text:
A fire pump drafts water by sucking it from a reservoir or other body of water. This lets firefighters put out fires in rural areas, far from any hydrant or other piped supply. The main fire pump creates a vacuum; atmospheric pressures forces water from a source through a pipe and out a nozzle. A secondary pump adds extra pressure, forcing out greater quantities of water. When testing a pumps, technicians measure flow experimentally using pilot tubes or flow meters. You can calculate the theoretical flow velocity, however, from hose conditions and the pressure at the nozzle.
Things You'll Need
- Flow-meter
Find the square root of the nozzle's pressure, measured by a flow-meter in pounds per square inch. If water travels through the nozzle at 40 pounds per square inch: √40 = 6.32.
Square the nozzle's diameter, measured in inches. If the nozzle has a 1.5-inch diameter: 1.5² = 2.25.
Multiply together the answers from Step 1 and 2: 6.32 x 2.25 = 14.22.
Multiply the product from Step 3 by 30. The conversion constant "30" relates the units you've used and factors in the density of water. With this example: 14.22 x 30 = 426.6. This answer is the hose's flow velocity, measured in gallons per minute.
Related Searches
- University of Hawaii: Velocity and Discharge
- "Introduction to Fire Pump Operations"; Thomas B. Sturtevant; 2004
- Photo Credit Fire Hose image by Towards Ithaca from Fotolia.com
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text:
|Publication number
|Publication type
|Application number
|Publication date
|Jun 23, 2009
|Filing date
|Sep 25, 2006
|Priority date
|Jun 20, 2000
|Fee status
|Also published as
|Publication number
|Wilhelm K. Wojsznis, Terrence L. Blevins
|Original Assignee
|Fisher-Rosemount Systems, Inc.
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (36), Non-Patent Citations (17), Referenced by (12), Classifications (16), Legal Events (4)
|External Links: USPTO, USPTO Assignment, Espacenet
This application is a continuation of U.S. patent application Ser. No. 10/419,582 filed Apr. 21, 2003 and entitled "State Based Adaptive Feedback Feedforward PID Controller" which is a continuation-in-part of U.S. patent application Ser. No. 09/597,611 filed on Jun. 20, 2000, entitled "Adaptive Feedback/Feedforward PID Controller" and issued as U.S. Pat. No. 6,577,908 on Jun. 10, 2003, the entire specification is of which is hereby explicitly incorporated by reference.
The disclosed method and apparatus generally relates to process control techniques and, more particularly, to an adaptive PID (Proportional, Integral and Derivative) controller that is characterized by parameter values derived from an interpolation of process model parameters.
It is known in the art to use logic-based controller switching strategies to implement adaptive process control in automated systems such as large manufacturing plants and chemical refineries, for example. An exemplary discussion of logic-based switching strategies can be found in, for example, Morse, F. M. Pait, and S. R. Weller's, "Logic-Based Switching Strategies for Self-Adjusting Control, IEEE 33rd Conference on Decision and Control (December 1994). It may be useful to categorize, logic-based controller-switching strategies into one of two approaches, generally identified as a prerouted controller approach and an indentifier-based parameterized controller approach.
Prerouted controller tuning, in principle, evaluates possible controllers contained in a predefined set of possible controllers. The evaluation is complete when a controller is identified that performs satisfactorily. Prerouted controller tuning systems are relatively simple to design and impose few requirements on controller structure. However, the advantages of prerouted controller tuning systems are overshadowed by intrinsically poor performance with respect to tuning time, i.e. an inordinate length of time is required to select the optimal controller from the predefined set.
Identifier-based, parameterized controllers generally consist of two or more parameter-dependent subsystems, an identifier which generates an output estimation error, and an internal controller. In operation, a control signal, based on an estimate of a suitably defined model set, is communicated to a process being controlled. Identifier-based, parameterized controllers embody a controller-switching strategy based on the concept of "cyclic switching." Cyclic switching can be employed with or without providing an additional excitation signal to the process.
A worthwhile discussion of the cyclic switching approach to process control adaptation may be found in K. S. Narendra and J. Balakrishnan's, "Adaptive Control Using Multiple Models," IEEE Transactions on Automatic Control, Vol. 42, No. 2, pp. 177-187 (February 1997). The article discloses a process control system including a controller characterized by a plurality of parameters and N identification models operating in parallel and having model parameters corresponding to the plurality of controller parameters. At any point in time, a single model and corresponding parameterized controller, is selected by a switching rule and the corresponding control input is used to control the process. The identification models may be fixed parameter models or may be adaptive parameter models, depending on the requirements of the process, the needs of the operator and any other appropriate considerations. Fixed parameter model control systems offer a simple and effective means of insuring the existence of at least one model characterized by parameters sufficiently close to those of the unknown process.
Cyclic switching based process control systems using fixed parameter models provide for rapid adaptation speeds, but require the design and storage of a significant number of models within the process controller. It should be noted that fixed models are capable of precisely representing only a finite number of process environments or conditions, and to asymptotically improve process accuracy an adaptive model must be employed.
Practically speaking, model based switching strategies pose a number of problems due to the significant number of models required for a reasonable process approximation. For example, a simple single-input, single-output (SISO) system, including a fixed model based self-tuner can reasonably be expected to include hundreds of fixed models in order to achieve satisfactory process performance. Thus, as systems become more complex, e.g. multivariable systems, the required number of customized, fixed models increases exponentially, thereby increasing the system setup time and system storage requirements. More effective solutions require consideration of the specific process model structure and controller type, and suggest the replacement of a simple switching strategy with more elaborate procedures.
A modified model-based approach for a Dahlin controller has been offered by Gendron in the text, "Improving th e Robustness of Dead-Time Compensators for Plants with Unknown of Varying Delay," Control Systems 90 Conference (Helsinki 1990). The text discloses a simple first-order-plus-dead-time process model for providing process adaptation based on dead time variation. Rather than relying on simple model switching, the controller utilizes a process model based on the weighted sum of a set of models characterized by disparate dead times. Each of the models in the set generates a prediction of the process output, and the corresponding weight is adjusted automatically as a simple function of the prediction error. The basic concept has been extended to include process gain and dead time variation into the Dahlin controller construct.
In general, the prevalent approaches for designing an adaptive PID adaptive controller are, the direct approach, and the indirect, or identifier-based, approach. As discussed above, the identifier-based approach is effective for control systems utilizing switching strategies and provides an appropriate starting place from which to design an adaptive switching PID controller. It is known to provide an identifier-based, adaptive PID controller coupled with a Recursive Least Squares (RLS) estimator that tracks changes in the model parameters. Typical problems associated with recursive identifiers include difficulty selecting initial parameters, insufficient excitation, filtering, parameter wind-up, and sluggish parameter tracking speed. Because of the complexity of these variables and the difficulty associated with calculating accurate estimate, it is well understood in the art that the performance of the known identifier-based, adaptive PID controller may be improved by simplifying the process model.
An exemplary explanation of a simplified identifier based adapative controller is described by Astrom and Hagglund in "Industrial Adaptive Controllers Based on Frequency Response Techniques," Automatica, Vol. 27, No. 4, pp. 599-609 (1991). Generally, the article discloses a controller designed to perform process model adaptation in the frequency domain, and tuning in response to set-point changes and natural disturbances. More specifically, a tuning frequency is selected by applying band-pass filters to the process input and output, the frequency of the filters is defined by the auto-tuner (tuner-on-demand). The auto-tuner defines the ultimate period using a relay oscillation technique, prior to adaptive tuner operation and the process gain for the tuning frequency using a simplified RLS estimator. The auto-tuner has the capability to track changes in a process gain. However, when a change in a dead time or in a time constant is encountered, the point tracked no longer exhibits a-phase, and controller tuning becomes inaccurate.
Further, it is known to improve tuning by applying several tuning frequencies and using an interpolator to define a frequency with phase-. Alternatively, it is possible to apply a single tuning frequency and adjust frequencies after each tuning cycle to track a phase-. Both tuner models accommodate subsequent set-point changes and natural disturbances and may inject external excitations at the controller output or at the set-point input. Although such auto-tuners do not exhibit the size and set-up constraints of the previous technique, they are significantly more complex.
Furthermore, both tuner models utilize primitive adaptive models that recognize only two parameters: Ultimate Gain and Ultimate Period. Tuner models incorporating these simple, two-parameter, adaptive models are suitable for Ziegler-Nichols tuning or some analogous modification, but unsuitable for applications where Internal Model Control (IMC) or Lambda tuning are preferred. While a simple RLS identifier may be used to determine static gain for the feedforward control, the RLS indentifier approach does not provide the process feedforward dynamics required for adequate feedforward control. In addition, because feedforward signals are load disturbances, and perturbation signals cannot be injected into the feedback path, the approach suffers the problem of insufficient excitations.
An alternate solution to feedforward adaptation was disclosed by Bristol and Hansen in U.S. Pat. No. 5,043,863, entitled "Multivariable Adaptive Feedforward Controller". This patent discloses a differential equation based process model designed to include load disturbances. The process model is periodically updated based on measured process data, wherein disturbances are characterized by moment relations and control relations that are achieved by projection methods. In general, the derived solution is very complex and requires significant excitations, much the same as the above-described RLS identifier approach. Moreover, the derived solution is suitable only for feedforward control and is inapplicable to an adaptive controller with feedback.
Accordingly, an adaptive controller is desired to address the shortcomings of the known adaptive control methods discussed above. Specifically, an adaptive controller capable of providing a uniform solution for feedback and feedforward adaptive PID control. Salient objectives addressed by the state based adaptive feedback/feedforward PID controller disclosed below include: shorter adaptation time, minimization of constraints imposed on the use of PID tuning rules, simplicity of design, and attainment of adaptation with reduction in process excitation.
A first embodiment of a state based adaptive PID controller includes a method of adaptively designing a controller in a process control system. According to the method, a set of models for the process is established including a plurality of subsets having a state parameter representative of a disturbance input corresponding to process regions. The subsets may be automatically selected by some pre-defined switching rule. Each of the individual models includes a plurality of parameters, each parameter having a respective value that is selected from a set of predetermined initialization values corresponding to the parameter. Evaluation of the individual models includes a computation of a model-squared error, or norm. The norm is assigned to every parameter represented in the model that is evaluated. As repeated evaluations of models are conducted, an accumulated norm is calculated for each parameter. The accumulated norm is the sum of all norms that have been assigned to the parameter in the course of model evaluations. Subsequently, an adaptive parameter value is calculated for each parameter. The adaptive parameter value is a weighted average of the initialization values assigned to the respective parameters. The controller is then updated in response to the adaptive parameter values.
