text:
Week ahead
Robocon 2011: Teams from eight local universities and tertiary institutions show off their engineering and IT skills in a hotly contested robot-building competition (right). Winners earn a slot in an upcoming regional contest in Bangkok. 2.30-5pm, Ocean View Court, The Arcade, Cyberport 3, 100 Cyberport Road. Free. Inquiries: firstname.lastname@example.com
Legends of Flight Omnimax show traces the evolution of aircraft design. 3.50pm, 7.20pm. Hong Kong Space Museum 10 Salisbury Road; HK$24. Narration available in English for shows on Monday and Thursday.
Volunteering HandsOn Hong Kong, a group dedicated to community-based volunteer work, holds an orientation to give potential helpers a chance to socialise, get to know the organisation and available opportunities to help, from after-school tutoring for ethnic minority students to helping the elderly; 7-8pm; Skylark Lounge, 1/F, Parekh House, 63 Wyndham Street, Central.
Kids Lab How do you clean filthy water? How does a diaper retain so much liquid? Children conduct water-themed experiments at the Science Museum (below) in a programme developed by chemicals giant BASF. Six half-hourly sessions from 2pm. Register up to 15 minutes before each session. 1/F lobby, Hong Kong Science Museum. Inquiries: 2732 3220. Sessions repeat on Saturdays. Saturday
Storytelling Workshops interactive sessions based on award-winning Feng Zikai's children's picture books; 11am, Tai Po Public Library, 8 Heung Sze Wui Street (tel: 2651 4334); 2pm Aberdeen Public Library, 203, Aberdeen Main Road (tel: 2921 1055). Part of a summer reading programme organised by Bring Me a Book charity.
Most Popular
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Access to Land and Productive Natural Resources
Paradoxically, the majority of the hungry and malnourished people worldwide live where food is produced – in rural areas. Half of the hungry worldwide are marginalized smallholder farmers. Another 22 percent are the landless, who earn their income either as agricultural laborers or in informal sector activities in rural economies. The lack of access to productive resources – namely land, water and seeds – is therefore one of the key reasons why people suffer chronic hunger and malnutrition.
Many individuals, groups and communities do not have access to land and other natural resources, security of tenancy, or access to agricultural extension services and marketing opportunities.
Women are often particularly discriminated against. Despite their high contribution to agrarian production, in most cases, women do not possess their own land or have access to relevant programs like agrarian reform initiatives and other productive resources such as credits or technology.
FIAN's Work
FIAN's work on access to natural resources aims to increase national and international awareness for the lack of or insecure access to land and other related resources, and to analyze the issue from a human rights perspective. Apart from contributing towards resolving concrete cases of human rights violations, FIAN aims to develop additional human rights protection standards for individuals, groups or communities threatened by landlessness and forced evictions.
One initiative carried out by FIAN, along with the international peasants' movement, La Via Campesina and others is the Global Campaign on Agrarian Reform. FIAN also promotes the effective implementation and use of the FAO Guidelines on the Tenure of Land, Fisheries and Forests to support the claims of those most affected by hunger and malnutrition.
Latest news
Guide for grassroots movements on tenure bottom-up accountability
A primer to guide rural communities in framing and devising collective action and engagement strategies to strengthen their tenure of land, fisheries and forests is released today.
2016, a year of awakening, transformation and revolution
Amid times of change, FIAN International continued supporting struggles for the right to food and nutrition, says its annual report.
Cooling the Planet: Frontline communities lead the struggle
The Global Convergence of Land and Water Struggles releases its first report to boost political consciousness and support mass based movements in their resistance against the privatization agendas.
EU launch puts seeds back on the table
The European Parliament will host the Brussels launch of the Right to Food and Nutrition Watch 2016, bringing back discussions over the monopolization and privatization of seeds as well as the increasing criminalization of human rights defenders.
Food sovereignty takes root in Eastern Europe
The fight back against industrial agriculture and for a just and sustainable future for farming and peasant farmers took a leap forward last week as the largest-ever European forum on food sovereignty concluded.
Largest-ever European food sovereignty gathering kicks off in Romania
The largest-ever European meeting on food sovereignty starts today with 500 people from over 40 countries gathering to discuss how to reclaim our ever-more corporate-controlled food and farming system.
Synthesis Report on Civil Society experiences regarding use and implementation of the Tenure Guidelines and the challenge of monitoring CFS decisions
A contribution of Civil Society to the Global Thematic Event during the 43rd Session of the Committee on World Food Security (CFS) and to developing an innovative mechanism for the monitoring of CFS decisions and recommendations
Monsanto Tribunal: States also accountable
A legal document presented to the Monsanto Tribunal underlines that States are accountable for not complying with their obligation to protect against human rights abuses and sheds light on the multinational's liability under international criminal law.
Keeping Seeds in Peoples' Hands
Launched at FAO Headquarters, the Right to Food and Nutrition Watch 2016 warns seeds and biodiversity are under threat as a result of the increasing corporate capture and the states' neglect.
Mobilizing Against the Dispossession of the Commons
The fourth of the series looks into the challenges that the rural peoples face despite playing a key role in feeding the world population and the conservation of humanity as a whole.

subset: commoncrawl


text:
Hello and welcome to the website for Kieran Larwood, author of 'Freaks' (Chicken House) and Podkin One-ear (Faber and Faber). Click on the menu icon (top right) to access other areas of the site.
Both Freaks and Podkin are now available in book stores and online. Podkin also comes out in paperback in July. The second book in the series is due in October 2017. To find out more, please look at the pages for each book, or follow me on Twitter or facebook. Sometimes I even think about updating the blog, but don't hold your breath.
I am represented by The Blair Partnership. ( tel 0044 (0) 207 504 2520)
If you have any questions about the book, or writing in general, I would love to hear from you. Please get in touch via the contact page. Thanks for stopping by.
Podkin One-Ear has just won for the Blue Peter Book Award 2017!


text:
Looking for a Remington R700 in .338 Lapua
I am looking at buying a R700 SPS that's chambered for .338 Lapua. I have found a few that were up for sale on some gun auction sites, but they have already been sold (which I hate when they leave the ads up, even tho i was sold like months and months ago lol). So I am not having much luck finding one that is chambered for that round, so I was wondering if anyone knew of a good place to look, or could hook me up with a link to one they've already found. Any help would be appreciated. Thanks !
Last weekend there was one at superior pawn and gun in Virginia beach, I'm sure if you Google them you can find a number, buy it, and have it transferred to a local ffl.
I don't, but I was already planning to head up there today, ill check while I'm there.
1699, pm me if you want contact information.
|All times are GMT. The time now is 02:44 PM.
Copyright ©2000 - 2017, Jelsoft Enterprises Ltd.


text:
Walled Lake
Vikings bowl them over
By Christian Davis
Posted March 12, 2013
The Walled Lake Central girls bowling team had an impressive showing in the Division 1 state final March 1 in Muskegon.
The Vikings finished second overall, falling to Davison High 1347-1189 in the final.
Central beat Macomb Dakota in the semifinal 1215-1139 and Muskegon Mona Shores 1187-1144 in the quarters.
The Vikings qualified for the match play, finishing second in the qualifying block.
This marked the seventh straight year Central has qualified for the final.
Ashley Bickel, Sara Abraham, Kylie Hornsby, Bri Palarchio and Cara Krolikowski made up the varsity squad. Kristen Balint, Sarah Hoberman and Katie Carson were brought up from the JV for the championship.
Kevin Hysell and Ron Arnoldi coach the team.
About the author
Sports writer Christian Davis covers mainly the Oakland County coverage area. Christian has worked for C & G Newspapers since 2005 and attended Michigan State University before graduating from Oakland University.
More from C & G Newspapers
A look back at Chippewa's bowling county championships
Clinton Township
Mott bowler continues strong run with county title
Sterling Heights / Warren
Sterling Heights


text: Credits Edit It's been suggested by an anon that Napoli also worked on DS9 and Voyager. Does anyone have a citation for this? — Morder (talk) 22:57, 24 June 2009 (UTC) Retrieved from "http://memory-alpha.wikia.com/wiki/Talk:Anatonia_Napoli?oldid=1437209" 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.


