There's a port on a western bay And it serves a hundred ships a day Lonely sailors pass the time away And talk about their homes And there's ...
Iconic song from the 70s. Elliot still has the pipes!
Looking Glass,...Brandy! HD MP3
Just thought I'd have a little fun with some of my video footage that I've taken over the last few years. So I made this music video! Enjoy! SONG LYRICS: There's a ...
Looking Glass- Brandy (You're A Fine Girl) (HQ) MP3
I DON'T OWN ANYTHING, NO COPYRIGHT INTENDED** (C) All rights reserved to the artist and their production company Copyright Act 1976, allowance is ...
LOOKING GLASS - "Brandy (You're a Fine Girl) ~ "Jimmy Loves Mary-Anne" MP3
Ranked at the time the 12th biggest song of 1972 "Brandy" was written by co-band member Elliot Lurie. However, it is the little known 2nd. single by the group, ...
BRANDY(YOUR A FINE GIRL) LIVE Elliot Lurie: vocals, guitar Jeff Lehman, keyboards, vocals Eric Mackey: bass, vocals Craig Williams: drums, vocals.
Looking Glass - Brandy (You're a Fine Girl) (with lyrics) MP3
Looking Glass's 1972 hit "Brandy" with lyrics below. Enjoy and leave your comments! LYRICS: There's a port on a western bay And it serves a hundred ships a ...
How to Play "Brandy" by Looking Glass on Guitar MP3
A tutorial for guitar. How to play "Brandy" by Looking Glass. Mack is a guitar teacher in Central Florida, USA.
Red Hot Chili Peppers - Brandy - Live Rock Am Ring 2004 [HD] MP3
Red Hot Chili Peppers perform a cover of Looking Glass Brandy, live at Rock Am Ring, Germany - 5 June, 2004. Tags: Red Hot Chili Peppers Brandy Looking ...
Brandy Looking Glass Cover Redone 2012 MP3
I wanted to do a version of this where my playing was more visible.
Karaoke Brandy (You're A Fine Girl) - Looking Glass * MP3
Download MP3: http://www.karaoke-version.com/mp3-backingtrack/looking-glass/brandy-you-re-a-fine-girl.html Sing Online: ...
Looking Glass - Brandy MP3
To the outside observer, Looking Glass was one of the luckiest bands to come up during the early '70s -- and doubly so, coming out of New Jersey in 1972 with a ...
Looking Glass "BRANDY" You're a fine Girl Guitar Play along MP3
NO COPYRIGHT INFRINGEMENT INTENDED - - - - - - - - - - COPYRIGHT - - - - - - - - - - I own nothing used in this video and do not claim it as my own This video ...
Brandy-- Looking Glass Cover Acoustic MP3
Huntington Beach APA MMET.
Looking Glass - Brandy (You're A Fine Girl) HQ MP3
Brandy You're A Fine Girl - Looking Glass MP3
Background I used is part of my video of Fleet week here in my home city of San Francisco.
Looking Glass Brandy Lyrics MP3


text:
Flights to Moscow, Russia (MOW) - great-value flights to Moscow available
Take advantage of our great-value fares and book flights to Moscow, the capital of Russia. Moscow is one of the great cities of the world, incorporating influences from both Europe and Asia. Arriving as a tourist you will probably want to start with the famous Red Square, which is a hub of attractions in itself. From here you'll find the impressive St Basil Cathedral and the Lenin Mausoleum where you can visit the embalmed remains of Lenin. Finally, no trip to Moscow would be complete without a visit to the Kremlin, which is a gigantic site with a wealth of attractions inside its walls. Book a great-value flight to Moscow with Lufthansa today and experience the majesty of Moscow. On lufthansa.com you find great flight deals to your favourite cities or countries. Reserve your Business Class flight to Europe, or book holidays, weekend trips or city breaks on lufthansa.com. Take advantage of our fantastic online specials for cheap flights to Europe, cheap flights to Germany and cheap flights to Asia, Africa, the Middle East and the Americas. Lufthansa includes all services with your flight ticket for the best available price.Get inspired and read up on Lufthansa's or let the help you find a destinations according to your personal travel needs. Sign up for and never miss an offer again.
Flights to Moscow
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text:
This is a list of the Folks that have a Guard/Barrier element. They are indicated on the palette with a yellowy green circular border.
Barrier folks reduce damage from an enemy for a certain period of time, whilst Guard folks block all the damage from a single attack if the timing is done correctly.
Also, Ascidia and Agar-Agar are the only barrier Folks, and are unique to their respective characters. The three guard Folks, however, are all available to both Ellen AND Keats.
Ellen and KeatsEdit
|Navigate Folks
• By Element
• By Character:
— Keats