Another embodiment of the adaptive PID controller includes a system for tuning a process controller. The system may be implemented by either hardware or software, or any desired combination thereof. The system comprises a model set component communicatively coupled to a process and including a state variable defining a plurality of process regions and a plurality of process models grouped into the plurality of process regions. Each of the process models includes a plurality of parameters each having a value selected from a set of predetermined initial values assigned to the respective parameter. Each of the regions includes a set of standard parameter values defined for that region. An error generator is communicatively coupled to the model set component and the process output. The error generator generates a model error signal representative of the difference between the output of the process model and the output of the process. A model evaluation component is communicatively coupled to the error generator for computing a model squared error corresponding to the process model for attributing the model squared rror to parameter values represented in the model. A parameter interpolator is communicatively coupled to the model evaluation component for calculating an adaptive process parameter value for parameters represented in the process model. A controller update component has an input coupled to an output of the parameter interpolator and an output coupled to a controller. The controller update component updates adaptive controller parameter values to the controller upon conclusion of an adaptation cycle. The adaptive controller parameter values are derived from the adaptive process parameter values that are calculated.
Another embodiment of a state based adaptive feedback/feedforward controller includes a model component coupled to a process and having a plurality of process models, wherein each of the models includes by a plurality of parameters having a value selected from a set of predetermined initial values assigned to the respective parameter. A state variable describes the change or measured disturbance of a process variable, defines at least one process region including a subset of the process models, and corresponds to a set of region initial parameters representative of the process region. An error generator generates a model error signal that represents the difference between a model component output signal and a process output signal and a model evaluation component computes a model squared error corresponding to the model and for attributes the model squared error to parameter values represented in the model. A parameter interpolator calculates an adaptive parameter value for at least one of the plurality of parameter values represented in the model and a controller update component updates a controller parameter value within the controller upon conclusion of an adaptation cycle.
It will be understood that, depending on individual process requirements, not all process parameters will be subject to adaptation in a given adaptation cycle. Limited adaptation may be desired when there is reason to believe that only one, or at least not all, the process parameters have changed. For example, empirical evidence may show that in a given time period (e.g. the elapsed time between adaptation cycles) the process Gain parameter may vary while the remaining parameter may remain substantially constant. In this scenario, a process supervisor, described below, may initiate a limited by causing only the process Gain parameter to be adapted. The process controller is then updated in response to the adapted process Gain parameter. The feedback/feedforward controller may also include a method of adaptive controller whereby, as above, a model set is compiled for the process, and each of the models is evaluated by determining a unique model squared error for each model. An adaptive (Gain) parameter value is calculated based on the weighted sum of each of the predetermined initialization parameter values. The initialization values are weighted by Normalized Fitness factors. With an adaptive process (Gain) parameter calculated, the controller is updated accordingly.
The process control system may be conveniently described with reference to an FBC input node 16, of FBC output node 18, a process input node, a process output node 22, a feedforward controller (FFC) input node 24, and an error node 26. In a manner familiar to those skilled in the art, a process set-point signal, SP, is applied to a first input of FBC input node 16, indicated by the numeral 16 a. An output 16 b of FBC input node 16 is coupled to an input 12 a of the PID controller 12. An output 12 b of the PID controller 12 is coupled to a first input 18 a of the FBC output node 18. An output 18 b of the FBC output node 18 is coupled to a first input 20 a of the process input node 20. An output 20 b of the process input node 20 is coupled to a first input 10 a of the process 10. An output 10 b of the process 10 is coupled to an input 22 a of the process output node 22. A first output 22 b of the process output node 22 is fed back to a second input 16 c of FBC input node 16. A second output 22 c of process output node 22 is coupled to a first input 26 a of the error node 26.
The format and layout of the exemplary feedback/feedforward PID process control system described above will be well understood by a person of ordinary skill in the art. The additional functional components illustrated in
In operation, the exemplary adaptive feedback/feedforward PID controller, including the components 28, 30, 34, 36, and 32, operates generally as discussed below. The adaptive feedback/feedforward PID control system is mathematically described by a model in the model set 28. Each individual model in the model set 28 is defined by predetermined parameters intended to replicate, in a limited fashion, the process 10. In general, each of the models within the model set 28 may be defined by a number of parameters, m, and each of the parameters may be assigned a number of values, n. Therefore the total number of models in the model set 28 is equal to N, where N=mn. In an exemplary embodiment of the invention, the models may be characterized by the parameters dead time (DT), time constant (Tc) and Gain. Furthermore, each of the parameters will be assumed to have been assigned one of three values: Dead Time=DT+, DT, DT−; Time Constant=Tc+, Tc, or Tc−; and Gain=Gain+, Gain, and Gain−. Therefore, the total number of models available to mathematically approximate the process 10 is N=33=27. Each of the models will be individually referred to as Modi, where i=I, . . . , 27.
At, or prior to, the initiation of a model evaluation scan, parameter interpolator 32 provides a set of predetermined initialization parameter values to model set component 28. Again, if three parameters, DT, Tc and Gain are assumed, and if each of the parameters has three predetermined initialization parameter values, the parameter interpolator 32 will provide nine parameter values to the model set component 28. Parameter values may be established in any known manner, and at the discretion of the controller design. In general, the parameter values written to the model set 28, at the beginning of an adaptation cycle, are based on the adaptive parameter values computed during the most recent adaptation cycle. In response to the nine parameter values, and under the control of the supervisor 34, the model set component 28 constructs a total of 27 models, Modi, where i=1, . . . , 27. The supervisor 34, during the model evaluation scan, sequentially selects and activates a model Modi, and applies the process input u(t), received via the input 28 b, to the activated model Modi. The resultant output of the activated model Modi is then communicated to the error generator node 26 via the model set output 28 c.
The region defined by the state variable Si includes a plurality of initial parameter values predetermined to characterize the typical operation of the region. The defined region, during the controller design procedure, may be established to insure that the model Modi remains substantially constant throughout the range of the state variable. In operation and prior to beginning an adaptation cycle, when the measured process disturbance changes from a first state (e.g. S1) to a second state (e.g. S2) the parameter values associated with state S1 may be immediately exchanged with the parameter values associated with state S2 thereby increasing the performance of the PID controller 12 and/or the feedforward controller 14 in a particular region.
The initial or typical parameter values defined for each range or state Si may be based on the average parameter values measured or calculated within the range or they may be manually input by a controller designer. The typical parameter values may further be used as a reference value in conjunction with a maximum change or delta value to limit the amount of permissible change experienced by the calculated parameter value in any given adaptation cycle. Stated another way, the controller designer may define a maximum change value to limit the calculated decrease and/or increase of the parameter value in response to an anomalous disturbance signal. Upon completion of the controller with the initial parameters for state Sj, the adaptation cycle may be executed, as shown in block 48. The adaptation cycle 48, as discussed in more detail below, customizes the model Modi by determining adaptive parameter values responsive to the measured change of the process 10.
Another embodiment of the adaptive feedback/feedforward PID controller may include a state variable having a null value that equates to a disabled setting. Typically, the state variable will have a null value when there exists no input disturbance signal, indicative of the state process, to be measured.
Referring again to
The output 30 b of the model evaluator 30 is communicated to the input 32 a of the parameter interpolator 32. The parameter interpolator 32 calculates an adaptive parameter value for parameters represented in the model Modi. The output 32 b of the parameter interpolator 32 is coupled to the model set 28, and the output 32 c of the parameter interpolator 32 may be coupled to the input 36 a of the controller update component 36. The output 36 b is applied to the PID controller 12 and the output 36 c is applied to the feedforward controller 14. The controller update component 36 communicates adaptive parameter values to the PID controller 12 and the feedforward controller 14 at the completion of an adaptation cycle.
The supervisor component 34 has a plurality of signal inputs 34 b, 34 c, 34 d respectively coupled to the process input signal u(t), to the process output signal y(t), and to the disturbance signal d(t). The supervisor component 34 further includes an input 34 a coupled to the output 30 b of the model evaluation component 30. The supervisor 34 includes a first control output 34 e coupled to parameter interpolator component 32, a second control output 34 f coupled to the model evaluation component 30, and a third control output 34 g coupled to the controller update component 36. In addition to performing other functions, the supervisor component 34 operates to detect changes in the process output y(t), changes in the process input u(t) from the PID controller 12, and changes in the disturbance (feedforward) input d(t). When a change in the magnitude of any of these signals y(t), u(t) and d(t) exceeds a predetermined minimum or threshold level, the supervisor 34 initiates the adaptation cycle. The supervisor 34 is communicatively connected to the various elements of the control system 28, 30, 32, 36, 38 and 24, as shown by the dashed lines in
(1) Identify and initiate the model state;
(2) model initiation and adjustment of model output to current process output;
(3) incremental update of model based on specifications in the u(t) and/or d(t) signals and
(4) computation of model squared error or other norms such as the absolute value of the error.
Specifically, the process of adaptation of the feedback/feedforward PID is based on the application of interpolative techniques to model parameter values. In this exemplary embodiment of the device, the model squared error, Ei(t) may be defined, for each model in a scan, by the equation:
E i(t)=(y(t)−Y i(t))2 [Equation 1]
y(t) is the process output at the time t,
Yi(t) is the output of model Modi at time t,
Ei(t) is the squared error attributed to Modi, and
E(t)=[E1(t) , Ei(t), . . . , En(t)] is the squared error vector for Modi, where i=1, . . . , N at time t.
The model squared error Ei(t) is assigned to every parameter value of the model Modi, provided that the parameter value is represented in the evaluated Modi. If a specific parameter value is not represented in the evaluated model, the parameter value may be assigned zero or a null value. Iteratively, the Modi+1 is evaluated, and a model squared error Ei+1(t) is computed for the evaluated model. The computed model squared error is assigned to every parameter value of the Modi. As Ei(t) is calculated during each model evaluation, and assigned to the parameter values represented in the respective models, an accumulated total of assigned model squared errors is maintained for each parameter value. The process evaluation iterates until all models, i=1, . . . N, are evaluated. A complete sequence, where each model Modi is evaluated once, and a corresponding model squared error, Ei(t), is calculated, is referred to as a model scan. As a result of this sequence of evaluations, or model scan, each parameter value has assigned a sum of squared errors from all models in which the specific parameter value has been used. Therefore, as a result of every model scan, each parameter value, pkl, where k=I, . . . , m and I=1, . . . , n will be assigned a Norm:
Epkl(t) is the Norm assigned to the parameter value pkl as a result of scan t,
N is the total number of models, and
Xkl=1 if parameter value pkl is used in the Modi, and Xkl=0, if parameter value pkl is not used in the Modi.
The evaluation process is repeated in the next scan and a Norm Epkl(t) resulting from sum of the squared errors Ei(t) assigned during that scan is combined with the Norm values computed during the prior scan(s). The repeated sequences of model scans is collectively referred to as an adaptation cycle and continues, under control of the supervisor 34, until a predetermined number of scans is completed, or until there has occurred an adequate number of excitations to the process input, whichever condition is satisfied first.
As a result of this procedure, every parameter value pkl has assigned an accumulated value of the Norm determined during an adaptation cycle:
At the end of the adaptation cycle, the inverse of the sum is calculated for every parameter value pkl:
In as much as Fkl is the inverse of the sum of the model squared errors, the variable Fkl may be intuitively seen as a measure of the Fitness of the parameter value. Then, for every parameter pk, there is calculated an adaptive parameter value pk(a) that is a weighted average of all values of this parameter:
p k(a)=p k1 *fk 1+. . . +p kl *fkl+. . . +p kn *fkn, [Equation 5]
sumFK=Fk1+. . . +Fkl+. . . +Fkn [Equation 7]
Accordingly, each factor fkl may be viewed as a corresponding to normalized fitness for the respective parameter value.
The adaptive parameter values, as calculated above, define a new model set, with center parameter values pk(a), k=1, . . . m, and range of parameter values between upper and lower bounds, to be assumed in the design. The range of changes defined as +Δ% to −Δ%, and should be represented by two or more additional parameter values. For example, if the adaptation cycle yields the adaptive parameter value pk(a) then it is necessary to define at least two additional parameters that assume the value pk(a)[1+Δ%], and the value pk (a)[1−Δ%], for the new model evaluation. In other words, each parameter has defined lower and upper bounds for adaptation such that the values pk(a) is limited to the bound value. As soon as a model has been updated, that is, upon completion of an adaptation cycle, controller update takes place based on the updated pk(a), k=1, . . . , m model parameter values. Adaptation may be applied to the entire model or may be limited to the PlD/feedback or feedforward portion of the model, e.g. the portion of the model that relates the output with the inputs when predetermined minimum excitation level are realized. In addition, external excitations may be injected into feedback loop, via the excitation generator 38 operating under the control of the supervisor 34, in situations where inadequate excitation fails are realized within the control system.
Adaptation may further be implemented in a sequential manner, for example, a single parameter value which may be DT can be adapted while the remaining parameter (e.g. Tc and Gain) are held constant. In this manner each parameter can be adapted while hold the remaining parameters, which may or may not have been adapted in previous adaptation cycles, constant. Sequential adaptation methods advantageously provide for faster convergence on the desired an adaptive parameter value pk(a).
The number of switching combinations resulting from the configuration of
The computation requirements may be limited by controlling the sequence in which the parameter values are imparted to the model. For example, a parameter with memory, such as Dead Time, may be imparted before a memoryless parameter, such as Gain. Thus, an exemplary sequence, as illustrated in
After comparing every model output with current process output, a table of the sum of squared errors may be constructed. Upon completion of the adaptation cycle, an adaptive parameter value for every parameter may be calculated, as shown in Table 1.
First-order Plus Dead Time Adaptive Process Model Interpolation
Squared Error
Parameter Value
Inverse SE
Eqs. (1), (2), (3)
Eqs. (6), (7)
Eq. (5)
Tc−, Tc, TC+
Gain−, Gain, Gain+
Once the model adaptation cycle has been completed, and the adaptive parameter values established in accordance with the above Table 1, controller update is affected through the operation of controller update component 36. Essentially, the controller update component 36 maps the newly calculated adaptive process parameter values pk(a) to update values for the parameters that characterize PID controller 12 and/or to feedforward controller 14. For example, the process parameters DT, Tc and Gain may be mapped into controller parameters Reset, Rate and Gain. Because a complete first order plus dead time process model is described, any known tuning rule can be applied, including Lambda or NC tuning. For the feedforward path, the dynamic feedforward controller design equation has been shown to be applicable:
In summary, the adaptive feedback/feedforward controller that has been described above represents a substantial enhancement of auto-tuning techniques in a scalable process control system.
Although the invention has been described with reference to the specific exemplary embodiments intended to instruct and illustrate the invention, the disclosed adaptive feedback/feedforward controller is not limited to those embodiments. Various modifications, improvements and additions may be implemented by those with shall in the art, and such modifications, improvements, and additions will not depart from the scope of the invention, as defined by the appended claims.
For example, as described above, controller adaptation is predicated on statistical interpolation of parameters used to construct a mathematical model of the process under control. Although the process is characterized by three parameters, DT, Tc and Gain, and each of those parameters is assigned three values, the disclosed adaptive feedback/feedforward controller clearly extends to other, and/or a different number of, parameters, each potentially encompassing a different number of assigned values. In addition, the model evaluation and parameter interpolation have been illustrated as individual components identified as the model set 28, the models evaluator 30, the supervisor 34, the parameter interpolator 34, and the controller update 36. Those skilled in the art will understand that the partitioning of individual components is discretionary to those responsible for controller implementation and operation. Similarly, the functions of the disclosed system is susceptible to implementation by either hardware or software, or a combination of the two. Variations of that nature are to be deemed equivalent.
It is recognized that such specific approaches represent but an insubstantial deviation from the embodiments of the invention described above. Consequently, the claims below are properly construed to embrace all modifications, variations and improvements that fall within the true spirit and scope of the invention, as well as substantial equivalents thereof. Accordingly, other embodiments of the invention, though not described with particularly herein, are nonetheless comprehended with the scope of the invention, as defined by the claims below.
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|Optimal auto-tuner for use in a process control network
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|William J. N-O. Boiquaye
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|Method and apparatus for fuzzy logic control with automatic tuning
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|Method for generating control parameters from a response signal of a controlled system and system for adaptive setting of a PID controller
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|Adaptation to unmeasured variables
|Mar 15, 1999
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|Auto-tuning in a distributed process control environment
|Jun 20, 2000
|Jun 10, 2003
|Fisher Rosemount Systems, Inc
|Adaptive feedback/feedforward PID controller
|Jun 11, 2001
|Jun 1, 2004
|The Dow Chemical Company
|Multi-variable matrix process control
|Jun 5, 2001
|Apr 12, 2005
|Pavilion Technologies, Inc.
|Automated method for building a model
|Apr 21, 2003
|Sep 26, 2006
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|State based adaptive feedback feedforward PID controller
|Apr 11, 2003
|Apr 3, 2007
|The Charles Stark Draper Laboratory
|Method and apparatus for analyzing spatial and temporal processes of interaction
|Mar 11, 2002
|Nov 11, 2008
|International Business Machines Corporation
|Method for constructing segmentation-based predictive models
|Dec 20, 2001
|Sep 19, 2002
|Makoto Kano
|Simulation program product, method and system utilizing a plurality of simulation-models
|Mar 10, 2003
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|Automated model building and evaluation for data mining system
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|Method and System for Predicting Personal Preferences
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|Boiquaye William J N O
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|De Persis et al., "Further results on switched control of linear systems with constraints," Proceedings of the 41st IEEE Conference on Decision and Control, Las Vegas, NV, USA, pp. 2810-2815 (2002).
|English language translation of Office Action for corresponding Chinese Application No. 2004100368503.
|Examination Report under Section 18(3) for GB 0408598.1, dated Feb. 14, 2006.
|Hanagud et al., "Artificial Intelligence -Based Model-Adaptive Approach to Flexible Structure Control", American Institute of Aeronautics and Astronautics, Inc., 13(3): 534-544 (1990).
|Hespanha et al., "Overcoming the Limitations of Adaptive Control by Means of Logic-based Switching," Science Direct, 49(1):49-65 (2003).
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|International Search Report for International Application No. PCT/US01/19706, dated Oct. 23, 2001.
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|Liberzon et al., "Stability of Switched Systems: a Lie-algebraic Condition," Systems and Control Letters, 37:117-122 (1999).
|Morse et al., "Applications of Hysteresis Switching in Parameter Adaptive Control," IEEE Transactions on Automatic Control, 37(9):1343-1354 (1992).
|Morse, "A Bound for the Disturbance-to- Tracking-Error Gain of a Supervised Set-Point Control System," Perspectives in Control: Theory and Applications, pp. 23-41, Dorothee Normand-Cyrot (ed.), Spring Verlag (1998).
|Morse, "Control Using Logic-based Switching," Trends in Control: A European Perspective, Alberto Isidori (ed.), Springer Verlag (1995).
|Narendra et al, "Adaptive Control Using Multiple Models," IEEE Transactions on Automatic Control, 42(2):171-187 (1997).
|Pait et al., "A Cyclic Seitching Strategy for Parameter-Adaptive Control," IEEE Transactions on Automatic Control, 39(6):1172-1183 (1994).
|Search Report under Section 17(5) for Application No. 0408598.1, dated Aug. 18, 2004.
|Citing Patent
|Filing date
|Publication date
|Sep 26, 2008
|Oct 11, 2011
|Fisher-Rosemount Systems, Inc.
|Method and apparatus for intelligent control and monitoring in a process control system
|May 19, 2010
|Oct 25, 2011
|Fisher-Rosemount Systems, Inc.
|Analytical server integrated in a process control network
|Jun 22, 2009
|Oct 2, 2012
|Fisher-Rosemount Systems, Inc.
|Continuously scheduled model parameter based adaptive controller
|Oct 28, 2008
|Apr 22, 2014
|Fisher-Rosemount Systems, Inc.
|Process model identification in a process control system
|Oct 31, 2011
|Oct 20, 2015
|Emerson Process Management Power & Water Solutions, Inc.
|Model-based load demand control
|Feb 7, 2011
|Dec 22, 2015
|Emerson Process Management Power & Water Solutions, Inc.
|Dynamic matrix control of steam temperature with prevention of saturated steam entry into superheater
|Aug 16, 2010
|May 10, 2016
|Emerson Process Management Power & Water Solutions, Inc.
|Steam temperature control using dynamic matrix control
|Feb 7, 2011
|Sep 20, 2016
|Emerson Process Management Power & Water Solutions, Inc.
|Dynamic tuning of dynamic matrix control of steam temperature
|Sep 26, 2008
|Apr 30, 2009
|Fisher-Rosemount Systems, Inc.
|Method and apparatus for intelligent control and monitoring in a process control system
|Jun 22, 2009
|Dec 24, 2009
|Fisher-Rosemount Systems, Inc.
|Continuously Scheduled Model Parameter Based Adaptive Controller
|May 19, 2010
|Sep 9, 2010
|Fisher-Rosemount Systems, Inc.
|Analytical server integrated in a process control network
|Oct 14, 2008
|Nov 11, 2010
|Advanced control method for a membrane filtration unit, and device for implementing the method
|U.S. Classification
|700/31, 700/52, 703/2, 700/37
|International Classification
|Cooperative Classification
|European Classification
|May 13, 2009
Owner name: FISHER-ROSEMOUNT SYSTEMS, INC., TEXAS
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:WOJSZNIS, WILHELM K.;BLEVINS, TERRENCE L.;REEL/FRAME:022675/0732
Effective date: 20000619
|Feb 16, 2010
|Certificate of correction
|Dec 26, 2012
|Fee payment
Year of fee payment: 4
|Dec 23, 2016
|Fee payment
Year of fee payment: 8