text:
I'm missing my Grecian holiday and I'm already planning where to go next in my head! If you like beautiful scenery, idyllic beaches, historical wonders, yummy food and loads of cute kitties; Crete is the place for you. Here are some of my favourite snaps from my trip x
Author: ElieStories
10 days in Crete
I just came back from a (mostly) sunny 10 days in the Greek island of Crete. Originally we were going to visit a couple of islands but it worked out a bit over budget so opted for the full time in Crete. I've got serious holiday blues and can't stop posting photos on my Instagram so while it's fresh, here are my top recommendations for a holiday to Crete.
Saying bye-bye to cruelty
It's been a long time coming and I feel like such a bad person for not doing it sooner but I'm finally waving au revoir to animal tested products. With so many modern advances and companies choosing to go cruelty-free there's no excuse to be funding animal testing for cosmetics.
Not all men
Not all men. How does this help the 13-year-old girl in her school uniform being glared at by a much much older man on the train? How does this stop that man from putting his hand down his trousers and touching himself while staring at that same girl?
Ten Things/A Long Weekend in Copenhagen
I just got back from a foggy, sub zero degrees capital of Denmark after a short break with my favourite munchkin. Despite my feet being so cold they felt like I was walking on actual glass before giving in and buying a pair of thick socks from Topshop, I had an amazing time! Here my top 10 sights, eats, tips and tricks for a long weekend in Copenhagen.
20 Small Things Every Early 20-Something Year Old Should Realise
So I know I am still a 20-something and probably haven't taken some of this advice myself yet but I was inspired to write this by a similar post I saw online. Growing up is hard and these are just my thoughts on the crazy journey that is life.
This Is Me.
I've always been a quiet human. I've overcome a lot of worries and push myself every day to gain confidence and be a friendly, open person. When I was little, I was painfully shy and wouldn't want to talk to unknown members of my own family let alone strangers, always hiding behind and holding onto the back of my mum's knees. I would never speak up for myself and though I was never bullied, I was pretty much a push-over as my silence made me seem weak.


text:
We are absolutely over the moon with the pictures and have been looking at them over and over in a manner that could only be described as obsessive. We are still counting our lucky stars that we chose you to be our wedding photographers – I would have no hesitation in saying it was the best money we have ever spent.
Julia and Daniel - Private