text:
Aquarium on Wheels Brings Ocean Life within Reach
More than 40,000 visitors expected to benefit each year from Tesoro Foundation grant
The Aquarium of the Pacific unveiled its newly renovated outreach vehicle, the Aquarium on Wheels, at Elizabeth Hudson K-8 School in Long Beach earlier this year. The larger, more sustainable truck, which will serve nearly 40,000 students and community members annually, was made possible by a $200,000 grant from the Tesoro Foundation, presented at the 2015 Baja Splash Cultural Festival.
"At Tesoro, we are committed to supporting clean, safer, well-educated communities where we operate," said Ken Dami, Director of Government and Public Affairs for Southern California. "We are proud to support the Aquarium of the Pacific and its efforts to provide extraordinary learning experiences that promote ocean science and environmental literacy among schoolchildren, families, and the community throughout Southern California."
The revitalized Aquarium on Wheels contains a mobile tide-pool exhibit that allows visitors to touch live ocean animals while learning about marine habitats from an Aquarium educator. The 35-foot long vehicle, with more than 10 species of marine life on board and state-of-the-art aquarium technology to keep the animals safe, travels nearly 10,000 miles each year to schools, community events and other public programs to encourage science education and interactive learning.
"The Aquarium on Wheels allows us to take the Aquarium experience beyond our walls and share the wonder of ocean life with schoolchildren and the general public," said Jerry Schubel, president and CEO, Aquarium of the Pacific. "Tesoro Foundation supports the Aquarium's quest to instill in students a passion for science to help them understand and help sustain vibrant ecosystems and prepare for promising science careers."
Read more articles: Tesoro Los Angeles community newsletter – fall 2016


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the inventory works fine, but to group or filter reports, there are more parameter necessary.
i can add more parameters my self... but to handle them the first time, i'm looking for a good way. (f.e. update 150 workstations with departement, user, purchase-date... wich i have in excel..)
bulk_omport.rb can, as i read, only import new assets and not update existing.
direct info from active directory (f.e. department) during inventory seems not to be possible.
what is the best way to update 150 workstations with new and own defined parameters.
thanks, Rene
This topic was created during version 4.7.
The latest version is 7.5.00101.
3 Replies
Apr 29, 2010 at 7:09 UTC
If the asset tag is the same I believe bulk_import will update the attributes you provide in the csv.
Apr 29, 2010 at 9:26 UTC
You can also use sql to update your assets. Spiceworks front end is pretty good, but The real power is in being sable to use sql when necessary to modify your assets.
Please mark as HP or BA if appropriate.
May 5, 2010 at 10:21 UTC
thanks for the tips
for both, i have to know the schema... how are the assets identified
wich is the "name" of the workstation f.e.
the best would be also the sql table-definitions within SW
even with login/pw and so on.....
This discussion has been inactive for over a year.
You may get a better answer to your question by starting a new discussion.


text:
Posted by Tony
I left a voice mail and Dale called me back and advised me that we should meet. At at our meeting I asked if "The clock was ticking?" And was told No it was not. I was later billed and paid $2,700.00 for absolutely nothing. No strategy was formulated, no game plan discussed other than how to pay them. He did not respond to my emails and did not keep me informed of any developments.


text:
OverviewA thread is not an object, it's a series of executed instructions zipping thru method calls. Imagine multiple CPUs and each one running code in your program (same data space) at the same time like ants crawling all over a code printout. Java and the operating system take care of making one or a few CPUs handle many threads. Here is the way I think of two threads executing methods foo() and bar():
but in reality on single CPU:
Threads are useful because:
Launching threads
Do Jabber (like log server). Show lines of execution with interleaving.
class Jabber implements Runnable {
String str;
public Jabber(String s) { str = s; }
public void run() { // thread dies when finished
while (true) {
use via:
class JabberTest {
public static void main(String[] args) {
Jabber j = new Jabber("University of San Francisco");
Jabber k = new Jabber("Computer Science 601");
Thread t = new Thread(j);
Thread u = new Thread(k);
Thread control
Computation c = new Computation(34);
Thread t = new Thread(c);
Here is a modified Jabber that forces a yield every 5 prints:
public class Jabber implements Runnable {
String str;
int i = 0;
public Jabber(String s) { str = s; }
public void run() {
while (true) {
if ( i%5==0 ) {
Auto yields when blocked on IO.
Synchronization, Interference
Shared resource example
"critical section": Trains on same track (semaphore term comes from this).
jGuru server pages: JSP share a single page object. Threads were stepping on the dynamic computations and output yielding bizarre stuff like the user name of one page would appear on somebody elses. I elected to have each page ref generate an object. GC can handle this pretty well. Plus I use a cache to avoid unnecessary computation.
Hello <%= u.getName() %>!!!
Race condition example
Bank teller issue; get a student to be other teller. Ask them to look at board where you have $100 in account. Boss goes to other teller, you go to me as teller. Both want to add 5$. Race condition. No matter what, it's wrong value. "test and set" operations must be synchronized. Then note that if you record changes not new value: $100, +5$, +5% then it's ok. No test and set. So, sync reqts depend on what you are doing. Looks like
class Account { float balance = 0.0; public void deposit(float value) { balance = balance + value; } }
Java's thread model based upon monitors: chunks of data accessed only thru set of mutually exclusive accessor routines. We can this an object:
class Data { // ... elements ... public synchronized void insert(Object o) {...} public synchronized void delete(String key) {...} public synchronized void read(String key) {...} }
A synchronized method acquires a lock on the object (not the class).
Protects methods exec not data.
What happens when another thread interrupts and calls deposit? Solution:
class Account { float balance = 0.0; public synchronized void deposit(float value) { balance = balance + value; } }
Like a "force field" around object.
Note: Can lock statements too with synchronized (object) statement.
Note: Class methods can be synchronized also:
class HPLaser { private static Device dev = ...; public static synchronized void print(String s) {...} }
Note: Assignments are atomic minus long and double.
Note: local variables cannot be shared between threads so can't interfere.
Note: wait() (and notify) must happen in a synchronized block; sleep does not. Sleep()/yield() do not release the lock.
Java Memory Model
Jeremy Manson on volatile and java memory model
Synchronization Issues
Jeremy Manson on Double Checked Locking Issues and Double-checked locking:
// Correct multithreaded version
class Foo {
private Helper helper = null;
public synchronized Helper getHelper() {
if (helper == null)
helper = new Helper();
return helper;
// other functions and members...
class Foo {
private volatile Helper helper = null; // MUST be volatile
public Helper getHelper() {
if (helper == null) {
synchronized(this) {
if (helper == null)
helper = new Helper(); // Helper init could happen out of order
return helper;
Thread localsSee TransactionIDs.java, EventMgr.java
See ParallelCompute.java
while ( true ) {
int current = maxCount.get();
int max = Math.max(current, n);
if ( maxCount.compareAndSet(current, max) ) {
See ConcAtomInt.java
See ConcMap.java
Lectures >