subset: commoncrawl


text:
When it comes to business, any new application will finally be judged on how asymptomatic it contributes to on a winning streak prosperity and net profit. If you are merchandising commodity or services, online web conferencing can restore your stand row by boosting income and heavy costs. Here are five reasons why this is so:
1. It allows you to meet with more prospective clients
If you have to substantially traveling to a client's office or location, in attendance is solitary so more that you can do within any given term. Let's obverse it, trek is draining and expensive not sole in jargon of the aim reimbursement that you make once you travel, but likewise in the way that your fecundity is put on both juncture you have to multitude up and set out your place of business.
He found his married
Imagination of why you are
you know that in
That blocks gas effort the
He should besides bowman
Extremity held broadcast spreader
Are invited to use this
You can stumble upon with much clients online than you could of all time do by maddening to visit them all definitely. Web conferencing is one of the optimal distance to get this industry through.
2. Online Conferencing allows your prospects to put a external body part near the voice all over the phone
A lot of marketing is done on the telephone, and a few grouping are very rough-and-ready near a ingenuous electronic equipment. If you are competent to supply on the phone, suggest of what you could achieve if your prospects and clients could see you by merely opening their watcher and ingoing a few rodent clicks and keystrokes! People prefer to settlement beside people, instead than anonymous voices. Video conferencing allows you to task your heat and seriousness and will heighten anything merchandising skills you before possess.
Faithful results if you can
Bequeath distant if you
Given away some user
Your buyer - who
Indicative of this work goes
Or focus consequently i grab
Potential hazards of the constituency
3. Conferencing allows you to get equally next to more result makers
Many purchasing decisions ask the input signal of much than one person, and web conferencing allows you to get all the finding makers unneurotic in one group. For example, say John in New York desires you to besides collect beside Lisa in London, you can do so exceedingly smoothly. Instead of trying to arrange a face-to-face meeting, you just have to get all parties in cooperation in a web debate.
Easily in order online conferencing ability that you will be able to cut the clip essential to stop interlinking minutes involving the signal of respective parties.
4. Online conferencing enables you to market more than "add-on" products to your existing clients by openhanded you the aptitude to be in a school assembly beside them at any example and in transactions.
The more than event you pass with any prospect, the more than opportunity you have to tallness your rapport and to portray in item what you have to submit. Someone who contacts you for a unsophisticated service, upon acquiring to cognize you well online, will probably go on to acquisition your other offerings. If that potentiality is fixed to a short and sweet car phone call, the chances of commerce them thing other is far little than it is with them sighted you.
5. Web conferencing allows you to grant finer after-sales service
Customers are not single fascinated in what you are commerce today, but on what benevolent of provision you will be competent to propose them day. Web conferencing opens up grave service opportunities. For example, your technicians can "visit" your clients online. Some conferencing applications even allow a somebody in one business establishment to remotely "take over" and operate a machine in other business office.
When your prospective clients and regulars know that you have the capableness to hang around in touch next to them and comfort them online, they will have one more plea to want to buy from you.
Once you try your foot at it, you will probably be able to add a few more points to this detail by making new ways to promote income with online web and visual communication conferencing.