text:
|Publication number
|Publication type
|Application number
|Publication date
|Mar 17, 2009
|Filing date
|Aug 11, 2004
|Priority date
|Aug 11, 2004
|Fee status
|Also published as
|Publication number
|David Gary Lawrence, Michael L. O'Connor
|Original Assignee
|Novariant, Inc.
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (29), Non-Patent Citations (3), Referenced by (17), Classifications (5), Legal Events (11)
|External Links: USPTO, USPTO Assignment, Espacenet
The NAVSTAR Global Positioning System (GPS) is a satellite-based navigation system developed by the U.S. military in the 1970's. The GPS space segment consists of a nominal constellation of 24 satellites, four satellites in each of 6 orbit planes.
Originally conceived as a navigation aid for ships, the use of the system has become ubiquitous both within the military and within civilian and commercial applications. For example, many cars today are outfitted with GPS navigation systems that locate the car on a displayed digital map to the driver. In commercial applications, GPS systems are used for surveying in addition to controlling vehicles such as graders during the laying of road beds. On these vehicles, the antennas are sometimes located on the blade in addition to the cab. In order to ensure good satellite visibility, however, the antennas must be placed on high poles to provide line of sight to the required four satellites.
The Standard Positioning Service (SPS) signal is currently provided to civilian users of GPS. It is made up of an L-band carrier at 1575.42 megahertz (MHz) (referred to as the L1 carrier) modulated by a pseudorandom noise (PRN) C/A (clear acquisition) code. The satellites are distinguished from each other by their unique C/A codes, which are nearly orthogonal to each other. The C/A code has a chip rate of 1.023 MHz and is repeated every millisecond. A 50 bit per second data stream is modulated with the C/A code to provide satellite ephemeris and health information. The phase of the C/A code provides a measurement of the range to the satellite. This range includes an offset due to the receiver clock and is therefore referred to as the pseudo-range. Since the receiver clock error is common to all satellites, it represents an additional unknown to be solved for along with position. Consequently, to perform a three dimensional position fix, a GPS position detection system traditionally requires a minimum of four satellites (one satellite phase measurement for each of the unknowns). The positioning accuracy provided by the SPS is on the order of ten meters. Due to geometric effects, vertical errors are typically larger than horizontal errors.
Other global positioning systems exist in addition to the NAVSTAR GPS. Within the GNSS (Global Navigation Satellite System) are the Russian GLONASS and the forthcoming European GALILEO GPS systems. Position detection systems can use one or more of these systems to generate position information.
Differential GPS (DGPS) is a variant method for providing higher positional accuracy. If a reference GPS receiver is placed at a known location on the ground, the bulk of the errors associated with the satellite phase measurements can be estimated. Phase corrections can be calculated and broadcast to a roving GPS user. Since most errors are highly correlated in a local area, the roving user's position solution after applying the corrections will be greatly improved.
Traditional DGPS systems use the C/A code phase measurements to arrive at position solutions. These systems provide 95% positioning accuracies on the order of a few meters. The precision of the L1 carrier phase measurement has been used to improve the performance of DGPS. Using carrier smoothed code techniques, DGPS performance improves to the meter level.
Further improvements are achieved through the use of kinematic DGPS. Kinematic DGPS, or differential carrier phase GPS, refers to using the differentially corrected carrier phase measurements, possibly in addition to the code phase. Due to the short wavelength of the L1 carrier phase (about 19 cm), these measurements are extremely precise, on the order of several millimeters. Although the measurements are corrupted slightly by the errors sources, the potential accuracy of kinematic positioning is on the centimeter level. However, the carrier phase measurement has an integer cycle ambiguity associated with it. This ambiguity arises from the fact that each cycle of the carrier phase is indistinguishable from the others; before centimeter level positioning can be achieved, the ambiguity must be resolved.
Some kinematic DGPS systems use a common clock to process carrier signal information from multiple antennas. This allows for position solutions with carrier signals from less than four satellites if relative delays associated with receiving the broadcast phases from the antennas are known. Typically, this delay is determined by measuring the length or delay associated with a fixed length cable that extends between the reference GPS receiver and the slave receiver.
At these precisions, another ambiguity arises from the relationship between the attitude or orientation of the antenna and the nature of the GPS signals. The transmitted GPS signals are righthand circularly polarized (RHCP). Therefore, GPS receive antennas are designed to receive RHCP signals. The measured carrier phase of a circularly polarized signal is a function not only of the distance between the transmit and receive phase centers, but also of the relative orientation of the antennas and particularly the antennas' yaw or rotation about their boresights. Thus, unknowns concerning the orientation or attitude of the antennas can result in ranging errors that become relevant at the resolutions associated with kinematic DGPS.
Traditionally, kinematic GPS applications do not correct for the effects associated with antenna orientation. When the boresights of all of the receive antennas are parallel and constrained to rotate as a single rigid body, the correction is common to all satellites. It, therefore, affects only the differential clock error or line bias, not the position or attitude solution. However, if the yaw angle between antenna boresights becomes large, a RHCP correction should be applied.
One strategy is to find a correction for each transmit and receive antenna pair. The receive antennas are assumed to be flat patch antennas; the results can be generalized for other types of antennas given their off-boresight phase characteristics.
In kinematic GPS applications, the phase measured from one antenna is typically subtracted from that measured at another antenna. For kinematic positioning, the phase measured at the reference station is subtracted from that measured at the roving antenna. For attitude determination, the phase measured at a master antenna is subtracted from those measured at slave antennas. Thus, another method for applying a RHCP correction is to apply a correction to the single differenced phases. This correction is a function of the two receive antenna orientations and the line-of-sight to the transmit antenna. The incoming signal and the receive antennas are assumed to be circularly polarized in the derivation of this correction. Although less general than the previous one, this correction is sufficient for most applications.
The problem with existing single receiver, common clock, multiple-antenna DGPS systems, however, is that they assume that there are no changes in relative antenna attitude between measurements. Thus, these systems have been limited to applications in which all of the antennas are fixed to a common rigid or semirigid body, such as orientation determination. In short, RHCP correction is deemed to be negligible since antennas have been more or less fixed relative to each other.
The present invention concerns a system and method for compensating for changes in relative antenna attitude in a single-receiver position detection system, such as a differential carrier phase GPS system. The method and system utilize sensor input to detect changes in the relative attitude of at least two antennas or an antenna positioner that orients or re-orients the antennas to a predetermined orientation. The changes in the detected relative carrier phase are then corrected. In this way, the high positional accuracy associated with differential carrier phase GPS systems, for example, can be achieved even with satellite visibility constraints.
In general, according to one aspect, the invention features a system for carrier phase correction due to changes in relative antenna attitude. This is provided in a position detection system that comprises antennas for receiving carrier signals, such as GPS signals, and a receiver for processing carrier signal information from the antennas in response to a common clock signal.
The inventive carrier phase correction system comprises an antenna attitude sensor for detecting changes in relative attitude, such as yaw, for the antennas. The receiver then determines position in response to the carrier signal information and the detected changes in the relative attitude of the antennas.
In one embodiment, the antenna attitude sensor measures changes in the relative attitude of the antennas. Such a sensor can include magnetic sensors, inertial sensors, potentiometers, encoders, vision-based sensors, linear sensors from which angles can be derived, or sensors that indirectly measure the relative attitude of the antennas by monitoring instructions indicating the changes in the relative attitude. To obtain relative attitude, a sensor is typically required for each antenna unless the attitude of one of the antennas is predetermined, such as fixed and known or otherwise specified.
In the typical embodiment, the GPS carrier signals are generated by a global navigation satellite system, such as NAVSTAR, the global orbiting navigation satellite system (GLONASS), and/or the Galileo system.
In one implementation, the antennas are subject to relative attitude changes because they are mounted on different platforms capable of relative angular movement. In one example, the antennas are mounted on a vehicle with a first one of the antennas rigidly mounted relative to a frame of the vehicle and a second one of the antennas mounted to a part of the vehicle that moves relative to the frame. A road grader is one example, with one of the antennas being mounted on the blade and the other being mounted on the road grader's cab. In other examples, the antennas are mounted on a main vehicle frame and its trailer.
In some embodiments, relative attitude changes are directly detected. In other embodiments, relative attitude changes are derived by detecting changes in absolute antenna attitude, and then comparing the changes for the separate antennas. For example, the antenna attitude sensor is a global positioning system based attitude sensor, in one example, that uses the carrier signal information from the antennas to determine attitude.
In general, according to another aspect, the invention features a system for carrier phase correction for a position detection system. The system comprises antennas for receiving carrier signals in which the antennas are subject to changes in relative attitude. A receiver is further provided for processing carrier signal information from the antennas in response to a common clock signal to determine positions of the antennas.
According to the invention, the carrier phase correction system comprises an antenna positioner that orients at least one of the antennas to avoid changes in relative attitude of the antennas. The receiver then determines position in response to the carrier signal information after the antenna positioner controls the attitude of at least one of the antennas to minimize changes in the relative attitude of the antennas.
In effect, this embodiment is directed to a system that controls the positioning of the antennas to avoid relative attitude changes even if the platforms to which the antennas are fixed may change relative to each other. In some embodiments, the positioner is an actuator. The positioner preferably at least controls the antenna's yaw, or rotation around its boresight. In some implementations, the positioner also controls the pitch and roll of the antenna. In one example, the positioner is an operator that performs a relative attitude positioning protocol such as orienting both antennas vertically or pointing the two or more antennas towards each other. This protocol is typically specified via a computer interface of the position detection system or in a manual for the system. Further, a user interface of the position detection system is provided with an input that the operator selects when the antennas have been oriented according to the protocol, thereby trigging the system to determine a position solution. In still other embodiments, the positioner comprises an attitude sensor for detecting an attitude of at least one of the antennas, the positioner actuator then automatically operating in response to this attitude sensor to actively orient the antenna.
In general, according to still another aspect, the invention features a position detection system comprising first and second sets of antennas for receiving carrier signals, with this second set of antennas being subject to changes in attitude relative to the first set of antennas. An antenna attitude compensator is provided for enabling carrier phase correction induced by changes in relative attitude between the first set of antennas and the second set of antennas. A receiver then processes the carrier signal information from the antennas in response to a common clock signal and the antenna attitude compensator.
In one embodiment, the antenna attitude compensator comprises an antenna attitude sensor for detecting changes in relative attitude of the antennas. The receiver then determines a position in response to this detected relative attitude.
In another embodiment, the antenna attitude compensator comprises an antenna positioner that controls an attitude of at least one of the antennas to avoid changes in relative attitude of the antennas. For one implementation, a first one of the antennas is on a mobile unit and a second one of the antennas is on a base unit. Carrier information is preferably transmitted over a transmission line between the mobile unit and the base station.
In a specific embodiment, the mobile unit and base station form a survey system that can locate the position of the base station and the mobile unit to a high accuracy in three-dimensional space. The advantage of the present embodiment is that only one of the base station and mobile unit is required to see four satellites in order to resolve its position. That is, if one of the units only receives carrier signals from three satellites, position can still be resolved to the accuracies provided by kinematic GPS systems.
In one embodiment, the antenna attitude compensator comprises an antenna attitude sensor for detecting changes in relative attitude of the antennas. The receiver then determines a position in response to the relative attitude of the antennas. In another embodiment, the antenna attitude compensator, comprises a positioner such as an actuator that points the antennas in a predetermined direction. For example, the antennas can be pointed toward each other or pointed so that they match each others' headings. In the simplest example, this actuator is an operator, whereas in other examples, automatic motorized or passive systems are used.
In general, according to another aspect, the invention features a positioned detection system, with first and second sets of antennas, which system comprises an antenna attitude compensator providing carrier phase correction induced by movement between the first set of antennas and the second set of antennas. A receiver then processes carrier signal information from the first set of antennas and the second set of antennas in response to a common clock signal. The receiver compensates for changes in attitude between the first set of antennas and the second set of antennas by determining attitude information and determining a position in response to the carrier signal information and the antenna attitude sensor.
The invention also concerns a survey system receiver that has a common clock module, which generates the common clock signal required to process the carrier signal information from the multiple, two or more, antennas received through antenna interfaces. This enables carrier phase kinematic GPS location of the antennas by a position solution module of the receiver.
In general, according to still another aspect, the invention features a position detection system providing for carrier phase correction. The position detection system comprises a base antenna and a mobile antenna. Each of these antennas receives carrier signals. A receiver then processes carrier signal information from the antennas in response to a common clock. The mobile antenna is capable of moving relative to the base antenna.
According to one aspect of the invention, an antenna attitude compensator is used to compensate for changes in relative attitude between the base antenna and the mobile antenna. The receiver then determines a position in response to the carrier signal information and the antenna attitude compensator.
The invention can also be characterized in the context of a method for detecting position. This method comprises receiving carrier signals with antennas and detecting changes in relative attitude of the antennas. Their carrier signal information is then processed to determine position in response to a common clock signal and the detected changes in relative attitude of the antennas.
Further, the invention can be characterized as a method for detecting position in which carrier signals are received at antennas and the antennas are individually positioned to maintain relative attitude of the antennas. Finally, the carrier signal information from the antennas is processed to determine position in response to a common clock signal.
In general according to another aspect, the invention features a position detection system for an articulated vehicle. It includes at least one vehicle antenna on the vehicle and at least one implement antenna on the implement. A heading sensor is further provided for determining a heading of the vehicle or the implement. Finally, a receiver determines an angle between the vehicle and the implement in response to carrier signal information from the vehicle antenna and the implement antenna and the heading.
The above and other features of the invention including various novel details of construction and combinations of parts, and other advantages, will now be more particularly described with reference to the accompanying drawings and pointed out in the claims. It will be understood that the particular method and device embodying the invention are shown by way of illustration and not as a limitation of the invention. The principles and features of this invention may be employed in various and numerous embodiments without departing from the scope of the invention.
In the accompanying drawings, reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale; emphasis has instead been placed upon illustrating the principles of the invention. Of the drawings:
In more detail, a number of satellites are provided by the global positioning system (10-1, 10-2, 10-3, and 10-4). In the preferred embodiment, these GPS satellites are satellites of the NAVSTAR, GLONASS, and/or Galileo systems. They each broadcast carrier signals 12-1, 12-2, 12-3, and 12-4 to enable receiver antenna systems to determine their position in a three-dimensional space represented by the x, y, and z coordinate axes 14.
The present invention is especially relevant to DGPS and kinematic GPS systems, in which carrier signal information is detected by multiple antennas but processed by a single receiver and in response to a common clock signal that is generated by the receiver 114.
Specifically, in the illustrated embodiment, antennas 110-1, 110-2, and 110-3 are located in the coordinate space 14. Each of the antennas receives carrier signals 12-1, 12-2, 12-3, and 12-4 and then transmits carrier signal information over cables, 112-1, 112-2, 112-3, or data communication paths to a receiver 114. This receiver 114 processes this carrier signal information in response to an internal clock signal, a common clock, generated by clock module 116. Thus, the accuracies associated with DPGS and specifically kinematic or differential carrier phase GPS systems are attainable.
It should be noted that the antenna system may have their own slave clocks that are used to process the carrier signal information. It is critical, however, to the invention that each of these slave clocks, essentially functions in response to a common clock signal such as the clock generated by clock module 116 at the receiver 114.
In more detail, a number of implementations exist for the common clock. Generally, the common clock means that the receiver 114 is not required to solve for a time unknown when solving for relative position of the antennas 110-1, 110-2, and 110-3. There are a number of ways to achieve this common clock processing. For example, down-conversion of the detected carrier signals can be performed for all antennas using the same local oscillator (LO) signal or local oscillators derived from, or phase locked to, a common oscillator. Alternatively, the carrier signals can be sampled using the same sampling clock. A combination of these two methods can further be used. Another example relies on the derivation of the phase of a common signal using independent clocks for processing that common signal. Specifically, one can daisy chain multiple dual antenna receivers between successive antennas such that the receivers process information from common antennas. Thus, since the receivers obtain the phase for a satellite carrier signal received on the same antenna, they can compensate for the difference in clocks between them. In still another example, a common signal is injected into all of the signals from the antennas and a measurement of the phase of that common signal made using each independent clock.
Each of the antennas 110-1, 110-2, and 110-3 are secured or mounted relative to a respective platform 118-1, 118-2, and 118-3. In some examples, these platforms 118-1, 118-2, 118-3 are a part or a frame of a vehicle. In other examples, they are a surveyor's tripod. In still other examples, the platforms are simply a base that allows the antenna to be set on the ground or attached to another structure.
The inventive kinematic DGPS system, however, is capable of addressing the situation in which these various platforms 118-1, 118-2, and 118-3 are not fixed to the same rigid body. As a result, the corresponding antennas 110-1, 110-2 and 110-3 are subject to relative changes in attitude.
As previously described, these relative changes in attitude can necessarily result in ranging errors if left uncompensated. Specifically, the circularly polarized (i.e., RHCP) nature of the plane waves 11 received from the satellites 10-1, 10-2, 10-3, and 10-4 results in ranging errors. Most of the errors are associated with errors in the yaw of the antennas 110-1 to 110-3. Often the yaw is characterized as the angle between the separate antennas' heading in the x-z plane, derived from the RHCP nature of the antennas. The antenna heading can be indicated by indicia 111-1, 111-2, 111-3 found on the outer casing of common flat patch antennas.
Such attitude variation is typically unacceptable for differential carrier phase GPS systems, which are typically utilized because of their centimeter positional accuracies. As a result, according to the present invention, some or all of the antennas 110-1, 110-2, and 110-3 are provided with antenna attitude compensators 120-1, 120-3. These compensators provide for carrier phase correction induced by changes in relative attitude between the antennas 110-1, 110-2, and 110-3.
Antenna Attitude Sensor
In one embodiment, the antenna attitude compensator comprises an antenna attitude sensor for detecting changes in relative attitude for the antennas 110-1, 110-2, and 110-3. This attitude information is then transmitted to the receiver 114, which then generates position information for the antennas 110-1, 110-2, 110-3 using a position solution module 117 that is compensated based on the relative attitudes of the antennas.
The following sets forth the compensation applied by the receiver 114.