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text:
Karl Groom of the British progressive metal band Threshold at De Boerderij in Zoetermeer, last Saturday.
Awesome shot dude! Gosh, what an amazing band Threshold is! My favorite album now is Critical Mass
The colors you caught in these photos are incredible. Well done.
Zeer gave foto
He opened the heavens when he started shredding!!! Unbelievable!


text:
Here's an extraordinary comment from the Telegraph's Con Coughlin, one of the Afghanistan campaign's few remaining cheerleaders:
My confident prediction yesterday that President Barack Obama would fire him was drawn from my personal knowledge of the deep-seated tensions that currently exist between the military professionals who are charged with trying to achieve success in Afghanistan, and their political masters who – in London, as well as Washington – are looking for any excuse to pull the plug and withdraw their troops at the earliest opportunity.
(The tensions are no secret, of course. Many of them were explored in the Rolling Stone article. One interesting tidbit -
Only Hillary Clinton receives good reviews from McChrystal's inner circle. "Hillary had Stan's back during the strategic review," says an adviser. "She said, 'If Stan wants it, give him what he needs.' "
Does McChrystal's removal demonstrate Joe Biden's ascendency over Hills, I wonder.)
If the war were going even remotely according to plan, it's unlikely that politicians would be "looking for any excuse to pull the plug." Coughlin's contemptuous attitude towards non-military priorities was certainly shared by those around the dismissed general, which is why he had to go. This isn't just about strategy, either: it's about constitutionality. President Obama laid great stress in his announcement yesterday on the importance of civilian control of the aremed forces to the US system. In so doing he showed himself the heir not only of Lincoln but of Thomas Jefferson, who first saw the danger that the military establishment can pose to a republic. (Not that it was difficult to spot at the time: its name was Napoleon. Or Caesar.)
The American defence budget is so enormous that any president has to be careful to ensure that the Pentagon's priorities do not by default become the US's priorities. Indeed, it was to a great extent George W Bush's (and our own Mr Tony's) unchecked enthusiasm for uniforms that got us all into this mess.
Coughlin argues that McChrystal's departure will "leave an enormous hole in the Afghan war effort, not least because a few home truths have been spoken about the incompetence with which this U.S. administration is prosecuting a war that is deemed vital to the security of Western interests." Note the passive mood. Not everyone deems it vital. On the other hand, the continued bone-headed insistence in some quarters that it is vital is now a major obstacle in the way of bringing the whole sorry adventure to an end. Whatever incompetence there has been among the political leadership, moreover, is as nothing compared to the delusional thinking among the war's military planners. Rolling Stone again:
Even those closest to McChrystal know that the rising anti-war sentiment at home doesn't begin to reflect how deeply fucked up things are in Afghanistan. "If Americans pulled back and started paying attention to this war, it would become even less popular," a senior adviser to McChrystal says. Such realism, however, doesn't prevent advocates of counterinsurgency from dreaming big: Instead of beginning to withdraw troops next year, as Obama promised, the military hopes to ramp up its counterinsurgency campaign even further.
Coughlin writes that his "concern now is that all those – including the British government – that had invested heavily in the McChrystal doctrine will now use his demise as an excuse to find their own reasons for pulling out." It's my hope. But I suspect this fiasco has a few more years to go yet.


text:
what kind of pill is a yellow and orange capsule with 2666 on itREAD MORE
yllow & orange pill with 2666
The closest thing I could find to your description is gabapentin 300mg. It's the generic of Neurontin, an anti-convulsant that is often used to treat nerve pain. Here's a link to a picture of it so you can see if it's the same thing: Gabapentin 300mg
FROM OUR COMMUNITYYou 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
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Home > Product Categories > Test & Measurement > Video Test Monitors > KIT-PROHD3
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