text:
Butterick 6119; ca. 1978; Marie Osmond - Misses' Dress and Belt. Very loose-fitting dress six inches below mid-knee with front and back gathered into shaped neckline band has front neckline slit, thread loop and button closing and full-length sleeves elasticized at wrists or three-quarter length sleeves with turn back cuffs. Self tie belt or purchased belt.
Links to reviews/blog posts Edit
Sources/Vendors Edit
Gallery Edit
[insert your photos of this pattern made up]
Wishlist Edit
[insert your username, and make sure your preferences allow for people to contact you via e-mail. Do not list your email address here!]


text:
(Fan created content. Distinct from hoaxes and parodies)
Finding Lost - Season Five: The Unofficial Guide is an unofficial fan companion book by Toronto writer Nikki Stafford.
Publisher's summary
"The preeminent source for Lost fans, this fourth volume of the popular companion series finds the show having regained both audience fervor and critical praise as the rescued "Oceanic 6" decide whether or not to return to the island for those left behind. Featuring the most comprehensive episode guide available as well as many never-before-seen photos, this resource is invaluable for all followers of Lost, whether casual viewers or hard-core theorists. With an analysis of how John Locke could become the mysterious Jeremy Bentham, the in-depth handbook also includes background information on the show's historical, philosophical, religious, and literary references, such as those alluding to James Joyce's Ulysses and Stephen King's The Stand."
"Nikki Stafford is the author of several companion television guides, including guides to Buffy the Vampire Slayer, Angel, and Alias. She lives in Toronto."
- The book is 224 pages long.


text:
$ 49.99 $ 46.99 + Free Shipping & Gift!
The classic cyclops pipe by Chameleon Glass now glows in the dark! The bowl of the pipe features a huge eye that glows after being charged. Turn off the lights and surprise your friends with this amazing piece. Made of high quality borosilicate glass by Chameleon Glass.


text:
Wednesday, May 12, 2010
It's Giveaways 4 Mommy's Birthday! #giveaway
Giveaways 4 Mommy is a turning a year older! And to celebrate, she is giving away a $25 gift certificate to ANYWHERE YOU WANT, as long as it can be purchased online (she must live in the sticks like me!). All you have to do is be a blogger and give some love to your fellow bloggers. Easy!
Check out the giveaway here: http://giveaways4mommy.com/?p=3776
And while you're there, check out all of the giveaways going on! And check out the other bloggers who've entered, and give them some bloggy love too!
Posted by Cori Westphal at 11:26 AM 1 comments Links to this post
Thursday, May 6, 2010
Win a Plantronics Discovery 975 Bluetooth headset at 5 Vinez Monkeys!
Want the ability to multi-task just a little easier? Well, we can't give you super powers. But you could win a Plantronics Discovery 975 Bluetooth headset and feel like a super hero while you get things done. Angie at 5 Vinez Monkeys is giving away a Plantronics Discovery 975 Bluetooth headset with a rechargeable case that extends talk time to over 15 hours to one lucky winner! To find out more and enter to win this awesome prize, just stop by before 11:59pm ET on May 9th. Don't miss out!
Posted by Cori Westphal at 10:01 PM 0 comments Links to this post
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text: I seem to have thousands of SEO violations according to bings webkit, so I'm trying to work through them, mostly alt tags missing and basic kinda stuff, shouldn't be an issue to sort out, but some are annoying and I'm unsure about them. I have links from the homepage to threads (in the latest thread column) pointing to /posts/654654646 rather than /thread/something.5546546 (for example) and bing doesn't seem to like this. Can I change that to point to the thread at all?


text:
Too many clients (and agencies in some instances) are still focused on setting KPIs for campaigns against the tactics that we use, as opposed to the results that we're trying to drive.
I was at the Performance Marketing Insights Europe conference last week on a panel, talking about the future of Digital PR. I discussed this particular point and how it applies to both PR and SEO (and probably lots of other industries or sectors). We need to stop focusing on the outputs and focus on the outcomes that we want to drive.
Setting KPIs for the number of pieces of coverage we get, the number of links we drive or, say, the amount of social shares we get or specific rankings are meaningless. The coverage, links and rankings in themselves are not the results we're looking for. What we want is to ultimately increase brand awareness, traffic to the website, conversion and sales. These are the things that actually make a difference to the bottom line and business objectives. You could get all the coverage or links in the world, but if nobody sees it or takes action as a result of it, then it's not going to make an impact. Likewise, obsessing over ranking for a particular keyword is pointless if it doesn't drive any traffic or it drives traffic that doesn't convert.
This is actually covered in the Barcelona Principles from a PR point of view, which are:
- Importance of Goal Setting and Measurement
- Measuring the Effect on Outcomes is Preferred to Measuring Outputs
- The Effect on Business Results Can and Should Be Measured Where Possible
- Media Measurement Requires Quantity and Quality
- AVEs are not the Value of Public Relations
- Social Media Can and Should be Measured
- Transparency and Replicability are Paramount to Sound Measurement
This covers two of my key points – measure outcomes, not outputs and look at the effect on business results, not tactics. That's been out there since 2010 and yet, five years on, it's still being ignored. You can read more about the principles on the AMEC site.
From a PR campaign point of view, we should be focused on reaching our intended audience through whichever are the most appropriate mediums or publications, not on securing a certain number of pieces of coverage. From an SEO campaign point of view, we should look at driving more of the right kind of converting traffic, not on links or specific keyword rankings.


text:
While the Kansas City Chiefs can always still trade Branden Albert, it seems unlikely.
The Chiefs and the Miami Dolphins talked about a potential trade for weeks. The targeted compensation was a second-round pick. With the NFL draft headed to the fourth round Saturday, it seems a deal won't happen unless the two teams get creative -- even though the Dolphins still need a left tackle and the Chiefs would still trade Albert. But Friday night, Miami general manager Jeff Ireland admitted that the trade talks are likely dead.
Kansas City general manager John Dorsey said late Friday night that he will talk to Ireland on Saturday. But he also indicated he is fine keeping Albert.
"No I don't think you could say that," Dorsey told reporters in Kansas City. "All along we have considered Branden a really good football player. What did we do? We laid a franchise tag on him. That doesn't mean that we cannot begin conversation with his representative down the road. He's a winning football player, that's what he is."
It isn't terrible news for the Chiefs if Albert isn't dealt.
They will be better in 2013 with Albert than without him. He will play left tackle and No. 1 overall pick Eric Fisher will play right tackle. Left tackle is Fisher's natural position, but he can play right tackle, and those two as bookends will be the makings of a nice offensive line.
If Albert leaves via free agency after the 2013 season, the Chiefs will simply slide Fisher over. Yes, it is pricy to have Albert at $9.7 million this season, but that money is already spent and it didn't hurt the Chiefs in free agency, when they added several nice pieces.
The one potential negative is Albert's attitude. He wants a long-term deal; if he doesn't get one, he might pout. But he will deal with it. He has kept away from voluntary workouts, but said he will be with the team when the mandatory sessions start.
Albert has not been a problem player, and he realizes he needs to have a good season in 2013 to either get a long-term deal for the Chiefs or elsewhere next year.
So while the Chiefs were interested in getting some clarity, they will happily play this year with Albert.


text:
Minutemen miss on chance to top Owls
AMHERST — The shifting loyalties of intercollegiate sports has claimed the life of a defining rivalry.
Temple had the last word in its final Atlantic 10 regular-season clash against UMass with a thrilling 83-82 victory before a boisterous 7,348 last night at the Mullins Center.
The Owls (17-8, 6-5) and Minutemen (16-8, 6-6) could meet in the A-10 tournament, but the rivalry that shaped the league throughout the 1990s and into the new millennium is essentially over. Temple will begin play in the Big East next season.
Minutemen coach Derek Kellogg was UMass' point guard in the early 1990s when the rivalry between UMass coach John Calipari and Temple's John Chaney and their teams had national implications. Temple won the first 21 games and owns a 44-21 advantage.
"I guess that is probably what's expected out of the last conference UMass-Temple game," said Kellogg. "I guess that was a thriller that competes with some we've had over the years.
"The fans are the ones who have been here since the '90s and they really appreciate the rivalry. But as times change, new rivalries are starting to unfold. We are going to have to move on and try and find somebody else to have one-point games with."
UMass shooting guard Freddie Riley, who led the Minutemen with 17 points, made his fifth trey to cut the Owls lead to 83-82 with 1:08 to play.
UMass' Chaz Williams stole the ball with 1:02 to play, but Riley's subsequent long toss hit the front of the rim. The Minutemen made a stop at the other end with 30 seconds left.
UMass had momentum, the ball and ample timeouts to figure out a game-winning strategy. Williams burned 13 seconds before calling timeout with 17 ticks left.
UMass had to call a second timeout when forward Terrell Vinson had trouble on the inbounds pass. Williams took the second inbounds and looked for a ball screen to dribble penetrate. The ball came loose and bounced around the floor during a chaotic scramble that consumed the final seconds off the clock. Temple is 3-2 in five straight games decided by one point.
"I think it was obvious we were going to run a ball screen for Chaz one way or another," said Kellogg. "The ball kind of bounced around for a while and Freddie got it to the middle of the paint but it was a pinball for the rest of the time."
UMass shot 47 percent from the floor with eight treys, 42 rebounds, 23 assists and eight turnovers. Those numbers would have vanquished most A-10 opponents. Temple shot 48.4 percent from the floor with 12 treys, 35 rebounds, 21 assists and eight turnovers.
The game featured 16 leads changes and 12 ties. Williams contributed 16 points with 13 assists while forwards Maxie Esho and Cady Lalanne combined for 25 points.
Temple shooting guard Khalif Wyatt's sweet stroke from downtown was the difference-maker. Wyatt scored 24 to lead five Temple players in double figures. Wyatt made 6-of-11 treys, four of which fell during a 21-12 Temple run in the second half.
"He made the shots," said Kellogg. "He was firing balls that looked like they were going to hit the top of the Mullins that went in."