In general, the incoming signal will be elliptically polarized if the transmit antenna boresight does not point directly at the receive antenna. For terrestrial users receiving satellite signals, the ellipticity is guaranteed not to exceed 1.2 dB, so the incoming signal can often be assumed to be circularly polarized. For applications involving pseudolites, the boresight of the transmit antenna may not point toward the receive antenna; in this case, the ellipticity should be modeled. Therefore, the RHCP correction is a function of the orientation of the receive antenna, the line-of-sight to the transmit antenna, and the ellipticity and orientation of the incoming signal.
To develop a correction for a transmit/receive pair, two coordinate frames are defined. A right handed orthogonal coordinate frame is attached to the receive antenna with the z direction aligned with the boresight. The y direction can be arbitrarily chosen normal to z; the x direction is then constrained. The second coordinate frame will be called the transmit frame. The transmit frame is defined such that the z axis points opposite the line-of-sight to the transmit antenna and the y axis points in the major axis direction of the incoming elliptically polarized signal. If the incoming signal is circularly polarized, this direction may be chosen arbitrarily. The arbitrary terms in the absolute correction will cancel when single and double differences are performed.
The output of a RHCP patch antenna can be simply modeled as the E-field component in the x direction plus the component in the y direction delayed by 90 degrees:
This model accurately approximates the phase, but not the gain of a RHCP patch antenna.
Similarly, the incoming signal can be expressed in the transmit frame:
x tx(t)=cos(2πL 1 t)
y tx(t)=e sin(2πL 1 t)
{right arrow over (E)}(t)=x tx(t)� tx +y tx(t)ĵ tx
{right arrow over (E)}(t) is the vector E-field at the receive antenna.
e is the ellipticity of the incoming signal.
� is a unit vector in the x direction.
ĵ is a unit vector in the y direction.
The received signal is then:
Rij is the (i,j) element of the rotation matrix from the transmit coordinate system to the receive coordinate system.
The phase term,
represents additional delay of the received signal due to orientation. Care should be taken to "unwrap" the arc-tangent function.
φcorrected =φ+f(attitude, direction to satellite)
Typically, however, most of the error is associated with relative changes in antenna yaw. Thus, the foregoing three-dimensional (3-D) correction is not required. Instead the following approximation is preferably used, the first order correction for yaw being significantly simpler than the 3D equations. The correction for yaw is to add the heading difference between the antennas, expressed in revolutions and unwrapped, to the phases of one antenna.
There are a number of implementations for the antenna attitude sensor. Generally, the relative attitude of the antennas must be detected. This can be done in two ways: 1) measure the absolute attitude of each antenna and then derive the relative attitude changes; or 2) measure the relative attitude changes without getting the absolute attitude.
In one example, the antenna attitude sensors 120-1, 120-3 directly measure changes in the relative attitude of the antennas 110-1, 110-3. This is accomplished, for example, by measuring the absolute attitude of at least one of the antennas, assuming that the attitude of the other antenna is known, predetermined, or invariant such as antenna 110-2.
For example, a magnetic sensor such as a compass or an inertial sensor can be used to determine antenna attitude, and specifically yaw. The antenna sensor reads a direction and yaw angle such as α or μ for antennas 110-1 and 110-3. Static angle β is entered by an operator for antenna 110-2, for example. This direction and angle information is then transmitted to the receiver 114 at which the position solution provided by module 117 is calculated using this direction and angle information.
In other examples, the antenna attitude sensor indirectly measures the relative attitude of the antennas. For example, this is accomplished, in one example, by monitoring control instructions for the platforms 118-1, 118-2, and 118-3. For example, where the platform is the blade of a grader, instructions to change the pitch of the blade using the grader hydraulics are used as an indirect measure of the attitude of an antenna installed on that grader blade.
Antenna Positioner
Another embodiment of the antenna attitude compensator utilizes control of the antennas' position or orientation.
In this embodiment, an actuator or operator, for example, applies a protocol for positioning the antennas to avoid changes in relative attitude between the antennas 110-1 to 110-3 of the differential carrier phase GPS system 100.
Alternatively, a passive antenna attitude positioner is used in other examples.
In another example, the antenna positioner comprises an antenna attitude sensor, which that detects the absolute or relative attitude of the antenna, in combination with an actuator that then applies feedback control in response to the sensor to reorient the antenna to avoid the changes in relative attitude of the antennas.
In the example where the antenna positioner is an operator, the operator performs a positioning protocol to avoid changes in relative attitude of the antennas.
According to one protocol, the operator or actuator points at least one of the antennas in a predetermined direction assuming that the other one or more antennas are not subject to changes in attitude, the headings being predetermined. In another example, the operator or actuator points the antennas towards each other or points some of the antennas to match the attitude of the other antenna or antennas. Typically, this will involve the operator aligning indicia or a reference mark on the antenna assembly, e.g., an arrow, to point toward a direction dictated by the alignment protocol.
Where the compensators 120-1, 120-3 function as sensors, the attitude information is transmitted to the receiver 114.
Where the compensators 120-1, 120-3, function as actuators or positioners, in other embodiments, the compensators orient their corresponding antennas 110-1, 110-3 according to one of the previously discussed protocols.
In the specific example illustrated in
In a typical implementation of the differential carrier phase GPS system, the relative delays between each of the lines 112-1, 112-2, and 112-3 are known to the receiver 114. This allows for delay or phase compensation associated with the clock signals and carrier signals received by each of the antennas 110-1, 110-2, and 110-3. One advantage of knowing the delays is that less than four satellites are required to resolve position, since phase offsets resulting from the delays can be determined.
The road grader comprises a frame 214, to which a cab 212 is attached. In this example, two antennas are fixed relative to the frame 214. Specifically, a first antenna 110-F-1 is attached to the frame near the front of the grader 118-F and a second antenna 110-F-2 is fixed to the frame 214 via cab 212.
Providing the two antennas 110-F-1, 110-F-2 on the frame 214 enables the receiver 114 to determine the position of the road grader 210 and also its heading. This is because the antennas 110-F-1 and 110-F-2 can be located anywhere on the grader's rigid frame 214, and thus generally have good satellite visibility. As a result, they typically can see at least four satellites and therefore enable the receiver 114 to resolve the grader's position and heading. This allows the GPS signals to be used to determine antenna attitude.
The blade antennas 110-B-1, 10-B-2 that are located on the blade 118-B and are used to determine the position, angle, and rotation of the blade 118-B. This information can be derived even if the body of the grader 210 masks satellite visibility from the antennas 110-B-1, 110-B-2 because of the provision of the antenna attitude compensator 120-B. As described previously, this compensator 120-B can either be a positioner or an attitude sensor.
However, where the blade antennas 110-B-1, 10-B-2 are able to see three satellites, then the GPS receiver 114 is available to function as the attitude compensator 120-B. Thus, GPS attitude on the blade and GPS attitude on the motorgrader frame function as the attitude sensors.
For example, in the illustrated embodiment, the antenna 110-M-1 of the mobile unit 312-1 is located next to a hill, and thus cannot receive the carrier signal 12 from satellite 10-1. However, because the carrier signal information is processed by a common receiver 114 from both the base antenna 110-B and the mobile antenna 110-M-1, the position of the mobile antenna 110-M-1 can still be determined with accuracy because of the common clock signal processing.
The disadvantage associated with the use of the mobile antennas 110-M-1, 110-M-2 is that apparent ranging errors will occur if the attitude of the mobile antennas 110-M-1, 110-M-2 differs from the base antenna 110-B or change during their location and placement.
This is addressed by the inventive antenna attitude compensator 120-M. In one example, this compensator 120-M is a sensor that feeds mobile antenna attitude information to the receiver 114. In another example, a positioner compensator is used. Such positioner can be an automated actuator. However, in some surveying embodiments, the operator will function as the positioner, moving the antenna to a known orientation by applying a protocol, for example that is specified by a manual 350 for the system 100. Alternately, the protocol is communicated to the operator via a user interface 352 of the system, such as via a liquid crystal display.
Preferably, the protocol also specifies that the operator avoid phase wind-up by spinning the mobile antennas 110-M-1, 110-M-2 around their boresights during antenna placement.
In one example, the protocol is simply to orient the antennas to a predetermined attitude, such as vertical and to a proscribed compass heading. In another example, the protocol calls for orienting the attitude of the mobile antennas 110-M-1, 110-M-2 to match the base antenna 110-B. In still a further example, the two antennas 110-B, 110-M-1 are pointed towards each other.
In one implementation, once the antennas 1110-M-1, 110-M-2, 110-B are oriented according to the protocol, the operator 120-M signals the receiver 114 of the completed alignment protocol such as by operation of the system interface 352. This triggers the position solution module of the receiver 114 to calculate the position solutions for the antennas 110-M-1, 110-M-2, and 100-B
In more detail, the survey system receiver 114 has a common clock module 116, which generates the common clock signal required to process the carrier signal information from the multiple antennas 110-M-1, 110-M-2, 110-B. This enables carrier phase kinematic GPS location of the antennas 110-M-1, 110-M-2, 110-B by the position solution module 117 of the receiver 114. Thus, the receiver 114 has antenna interfaces 119 for receiving carrier signal information from the remote and base station antennas 110-M-1, 110-M-2, 110-B.
Specifically, according to the invention, the mobile antenna 110-M-1 has a compensator 120-M, such as a sensor or positioner, e.g., operator. In one implementation, an attitude controller 318-M is provided with possibly an absolute attitude sensor 320-M. This provides attitude information for transmission to the receiver 114 and/or mobile attitude controller 318-M, which controls the actuator 316-M to position the mobile antenna 110-M-1. In one example, mobile antenna 110-M-2 is specified to be placed by the protocol to have a predetermined attitude, although it can also have its own compensator 120-M.
In other embodiments, a compensator 120-B is used for the base antenna 110-B. Specifically, the base attitude compensator 120-B in one example comprises an actuator 316-B, an attitude controller 318-B, and a sensor 320-B. The sensor 320-B detects an absolute attitude of the base antenna 110-B. This information is transmitted to the receiver 114 and/or an attitude controller 318-M that controls the actuator 316-B to position the antenna 10-B-1.
Vehicle Trailer Angle Sensing
In more detail, in the illustrated implementation, a vehicle 118-V is pulling or towing a trailer 118-T, or other implement that is free to pivot in the lateral direction. Examples include a truck with a trailer or a farm tractor with a towed implement, such as a planter.
A single GPS receiver 114 is used with one or more antennas 110-V on the vehicle 118-V and one or more antennas 110-T on the implement or trailer 118-T. This configuration enables a position solution module in the receiver 114 to determine the angle θ of the implement 118-T relative to the vehicle 118-V, without the need for a potentiometer, encoder, or other direct angular sensor, and without the need for a heading sensor on the trailer or implement 118-T. The measurement takes advantage of the carrier phase processing as described above to determine the angle θ, even with fewer than 4 satellites tracked on the implement GPS antenna(s) 110-T.
In one implementation, vehicle antenna 110-V is placed on the vehicle 118-V, and one antenna 110-T is placed on the trailer or implement 118-T. Both antennas 110-V, 1110-T are connected to a single GPS receiver 114. In addition, an orientation (heading) sensor 120 is placed on the vehicle 118-V. This heading sensor 120, in examples, is a compass or gyroscope, as described above, and functions as an attitude sensor for the vehicle 118-V. In other implementations, the heading or attitude sensor 120 is in the form of a third GPS antenna, placed at a fixed location on the vehicle, which is also wired to the GPS receiver 114, and enables the receiver 114 to accurately determine the heading or attitude of the vehicle 118-V.
The following iterative process is then followed to compute the angle of the trailer or implement 118-T relative to the vehicle 118-V.
1. Assume that the angle θ of the trailer or implement 118-T relative to the vehicle 118-V is zero.
2. Use kinematic DGPS to compute the position of the implement antenna 118-T relative to the vehicle antenna 110-V, using a heading correction based on the latest estimate of trailer angle.
3. Use the newly computed position of the trailer antenna relative to the vehicle antenna to generate a new estimate for the trailer angle. Using the coordinate frame in the figure above, θ=sin−1(−yt/L2), where yt is the y coordinate of the trailer GPS antenna 110-T.
4. Look at how far the new estimate of trailer angle has changed from the last estimate. If the change is not negligible, go to step 2 and iterate.
By following the iterative process described above, the angle θ of the trailer 118-T relative to the vehicle 118-V is computed, even if the GPS antenna 110-T on the trailer 118-T is tracking only 3 navigation signals.
While this invention has been particularly shown and described with references to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention encompassed by the appended claims.
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|U.S. Classification
|International Classification
|Cooperative Classification
|European Classification
|Aug 11, 2004
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Exhibition Invitation: Portraits of KamalapurPosted: July 4, 2017 Filed under: Acrylic, Art, Black and White, Blue, Boys, Charcoal, Charcoal and Ink, charcoal drawings, Charcoals, Chinese ink, City life, Colour, community, Compressed Charcoal, conte | Tags: Beckton Globe Library, exhibition, kamalapur, Life drawing, london, Newham, Portraits, Ruhul Abdin, Workshop Leave a comment
Excited to invite you all to the next exhibition of the Kamalapur portrait drawing project. I hope people can make it. The opening night is Thursday 13th July 2017 at 6pm. More details below.
Dhaka Drawings : Young Boys 174- 190Posted: May 28, 2017 Filed under: Acrylic, Art, Bangladesh, Boys, Chinese ink, Drawing, Observational Drawings, Portraits, Portraiture, Railway Station | Tags: Acrylic, Arts, Bangladesh, black, blue, Chinese ink, Dhaka drawings, Experiments, green, kamalapur, Life drawing, Paint, Portraits, red, Yellow, young boy Leave a comment
Dhaka Drawings: Young boy 167-173Posted: May 13, 2017 Filed under: Acrylic, Arts, Bangladesh, Boy, Ink, Portraits | Tags: Acrylic, Bangladesh, Blue ink, colour, Dhaka, experiment in art, Fine art, kamalapur, Life drawing, Portraits, young boy Leave a comment
Event: At Kamalapur, Artist's TalkPosted: January 19, 2017 Filed under: Art, Bangladesh, Drawing, Free Event, Pencil and paper | Tags: artists Talk, Brick Lane, Drawing event, exhibition, Free Blog Post, Free Event, Gram Bangla, kamalapur, london, Oitij-jo, Openvizor, Ruhul Abdin Leave a comment
Exhibition: At Kamalapur, a reflectionPosted: January 4, 2017 Filed under: Art, Bangladesh, Black and White, Boys, charcoal drawings, Dhaka, Drawings, Exhibition, Friends, Girl, Journey, People, Photography, Portraiture, Railway Station, Reflections, UK, Urban, Women | Tags: Bangladesh, Brick Lane, Drawing exhibition, Fine art, Gram Bangla, kamalapur, london, Oitij-jo, Portraiture, reflections, Review 2 Comments
On my to do list of readings has been to read again, the brilliant John Berger who recently passed away. (YouTube Link to John Berger: Art of Looking / PDF version of the book online) – I realise how difficult it is to write a review of my own work – so, bare with me! 🙂
I wanted to reflect and review 'At Kamalapur' the current exhibition of portrait drawings at the Gram Bangla, 68 Brick Lane, London.
As the artist whose work is being exhibited, I have struggled to be a little removed from it – to have until now to think about what it means to me to get to part of the process. I recently managed to visit the Picasso exhibition at the National Portrait Gallery in London- it left me intrigued, perhaps in a way I was not expecting – the image that continues to play on my mind is the one 'Claude Drawing' it struck a cord in me – and reminded me of a drawing I did of the children drawing at the station, 'The site of Drawing' : a slight deviation, but reflects for me quickly – influences and inspirations that continually reshape the work we do and the meanings we take from them. Time provides, always some scope for critical reflection.
A lot of my occupation within this strand of life, of self exploration as artist in a situated environment has been to force myself to 'look', and 'see' and 'hear' with quite possibly a rudimentary tool set – pencils, paper, charcoals, Chinese ink and sometimes oil pastels. Why these set of tools? because they are simple, they are honest materials to work with in depicting lines, movements, marks, scratches, shades of light and dark onto paper, they allow for abstraction and focus and the potential to re-work until what I draw, connects with what I think am seeing. Its tough.
'At Kamalapur' exhibition finally provides an opportunity to hear about how other people – the public- look and see these drawings, removed away from the site of Dhaka's main station. What is it that the artist wants to present, and in this case – represent? 'I would wish my portraits to be of the people, not like them. Not having a look of the sitter, being them'. (Lucian Freud)
The curated space, with eight A2 drawings, (2 figures, 6 portraits) framed strongly in black; and the selection of similar drawings provides the potential to have a conversation. I left it to the viewer to imagine what the life of each drawing maybe about. It has led to interesting dialogue.
I did not have any interest in recreating or curating the experiences of being in the station, as such it was not curated to be an immersive experience. As a snapshot of a project spanning now two years, in various shapes and forms, it really simply acts as an introduction for me, to really think about the purpose of art and drawing and also the intent to exhibit. The obsessions of technique, of aesthetic qualities, of proportion is slowly being left to one side- yet, the significance of them not being lost. Perhaps we are not being critical enough – of its intentions, the ethics and mortality, of such ideas. The number of times I have left the space emotionally vulnerable has beguiled me, yet, I go back. Wanting to continually push the ways that I see.
Within this particular drawing process, the abstraction to a white paper space, to limited interference – reduced to the face, to the eyes or sometimes the figure. I continue to question how I look at people and what it means to be. The sitters are people, as much as you and I are, and its that human quality, through the technique of drawing, that I am keen to understand. What does it mean to be a human being? especially on a piece of paper? the question to challenge the potential of the art making process. The drawings are often transitory, of a moment in time of a person's life. Sometimes, larger than life, often, they still feel romanticised. A failure on my part, perhaps?
However, when work is presented in a restaurant space, in a street filled with so much activity, and madness of culture and consumption, does it work? Or is it that, the romance of the idea – of being lost in such spaces – of having other things to do, despite it being carefully placed? It being the backdrop to a busy canteen of people of eating and chatting? So, how much abstraction and curation is required here? Does the art command itself to be seen? and how will people know? Do I care so much about that? What makes me feel uncomfortable? What prods me to continue on asking and potentially making? Can it be more than emotive? instinctual? The potential to see a truth, an outpouring of love? it is hard to say. Even so, I tried to summarise, the context of presenting these drawings in a space on Brick Lane, in a simple way. In order to allow the viewer to see exactly what it is that I am focused on. Perhaps, I also need to ask others write a review, and a continual conversation to take place – as build up to a potentially larger exhibition and publication.
The exhibition is free to view and runs until 22- January 2017 from 10am – 11pm, daily.
@Gram Bangla, 68 Brick Lane, London, E1 6RL
Frames were made by John Baker, who runs Workshop 53
Photo credits: Enamul Hoque
& Facebook link to more images
Walls were re-painted by amazing help from Salam Jones, Heiner Salomon, Kazi Arefin, Maher Anjum, myself & Shahid bhai.
'At Kamalapur' is an on-going art project by Ruhul Abdin, and forms as part of a series of portrait drawings of people at the Kamalapur Railway Station, in Bangladesh's capital, the megacity of Dhaka.
Drawn from life, in conte charcoal and pencil on A2 drawing paper and studies across sketchbooks, the portraits express what the artist sees, and feels at the time. There is a rigour of revisiting the site, and re-drawing the same sitters, if chance permits.
There are very limited conversations, or even time for such an activity with his sitters, and therefore, a lot of the portraits will only be a memory of seeing. Those portraits where conversations have taken place, it is in confidence and in respect to the sitter, to not then expose those stories.
Concentration is the main challenge, and so is the ability to let go of the drawing, when a sitter decides that they do not want to be sitting for the portrait drawing anymore.
It is up to the viewer to imagine what the life of each sitter may be.
Dhaka, it is one of the most dense megacities in the world, with a population of over 17 million people. Kamalapur Station is the largest in the country and the most important terminal for transportation between Dhaka and the rest of Bangladesh.
Oitij-jo Collective, a platform for UK's creative talents of Bengali and the British-Bengali Community ranging from Literature, Art, Design, Fashion and Music. This exhibition is part of Oitij-jo's up and coming 'AKHON/Where is Bengal Now?' festival.
www.oitijjo.org | firstname.lastname@example.com
GRAM BANGLA 68 Brick Lane, E1 6RL
Authentic Bangladeshi fish restaurant speciality fresh water fish from Bangladesh. It is the first restaurant to specifically cater for the need of the Bangladeshi community particularly amongst the young professionals.
Gram Bangla hosts Oitij-jo: 1: At KamalapurPosted: December 13, 2016 Filed under: Arts, Bangladesh, Dhaka, Drawing, Exhibition, Women, Young boy | Tags: Brick Lane, Dhaka, exhibition, Fine art, Gram Bangla, kamalapur 2 Comments
We have been working behind the scenes with a small restaurant on London's Brick Lane, Gram Bangla, #68, to agree for us (as Oitij-jo) to host exhibitions over the year. I am excited to be presenting some of my portrait work as the first exhibition. I will upload some photo's from the exhibition in the next few days. For those in London or nearby, please do come by!
Dhaka Drawings: Kamalapur Railway Station 1 (in development day 2)Posted: October 30, 2016 Filed under: Arts, Bangladesh, charcoal drawings | Tags: Conte Crayon, Dhaka drawing, kamalapur, Large scale drawings, Mass crowd, people 2 Comments


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A new line of baby food that will poison your kid. It happens to be society's favorite. From Jiayi Wang & Jennifer Garcia
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First World Problem Pills
Created by firstworldproblempills via twentytwowords
Love Guide Condoms 食色,性也
A condom becomes much less effective if it is the wrong size, worn on the wrong side, or its tip is not squeezed when worn. It may cause pregnancy or/and sexually-transmitted diseases. "Love Guide" condoms address these issues by introducing a new packaging system for conventional condoms. They come in five packages, each of a distinct diameter, such that holding the packages easily determines the right size. Also, each condom comes in a specially designed case with a rising tip, making it easy to pick the condom from the right side while squeezing the tip at the same time. Love Guide helps users choose the right condom and use it the right way!
Five different packages are available for customers to select depending on individual's penis size. Each package is different in diameter and specified with a color as well as a label: cucumber, carrot, banana, turnip, and zucchini. Holding the package makes it much easier for buyers to determine which size fits them the best.
Designed by Guan-Hao Pan
Animalium Kit
3D puzzle chocolate kits designed by Josep Ma Ribé


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McCall's 4602; ©1989; Misses' Jumper and Blouse. Jumper A or B with princess seamed bodice has font V-neckline, front buttoned closure and gathered skirt with side seam pockets. View A: waistline ties. Blouse A or B: collar variations, long sleeves gathered into buttoned cuffs. View B: short sleeves gathered into sleeve bands.
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Cracker Jack Cookies
Be the first to review
READY IN: 10mins
Recipe by internetnut
I have not tried this recipe. I got it from The chef @ ww recipes.com. By the time I came along, my parents and grandparents were older. My grandparents lived next door. My grandma never learned to drive, so she was dependent on us for trips to the store. Many trips ended with baking something sweet as grandma passed on an enormous sweet tooth to all of us! These cookies were fast, easy, and a family favorite.
See Discussion:
Ingredients Nutrition
- 1 cup white sugar
- 1 cup white corn syrup
- 1 1⁄2 cups peanut butter (plain or crunchy)
- 5 cups kellogg's Special K cereal
Directions See How It's Made
- Mix and bring to boil white sugar and white corn syrup.
- Add peanut butter.
- Then pour over Kellogg's Special K cereal.
- Drop by spoonfuls on waxed paper.
- Cool.