text:
Ok. One more reality tv story. But that's all for tonight, you hear?
In the interest of full disclosure, I figured that if I'm writing about other people's brushes with reality tv, it'd only be fair to share my own experience.
A few months ago, I got an email that Fox was casting a reality show and was looking for young lawyers. And, yes, I went on an audition.
What was I thinking? I guess I thought it might be fun. I like reality tv, and when I'm watching it I often wonder about the audition process. Where do they get these people? And what do they tell them?
At the time that I got the audition appointment, I had no idea what the concept of the show was supposed to be.
Actually - it was kind of funny. My boyfriend was waiting for me when I came out of the audition.
"How'd it go?"
"Well, it was kind of good. I don't know. At first, they wanted to take some pictures, and they wanted me to take off my jacket."
"Ok, and then what?"
"Yeah, then they wanted me to take off my shirt. I figured, you know, it's Fox."
"WHAT?" He freaked out until I had to tell him, calm down, none of that happened.
Anyway, I found out later that the concept of the show was to pit ivy league lawyers against public interest and public school lawyers in different competitions with the ultimate reward being some big firm job, sort of like The Apprentice for the legal field.
Eh, I had no interest in that. First, I'm somewhat competitive, but I've never seen the point in competing in hypothetical situations like mock trial. My time is much better put to use helping actual people. Second, what kind of reward is a big firm job? Sounds more like a punishment to me.
I noticed that the emails searching for lawyers continued for months and figured they were having a hard time casting the show.
Finally, I guess the show morphed into a spoof of the original The Apprentice concept, because the same production company - Rocket Science Laboratories - is now responsible for My Big Fat Obnoxious Boss.
I caught the first episode last night, and it was pretty entertaining - but definitely not something I'd want to be associated with. The contestants are ivy league types being put through humiliating tasks for the ultimate prize of a position with an (imaginary) company. There's a scene from a future episode where the contestants are being hit with paintballs at a desk in a field while trying to fax a document.
"Paper Jam! Paper Jam!" they're yelling. Priceless.


text:
Who was Jack the Ripper?
Learning Intentions:
B: Identify 4 suspects.
S: Explain why each was a suspect.
G: Compare suspects and make a judgement on which you think was Jack the Ripper.
P: Evaluate how far each could have been Jack.
Use your iPad to can the crime scene.
Can you identify the 4 suspects?
Crime Scene Investigation
B: Scan the crime scene using aurasma and tap the clues to identify suspects.
S: Read the information to find out why each is a suspect.
G: Assess how far each suspect had the means, motive and opportunity for the murders.
P: Add a statement to show how far you think each suspect could have been responsible.
Success Criteria:
Suspect Line-up:
William Witney Gull
Walter Sickert
James Maybrick
Aaron Kosminski
Who was Jack the Ripper?
Lesson Aim: To assess 4 suspects in the case of Jack the Ripper.
Pick the suspect who you think was most likely to be Jack the Ripper and
research them further
, finding out more about their background, history and the reason why they might have been the Ripper.
(Resources for those who need help with research)
Learning Intentions:
B: Add descriptions of the victims to your investigation sheet.
S: Explain how each victim was killed using the accounts of the murders.
G: Highlight common features that describe the suspect.
P: Make a judgement on what sort of a person we are looking for.
Lesson Aim: To analyse the Ripper murders and identify criteria for suspects.
Task: Write a character profile for the suspect.
Are they male or female?
What do they look like?
Do they have any peculiar features?
Who was Jack the Ripper?
Learning Intentions:
B: Annotate each extract with the name of who they think was the Ripper.
S: Highlight and annotate the explanation for why they were the Ripper.
G: Annotate the extract with what you agree and disagree with, based on your historical knowledge.
P: Add to the opinion line, how far you agree with each extract.
Lesson Aim: To assess who historians think was Jack the Ripper.
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Who was Jack the Ripper?
Y9 - KS3 History
David Rawlingson 13 April 2016
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text:
Let us know when your receive great advice so we can thank our lawyers and point others with similar questions in the right direction.Got it!
If a guy comes to my house to sell drugs, and then he robs me, can I be charged for buying the drugs even though I called the police.. I didn't tell the police I was buying drugs, I said I was buying a boat, and when I pulled out my money the guy robbed me
Remember to ask questions in hypotheticals. You should not make admissions in a public forum. Generally speaking, yes, a victim of a crime may be charged with another crime that was discovered by law enforcement while investigating the first crime. Whether you can be charged in your specific case depends on the specific facts. Generally, your admission to a crime without any other evidence does not result in a conviction. You should speak to an attorney about the specifics of your case. The prosecution will still likely prosecute the case in which you are a victim, even thouth you may have been committing another crime. Whether the jury hears about your other crime will also depend on the spefics of your case. Good luck.Ask a similar question
If they have evidence to support a drug charge against you, they can charge it. They can charge you even if they are also charging the person who robbed you with a crime. You should consult with a criminal defense attorney to assist you through this process. There things an attorney can help you with to limit the damage against you as much as possible.Ask a similar question
Post a free question on our public forum.Ask a Question
- or -
Search for lawyers by reviews and ratings.Find a Lawyer


text:
Become the business professional you know you can be.
Lerner offers 13 in-demand majors, three of which are among the 25 most popular majors at UD. Hands-on opportunities and innovative programs prepare you for a rewarding career in the ever-changing global marketplace. And all of our programs feature the excellent instruction and personal involvement of our award-winning, published and tenured faculty.
Accounting (B.S.)
Gain the skills you need to tell the financial stories of businesses by recording, analyzing and communicating financial information.Learn More
Economics (B.A. and B.S.)
Place yourself at the juncture of social science, business and social policy. Economics helps explain the behavior of individuals, groups and organizations.Learn More
Economics Education (B.A.)
The economics education major, offered by Lerner and the College of Arts and Sciences, prepares you to teach economics to secondary school students.Learn More
Entrepreneurship and Technology Innovation (B.S.)
Learn to launch a startup, foster innovation in an established company or develop sustainable solutions to important societal problems.Learn More
Finance (B.S.)
With a career in finance, you'll help make the best decisions about raising and using resources under risk, whether you work for a bank or other financial intermediary, a consulting firm, a public or private corporation, a governmental organization or a not-for-profit.Learn More
Financial Planning and Wealth Management (B.S.)
As many employees are now tasked with managing their own money both before and after retirement, a growing number of families and retirees need financial planners to help them to make important financial decisions.Learn More
Hotel, Restaurant and Institutional Management (B.S.)
The hospitality industry is one of the world's largest employers, offering outstanding employment options around the globe, whether you're interested in hotel, food service or other hospitality operations.Learn More
Hospitality Industry Management (HSIM) (B.S.)
As a hospitality business management (HSIM) student, you will learn the skills you need to help make excellent and informed decisions within the hospitality industry.Learn More
International Business Studies (B.S.)
The international business studies (IBS) major is designed to prepare you to live and conduct business effectively around the world.Learn More
Management (B.S.)
The management major will help you become a business leader who works with others to effectively create and implement ideas.Learn More
Marketing (B.S.)
As a marketing major, you will learn to identify wants and needs among diverse groups of people, select target markets and develop strategies for new and existing products.Learn More
Management Information Systems (MIS) (B.S.)
As a management information systems (MIS) major, you will learn to use information technology to solve business problems and find creative competitive advantages.Learn More
Operations Management (B.S.)
As an operations management major, you'll learn about the processes that companies use to transform resources into goods and services.Learn More
Sport Management (B.S.)
As a sport management major, you'll take courses that are specific to the sport management discipline, as well as essential business courses that will help you to develop quantitative analysis skills and an understanding of essential business concepts.Learn More