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by Jim
(Raleigh, NC, USA)
Hello I am Jim. I live in Raleigh NC. I can afford $ 150.00 for a day for 3 days
Comments for I fail my skill test and I need someone to please me
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Author | exchange4media News Service | Thursday, Jan 17,2008 6:43 AM
The Twenty20 format of cricket has found favour with cricket lovers and advertisers alike. According to an IMRB survey conducted for Outlook Business and Mindshare, the T20 format is best advertising platform for beverage brands, while ODIs are the best fit for mobile phones and mobile service providers.
The survey's finding that cricket ruled amongst all other sports came as no surprise. It was followed by football, hockey, tennis and wrestling. In cricket, while the T20 World Cup 2007 garnered 54 per cent viewers' votes, the ICC World Cup got 29 per cent votes.
As far as advertising efficiency is concerned, Reliance emerged as the brand highest on the salience ladder, being the only brand to include the official global partner element in their communication message, followed by Nokia and Pepsi.
For the Top 10 brands on salience in TV advertising, the total recall is highest for Nokia, followed by Pepsi, Reliance Mobile and Hero Honda. However, the highest top of mind recall was for Reliance Mobile.
Regarding the ad viewing behaviour, the survey found that given the short duration and fast paced nature of the T20 game, ad breaks are perceived to be disturbing, however, the tendency to watch ads during a T20 match was much higher than a Test or ODI match.
In fact, T20 has emerged as the cricket format of choice for sports follower in India. In view of the gradually growing fatigue with ODI and Test cricket, T20 could emerge as the popular format in the future as it delivers on the aspects on which the traditional formats have faltered – the Twenty20 format is exciting and entertaining, unpredictable results, fast-paced and of shorter duration.
The survey covered 2,100 respondents, with 420 respondents in each centre of Mumbai, Delhi, Chennai, Bangalore and Kolkata. The target respondents for the study included both males and females from SEC A, SEC B and SEC C households and in the 15-24, 25-34, 35-44 age groups.
According to the survey, Mumbai, Delhi, Bangalore and Chennai displayed similar patterns at the total level, while in Kolkata, football commanded a following of 97 per cent.
Programming HeadRadio Mango