text:
Claire Messud's new novel, The Burning Girl, feels somehow different from anything she's done before...
Condition: Standard
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Keeping track of your money is so important these days. With this plain-English guide, you'll find out how to use Quicken to monitor your income and expenses, pay your bills, pay your taxes, and plan for the future. Whether you're new to Quicken or upgrading from a previous version, this book makes it easy!
Open the book and find:
Learn to:
In this newest edition of his perennial favorite guide, financial expert and bestselling author Stephen Nelson shows how taking control of your finances can be quick and effortless with Quicken, the number one personal finance software on the market. Providing you with a thorough introduction to all the latest features and enhancements to the newest version, Nelson shows you how to use the program to track your income and expenses, maximize savings, pay your bills, manage your investments, and balance your checkbook.
Whether you're a first-time Quicken customer or looking to take advantage of the updates the latest release has to offer, this guide offers a straightforward-but-fun approach to help you prepare for tax time, balance your budget, build a nest egg, track your investments, and more.
Quicken "X" For Dummies will help you take control of your dough, whether you?re a seasoned penny pincher or just starting to save!
Part I: Zen, Quicken, and the Big Picture 7
Chapter 1: Setting Up Shop 9
Chapter 2: Introduction to the Big Picture 23
Chapter 3: Maximum Fun, Maximum Profits 47
Part II: The Absolute Basics 59
Chapter 4: Checkbook on a Computer 61
Chapter 5: Printing 101 89
Chapter 6: Online and In Charge 101
Chapter 7: Reports, Charts, and Other Cool Tools 109
Chapter 8: A Matter of Balance 129
Chapter 9: Housekeeping for Quicken 141
Chapter 10: Compound Interest Magic and Other Mysteries 157
Part III: Home Finances 179
Chapter 11: Credit Cards, Petty Cash, and PayPal 181
Chapter 12: Other People's Money 203
Chapter 13: Tracking Tax-Deferred Investments 227
Chapter 14: Stocks and Bonds 251
Part IV: Very Serious Business 269
Chapter 15: Mind Your Business 271
Chapter 16: Managing Rentals 295
Part V: The Part of Tens 303
Chapter 17: (Slightly More Than) Ten Questions I'm Frequently Asked
about Quicken 305
Chapter 18: (Almost) Ten Tips on How Not to Become a Millionaire 315
Chapter 19: (Almost) Ten Troubleshooting Tips 325
Part VI: Appendixes 329
Appendix A: Quick-and-Dirty Windows 7 331
Appendix B: Glossary of Business, Financial, and Computer Terms 347
Index 355


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Apple's latest offering serves as a virtual wallet for savvy customers.
Register before Feb. 1, 2013, to take up OpenTable's offer.
Customers access social networks through mobile devices, so learn how you can better reach them there.
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Learn what steps to take to make sure iPhone users can discover your business on Apple Maps.
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Hospitality Businesses For Sale in Weigelstown PA
Searched the DealStream database for Hospitality Businesses For Sale in Weigelstown PA and found no matches. Expanded the search to nearby areas and found the following matches.
Pizza Franchise 2 Prime Locations/ Absentee Ready #472186 posted Jul 18, 2017
- Washington, Washington, D.C., United States
- Available On Request
Incredible opportunity to purchase an established New York Style Pizza Franchise with two locations. One is in Maryland just south of Baltimore near Arundel Mills Mall & BWI Airport and the other in a trendy and affluent part of Washington, DC. The business offers New York Style Pizza which is one size...
Pizza Franchise w/ High Cash Flow/ Absentee Ready #472185 posted Jul 18, 2017
- Washington, Washington, D.C., United States
- $360,000
Incredible opportunity to purchase an established New York Style Pizza Franchise in a trendy, affluent, and growing part of Washington, DC that continues to see growth. The business offers New York Style Pizza which is one size only, calzones, pastas, salads, chicken wings, garlic knots and many other...
Pizza Franchise w/ High Cash Flow! Absentee Ready #472074 posted Jul 14, 2017
- Hanover, Maryland, United States
- $370,000
Incredible opportunity to purchase an established New York Style Pizza Franchise in a growing part of Maryland just south of Baltimore near Arundel Mills Mall & BWI Airport! The business offers New York Style Pizza which is one size only, calzones, pastas, salads, chicken wings, garlic knots and many...
Franchise Ice Cream Store #471948 posted Jul 13, 2017
- Baltimore, Maryland, United States
- $97,500
A sweet deal, as Everybody Loves Ice Cream. A rare opportunity to own a profitable, well established franchised ice cream and novelty store in the greater Baltimore area. Since 2008, the store has been providing a wide array of flavorful ice-cream, and premium ice-cream cakes, for guests of all...
Absentee Owner - Indian Restaurant #471061 posted Jun 26, 2017
- Ashburn, Virginia, United States
- $250,000
Well Established Indian Restaurant in the heart of Ashburn and very well approachable from Fairfax and Loudoun County. Very loyal customer base and very lucrative turn key opportunity generating a strong income to the new owner with possibilities to increase income more. Very well documented recipes...
Profitable Corporate Catering #469527 posted Jun 2, 2017
- Bala-Cynwyd, Pennsylvania, United States
- $1,750,000
Corporate Catering Company for sale with established pizza business. The catering business was established 12 years ago and the pizza shop in 1960, the same owner has owned this business for over 38 years. Catering is breakfast and lunch, Monday - Friday, great online presence and reviews. the pizzeria...
Premium Frozen Dessert Franchise Available #466943 posted Apr 20, 2017
- Westminster, Maryland, United States
- $299,000
Premium Frozen Dessert Franchise Available in Prime Location. Exciting opportunity to own a well-established, highly rated premium frozen yogurt franchise in a desirable location. Ice cream, shakes, and premium yogurt shop with high visibility with easy commuter access located in an affluent community...
Well Established Successful Restaurant #463592 posted Feb 27, 2017
- Falls Church, Virginia, United States
- $1,200,000
What makes the opportunity to purchase this special restaurant in Falls Church a good investment option for someone in the restaurant industry? This family business is not only an institution but also a pillar of the community. A potential buyer would be acquiring a restaurant with an excellent reputation...
Well Known Coffeehouse/Cafe in Prime DC Location #458529 posted Nov 26, 2016
- Washington, Washington, D.C., United States
- $365,500
Great opportunity to step into success and own an established Coffeehouse that has a soul of its own in Washington, DC, located in close proximity to Dupont Circle, Georgetown, and Embassy Row. They serve a variety of espresso, coffee, loose gourmet teas, iced and blended drinks, smoothies, beer and...
Turnkey Pizzeria For Sale/Lease #390167 posted Sep 18, 2015
- Allentown, Pennsylvania, United States
- $95,000
2,250 SF endcap Pizzeria and Italian Restaurant available for sale or lease! Sale includes leasehold interest and all furnishings, fixtures and equipment. New operator could sublease or explore assignment of remaining 7 years of lease term. Restaurant was built out & FF&E were installed in 2012....
Pizza Franchise, Great Location and Cheap Rent #386873 posted Jul 31, 2015
- Fairfax, Virginia, United States
- $95,000
Established Pizza Business. Low rent in one of the fastest growing retail and residential communities in Fairfax County. Near Dunn Loring Metro Station, Mosaic District and new high density, residential, retail and 10 million sq. ft. of office space, with hungry office workers and millennials. 5 yrs...
Top 10 Ranked, Profitable, Growing Bakery & Café #364431 posted Sep 3, 2014
- Fairfax, Virginia, United States
- $875,000
Great opportunity to own an extremely profitable, growing, popular, well known Bakery & Café Franchise in one of the wealthiest counties in the Nation! This franchise location is among the top 10 of nearly 250 franchise units in the system and has won awards 3 years in a row! This location has been...
Mediteranean Restaurant #223473 posted Jan 26, 2011
- Reston, Virginia, United States
- $95,000
Business has Beer, Wine, and Liquor license, it is open only 6 days/week, in a few month Metro will be coming soon. This beautiful restaurant is busy at lunch deriving business from all the office buildings surrounding it, and at dinner from residences. The business is perfect for a working family...
Did you know that social networking is a great way to buy a business? Sign up now and we'll show you how.


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None of you probably know but I recently started brainstorming a fanon about the Water Avatar After Korra. Sadly that is over and if you knew please know that that fanon is off.
The Real Purpose of This blog post now is to see if Anyone has a fanon they want to Co-Write or maybe would like to Co-write my idea Fanon called BattleScars. This one is a big blend of Genres but it boils down to three: War, Adventure, and Drama. So I've now got time on my hands due to the previous Fanon of mine duing a belly flop. So if you are Interested, Message me or Query me on IRC. Comments are also a way to get ahold of me. But on this Blog post Alone.
This is Count the stars - Shao 17:58, August 25, 2012 (UTC) Signing off


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Texas Instruments announced their DRV2605 haptic driver. The TI DRV2605 makes it easy to add realistic tactile feedback effects to consumer and industrial products. The device's smart loop architecture delivers the high performance consumer designers need to employ haptics in their products. The DRV2605 is available now in a 9-ball, 1.5mm by 1.5mm by 0.6mm WCSP package. It has a suggested retail price of $1.60 in 1,000-unit quantities. The DRV2605 is ideal for smartphones, tablets, ebooks, refrigerators, microwave ovens and washing machines.
According to TI, the DRV2605 is the only eccentric rotating mass actuator (ERM) and linear resonant actuator (LRA) haptic driver pre-loaded with a library of 123 distinct haptic effects designed and licensed by Immersion, which is a developer and licensor of touch feedback technology.
The DRV2605 haptic driver's smart loop architecture reduces startup and braking time by half, delivers twice the vibration strength, and consumes 50% less power to extend battery life, compared to competitive solutions.
TI DRV2605 Haptic Driver Features
- Flexible Haptic/Vibra Driver LRA (Linear Resonance Actuator)
- ERM (Eccentric Rotating Mass)
- I2C Controlled Digital Playback Engine Royalty-Free Integrated Immersion Library
- Real-Time Playback Mode via I2C
- Smart Loop Architecture(1) Automatic Overdrive/Braking (ERM/LRA)
- Automatic Resonance Tracking (LRA)
- Automatic Actuator Diagnostic (ERM/LRA)
- Automatic Level Calibration (ERM/LRA)
- Audio To Haptics Mode
- Optional PWM Input with 0% to 100% Duty Cycle Control Range
- Optional Analog Input Control
- Optional Hardware Trigger Pin
- Efficient Output Drive
- Fast Start Up Time
- Constant Acceleration Over Supply Voltage
- 1.8 V Compatible, VDD Tolerant Digital Pins
- Available in a 9-Ball, 0.5 mm Pitch WCSP
More info: Texas Instruments DRV2605 Haptic Driver (pdf)


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Raees is an up and coming 2016 Indian wrongdoing thriller film coordinated by Rahul Dholakia and delivered by Farhan Akhtar,Ritesh Sidhwani and Gauri Khan. Set in 1980s Gujarat, it demonstrates the tale of a remorseless and smart peddler (played by Shah Rukh Khan) whose business is exceedingly tested and in the end frustrated by an intense cop Ghulam Patel (played by Nawazuddin Siddiqui). The film condemns the disallowance of liquor, prostitution and unlawful medications in Gujarat.
Shah Rukh Khan has been chasing for a decent date for the arrival of Raees. He doesn't wish to conflict with Salman Khan-starrer Sultan on Eid. Clearly, he needs to go ahead a celebration/occasion date since that implies greater accumulations in the cinematic world. Tragically, those dates are reserved ahead of time, so this time, it would seem that a conflict is unavoidable.


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City increase Miller bid
By Steve Luckings
Last Updated: 01/01/70 1:00am
The Scotland Under-21 star has been in talks with last season's LDV Vans Trophy winners on Tuesday and is expected to return home to discuss the matter with Falkirk chairman Campbell Christie.
Chief executive for the West Country side, Colin Sextone, told the club's official website: "Having spoken to Lee I am optimistic he will be joining us, but the deal is not done yet.
"We have made a fresh bid, which has altered the dates for payment as much as anything, to make it more attractive to Falkirk.
"Lee seemed very happy with his visit to Ashton Gate and his agent also appears keen for him to sign here.
"But the Falkirk chairman wants to speak to Lee personally to make sure he wants to come before finally giving us a decision on our offer."
Although City have yet to reveal the exact amount of the bid, the Scottish outfit have already confirmed rejected bids of £200,000 from a Nationwide club, possibly Wigan Athletic, and a £300,000 bid from Aberdeen so any offer will have to top the two.


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Yet another question, this time regarding skill points.
Noir. and Noir Academy are recruiting apply at www.noirmercs.com I Noir Academy: 60 days old must be able to fly at least one tech II frigate. I Noir. Recruits: 4:1 k/d ratio and can fly tech II cruisers.
Personal channel: Crazy Dutch Guy
Help channel: Help chat - Reloaded
Public roams channels: RvB Ganked / Redemption Road / Spectre Fleet / Bombers bar / The Content Club
Highsec isn't "Safe". Neither is it a playground for bullies and bottomfeeders.
So stop complaining and start playing the game already.


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This elderly patriarch's image is certainly striking, with his stern face and a gray beard that flows over his chest, contrasting with the colorful clothing typical of his flock and his unique line of work.Just before Christmas, he raised eyebrows with a blunt statement on one of today's most controversial issues.No, this wasn't the Duck Commander in Louisiana. This patriarch resides in the city his followers formally refer to as Constantinople-New Rome."The Lord appointed the … [Read more...]
Duck! Elderly patriarchs discussing doctrine!
January 13, 2014 by tmatt
Filed Under: Catholics, evangelicals, family life, Godbeat, Orthodox, sex, Social issues, World, World religions Tagged With: A&E Network, Duck Dynasty, Ecumenical Patriarch, Phil Robertson, Pope Francis


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Ahura Paints
Address: G-6 Shalimar Indl Estate, Matunga, Mumbai, Maharashtra, 400019
Phone number: 022 - 24090626Post A Recommendation Bookmark this Business Claim this Business
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Raúl Castro has been reelected as Cuba's president in what is expected to be his last official five-year term.
According to state media, the National Assembly of People's Power approved Castro as president Sunday along with 52-year-old Miguel Díaz-Canel Bermúdez as his first vice president.
Earlier in the day, retired Cuban leader Fidel Castro made a rare public appearance at the opening session of the National Assembly in Havana. Assembly members gave Castro a standing ovation.
President Castro, who replaced his ailing brother Fidel in 2008, has called for two five-year terms for Communist Party and government leaders. The 81-year-old president raised speculation Friday about a possible retirement, suggesting that he had plans to resign at some point.
During his first term, Castro presided over limited reforms that included the gradual easing of restrictions on travel and personal property.


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Chennai, Apr 6: Indian skipper Mahendra Singh Dhoni on Wednesday advocated the idea of conferring ''Bharat Ratna'' to batting maestro Sachin Tendulkar, saying no cricketer deserves it more than him.
"200 percent, because he is an ideal candidate, he has served the country for 21 years and few more years to come. As a cricketer, if he doesn''t get it then I don''t think there is anyone who will get the Bharat Ratna ever," said Dhoni.
"I think he has done really great things for the country, taking cricket to the next level, he is known in places where people do not know about cricket, so I think it''s a very big achievement taking the country forward," he added.
Tendulkar, who has been granted the Rajiv Gandhi Khel Ratna, Arjuna Award, Padma Shri and Padma Vibhushan by the Government of India, is the leading run-scorer and century maker in Test and one-day international cricket. He is the only player to score a double century in the history of ODI cricket.
Tendulkar is the first and the only player in Test Cricket history to score fifty centuries, and the first to score fifty centuries in all international cricket combined; he now has 99 centuries in international cricket.
Dhoni also thanked Sachin for praising his captaincy ability saying that it was his privilege to play with the star batsman.
"Well it''s a pleasure, if it''s from Sachin''s side, just like him I am also serving the nation. I have tried to be honest throughout my career when I started playing cricket till now. So, whatever responsibility is given on my shoulders, I have tried to fulfill it to the fullest extent," said Dhoni.
"It''s just my pleasure that Sachin said he enjoyed playing with me, so that''s what I have to say, it''s a real pleasure," he added.
Sachin had earlier praised Dhoni for his sharp mind and calm demeanor.
The Indian skipper further said that the team would miss Gary Kirsten as the coach, as the players and Kirsten shared a special bonding with each other.
"But one thing for sure, whoever wants to come in or whoever comes in, those are big shoes to fill what Gary has done to Indian cricket. I think the benchmark is set really high and when I say really high, it''s really high. We will miss him for sure, but I can assure you Gary will miss us more," said Dhoni.
"Right now, he has taken a break for his family, but someday when he decides to come back as coach, if by luck he is not with the Indian cricket team, some other team, I think he will miss the Indian cricket team even more. I think the bond was there between the team and Gary, so we will definitely miss him," he added.
Answering a query whether a hectic game season affected the consistency of the players Dhoni said that it did take a toll on physical as well as mental stability.
"It''s quite a hectic schedule ahead of us and as far as affecting the performance is concerned, yeah, it does affect the performance of the players. The physical aspect you can still battle because of the amount of cricket, mentally at times you will find that you are quite reined and emotionally also you are quite reined," said Dhoni.
"I think it may affect very good chances, it may affect, but its not that it will affect all the players," he added.
Oneindia Cricket


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Postponement of DEEDS Seminar on Aug 3 to Aug 17
Expand Messages
- Deeds
Make a
Better World
Development Education Empowerment of The Disadvantaged In Society.
(Public Charitable Trust Reg. NoE20961 Mumbai.)
Date:1st August 2005.
Due to the prevailing weather conditions in Mumbai, we are unable to
have the proposed seminar on Wednesday the 3rd of August 2005 at the
auditorium- The Dinshaw Petit International Convention Hall, BSE Mumbai.
The scheduled seminar is now tentatively on the 17th of August 2005. We will
keep you posted.
We apologise for the inconvenience caused.
We would appreciate a response from you as soon as possible.
Thanking You.
Ms. Prathiba Rao.
Chief Operating Officer
Deeds Public Charitable Trust.
Turning disabilities into abilities
Research & Co-ordination Centre: 8, Bajaj Arcade, 31, Union Park, Khar (W),
Tel : 26005083 / 84 e-mail : humanity@...
Website : www.deeds-india.com
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