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Why is a University in the Bioenergy Business? This article provides an interesting read from the perspective of the University of Wisconsin Oshkosh exploring the diverse range of benefits from their fleet of three anaerobic digesters. From campus sustianability, to unique learning opportunities, all the way to expanding digester opportunities to thesmall family dairies, and more.
The original article can be found here:


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ZACHARY — The City Council approved partial payments Tuesday totaling more than $1.56 million for construction on several infrastructure improvements, including a new road to ease traffic congestion and open up new areas for commercial development.
The largest payment, $834,102, went to Industrial Enterprises Inc. for recent work done on the new road connecting La. 19 and La. 64. The project is nearing completion, city financial officer Steve Nunnery said.
The contract, with a recent change order, now totals $4.47 million. The road will join La. 19 north of the La. 19-La. 64 intersection and connect to La. 64 near Lane Memorial Hospital.
The road is expected to ease traffic congestion in a commercial zone east of the La. 19-La. 64 intersection and put formerly landlocked property into commerce.
The council voted to make a partial payment, also to Industrial Enterprises, of $262,310 for work to make the Zachary Youth Park suitable for distribution of supplies and equipment staging during emergencies, such as hurricanes.
The council accepted the $139,000 annual road rehabilitation project as "substantially complete" and approved a $47,199 partial payment to the contractor, RWB Contracting LLC.
Nunnery said the city-parish accepted a sewage pump station to serve the Americana commercial and residential development on Mount Pleasant Road. The council paid Hawkmoon Construction the final $33,221 due for the project, which was completed in February.
Council members also agreed to pay $47,000 to Industrial Enterprises for a new high-pressure gas line to be served with a tap to Florida Gas Co.'s pipeline. Nunnery said the $419,000 project is expected to be delivering natural gas to customers by December.
The final construction item involves improvements to Rollins Road in the area of Zachary High School, which were not finished on time. The council agreed to increase Kort's Construction Services Inc.'s contract by $327,764 for work that was not included in the original plans and to pay the firm $313,000 for work done through Sept. 25.
City Attorney John Hopewell said Mayor David Amrhein is negotiating with the firm over liquidated damages the city will assess because the project was not finished before school started.
Also, the council approved the preliminary plat of Cedar Bend subdivision, a 78-lot development on La. 964.


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Your vehicle is renowned for versatility and European styling, which is likely the best reason for owning it. When you drive a Land Rover, you know it's responsible to keep it in good working order. If a part on your Land Rover has failed and needs to be replaced, then we've got what you are looking for. Anyone who owns a Land Rover will agree that the best parts, especially replacement Control Arm Bushing, are the only parts that they will install on their car, truck, or SUV.
If your alignment is perfect but your tires are wearing unevenly, then you likely have torn or deteriorated control arm bushings. You should be able to drive your Land Rover without experiencing issues with your ride comfort, but eventually the rubber components that help support and assist your suspension will fail. In order to change your control arm bushings yourself you will need a special press or hand tools, so trust a local Land Rover expert to do the job. But make sure to use only the best replacement parts, otherwise you could be coming back for more.
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This card holder in Damier canvas is both practical and adaptable. It opens to reveal a large compartment for cards and two discreet storage spaces.
Business Card Holder
This card holder in Damier canvas is both practical and adaptable. It opens to reveal a large compartment for cards and two discreet storage spaces.
Damier Azur Canvas
Call to Purchase
|This item will be shipped within 10 days
For your information:
This item will be shipped within 10 days.
(Length x Height x Width)
- 10 x 8 x 1 cm
- length x height x width
- 4 x 3 x 0.4 inches
- Coated Canvas
- Grained Cowhide Leather lining
- Golden silver color metal pieces
- 1 credit card slot
- 1 gusseted compartment
- Snap closure
* Contact Client Services if you wish to add a personalised goat character.
- Be careful not to scratch or rub your product against abrasive surfaces, especially the leather trim.
- Protect your product from humidity and keep it away from direct sources of heat, such as radiators and the inside of cars in summer.
- When not in use, store the item in the dust bag provided with your purchase. Do not store in high temperatures, high humidity or unventilated areas.
Damier Azur canvas:
- Although they are easier to soil than the other canvases, Damier Azur products are easy to clean: gently wipe the coated canvas with a light and soft cloth, dampened with slightly soapy water, avoiding the leather parts.
- Avoid prolonged contact with any material that may transfer its colour pigments onto the coated canvas (magazines, textiles and leathers, etc.). Any colour transfer onto this light canvas is permanent.
Natural cowhide leather:
- The trim is in natural cowhide leather, the skin is finished through a vegetal tanning process.
- Some natural marks or genuine irregularities in the leather may show through. Over time, this delicate leather, which is sensitive to scratches, will acquire a beautiful patina.
- Protect your product from water (rain), which could stain the leather.
- Should it get wet, dab it with a lint-free, light-coloured and absorbent cloth.


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About the Book
Features & Details
- Category Fine Art Photography
Standard Landscape, 10×8 in, 25×20 cm
100 Pages
- Publish Date Feb 04, 2013
See More
About the Creator
Elias Siakantaris
Athens, Greece
Elias Siakantaris Born in Athens Greece, he studied architecture at the Polytechnic School of Thessaloniki. From his student years he was involved in photography. He excelled in national photographic competitions of the Greek National Tourism Organisation, Municipality of Thessaloniki, the Greek Photographic Society, Culture Club of Florina and AKTO. His photographs have been repeatedly published in the "Gallery of the Readers" of the Greek magazine "ΦΩΤΟΓΡΑΦΟΣ".
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(Bodices Sized for Stretch Knits Only): The top-stitched tops made of knit fabrics feature contrasting sleeves made of fabrics other than knits. Wrap and tie tops V. 1 & 2 with "V" shaped neckline and waistband and tie ends fasten at left side with a bow. Embroidered eyelet edging trimmed V. 1 has short gathered sleeves. V. 2 & 3 have long sleeves gathered with elastic casings. Tank tops V. 3 & 4 have "U" shaped neckline. V. 4 has short "butterfly" sleeves made of embroidered eyelet edging.
Links to reviews/blog posts Edit
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Fancywork Bust 34 Uncut
Gallery Edit
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I am trying to find or create a custom report that will provide a listing of each switch with the associate port information including MAC and IP address.
This topic was created during version 5.3.
The latest version is 7.5.00101.
5 Replies
Jan 17, 2012 at 9:46 UTC
Check out the VLANs tab for the device you're looking at. If you need to spreadsheet it, I've successfully highlighted the list and copied and pasted it into Excel. It looks good with a little cleanup.
Jan 17, 2012 at 12:12 UTC
I was hoping to be able to create a report for all of the switches that contains all of the port information rather than have to go to each switch individually and copy into Excel. I am close with creating a custome report, but I don't think I have the query paramters defined quite right.
Is there a guide for setting up custom reports that explains how to combine the query criteria? I may need to use SQL to do what I need, but I am getting pretty close with standard query fields. Thanks
Jan 17, 2012 at 1:18 UTC
Caisse Consulting Inc is an IT service provider.
I almost have what you are looking for but having an issue displaying the name of the device connected to the port of the switch. Some of the field I have listed are just for my own uses to help me understand what is going on but, here is what I have:
T1.id AS 'Device ID',
T1.name AS 'Switch Name',
T1.mac_address AS 'MAC Address of Switch',
T1.location AS 'Switch SNMP Location',
vlan_ports.name AS 'Port Number',
T1.name AS 'Device Name',
devices T1
INNER JOIN vlan_ports ON (T1.id = vlan_ports.device_id)
LEFT OUTER JOIN devices ON (vlan_ports.mac_address = T1.mac_address)
(T1.name like '%-mis1d%') AND
(vlan_ports.name = '2')
T1.name Asc, vlan_ports.name
You can take out the WHERE statement, I was just using it to limit the query and the speed of the query.
Those SQL guys out there need to help me.
Jan 17, 2012 at 1:21 UTC
Caisse Consulting Inc is an IT service provider.
Jackie, can you post what you have so I can see what you have? Maybe we can help each other.
Feb 6, 2012 at 2:11 UTC
Petes PC Repairs is an IT service provider.
did you create the report and get working?
This discussion has been inactive for over a year.
You may get a better answer to your question by starting a new discussion.


text:
SpicIndia Chandigarh Recruitment 2014 – 2015 Apply 14 Jr. Auditor for Finance
Spic India Chandigarh has unfolded an advertisement as Spic India Chandigarh Recruitment 2014 for filling up the 14 vacancies of Jr. Auditor for Finance Deptt. Well qualified and dynamic candidates may apply online for this job opening by submitting the application form on or before the closing date 27 Oct, 2014.
The whole acknowledgement regarding Spic India Chandigarh Recruitment 2014 such as eligibility criteria, selection process, age limit and how to apply etc are mentioned below on this page of recruitmentlaucher.com.
|Organization Name
|Spic India Chandigarh
|Post Name
|Jr. Auditor for Finance Deptt
|No. of posts
|Mode of Apply
Essential Qualification
Job hunters must have possessed B.Com. /Bachelors of Business Studies/ Bachelors of Business Administration from a reputated Institution/University.
Find more jobs after Graduation
Applicants should be M. Com. /MBA (Finance)/ PGDM (Finance)/ Cost and Management Accountant with certified course in computers.
Application fee
Participants who are Shortlisted in the screening of application are required to submit the amount of Rs 350/- as an application fee in the form of Demand Draft in favour of "Society for Promotion of IT in Chandigarh" or Cash at the time of interview.
Mode of Selection
Shortlisted candidates will be called for written test / interview for final selection.
Questions mostly asked in interview
Consolidated salary
Appointed aspirants will get the salary of Rs. 17420 /- per month.
Procedure to apply online
- Fascinated job hunters may apply by filling the online application through the official website, www.spicindia.com
- Press on the link of Jr. Auditor for Finance Deptt', which is available in the 'Appointments' section on the bottom part of the home page.
- Then read the complete notification carefully and press on the 'Click here for Application Form' link.
- Fill the form with all asked details and submit it successfully.
- Then take the printout of filled form and must bring it at the time of interview with latest resume/passport size photograph/original testimonials/certificates.
Date to be remembered
End date to fill the online application: 27 Oct, 2014
Note: To know more information relevant to this vacancy must visit Official site.
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ALSA Businesses
ALSA Businesses, designed for your company needs
Aimed at professional people, both staff and management, who make regular work journeys on our routes. ALSA BUSINESSES service offers significant discounts and other benefits which will help your company to move on wheels.
Do you already have an account? Start session


text:
Stick Man DVD
Our Price: $12.99
Free Shipping on orders of $59 or more Details >
Item No.: STMN601
Single DVD
From the makers of The Gruffalo and Room on the Broom, and based on the beloved children's classic written by Julia Donaldson and illustrated by Axel Scheffler, this beautifully animated film tells the tale of Stick Man and his epic adventure across the seasons. He gets thrown into a river, escapes from a swan's nest, and even ends up on top of a fire. Will he ever get back to his family tree in time for Christmas?More >
AVAILABILITY: In Stock, leaves warehouse in 1 - 2 full bus. days Details >


text:
Need Appliance Repair Help? Ask a Technician for Answers ASAP
Hello, Thank you for using this service, I will be helping you with your problem today
Can you have someone lift up and down on the drum while you watch the pulley in the back ? does the pulley move ? have them pull in and out also. does the bearing seem loose ?


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|Message view
|« Date » · « Thread »
|« Date » · « Thread »
|Sylvain Wallez <sylv...@apache.org>
|Re: [Design] JXTG 2.0 (Just my opinion)
|Sun, 05 Dec 2004 20:54:23 GMT
Stefano Mazzocchi wrote: > Bertrand Delacretaz wrote: > >> Le 4 déc. 04, à 21:03, Glen Ezkovich a écrit : >> >>> >>> On Dec 4, 2004, at 3:37 AM, Bertrand Delacretaz wrote: >>> >>>> ...Currently we have JXTG for the first step, and mostly XSLT for >>>> the second. Having something that could cover both steps and be >>>> usable by either programmers working on the first step or designers >>>> working on the second would be a Really Good Thing. >>> >>> >>> >>> I'm not really sure what you mean by having something that could >>> cover both steps. JXTG covers both steps in the sense that many >>> people are using it to inject their data into their html. Now, to >>> have a template transformer, that is something with which I would >>> really like to play. I'm not very found of XSL. A simpler >>> alternative could be a Really, Really Good Thing. >> >> >> >> That's what I mean - having a transformer that can use the same >> template syntax as used in the generator, so that the template >> language can be used for both the generation and transformation steps. > > > My FS detector is out of scale!! Ring, ring, ring :-) > This is *exactly* what the XSLT WG did and failed miserably. XSLT can > be used for both generation and tranformation. But it looks right for > one (besides the stupid XML-ish syntax) and totally ackward for the > other. XQuery is the same thing, only reversed: it can be used as a > template language, and as a transformation language. If feels better > for the first one (only ackward because, as usual, the XSLT WG starts > with one name and ends up defining something else) and totally wrong > for the second. > > Look at my eyes and repeat with me: I DO NOT WANT TO REPEAT THE > MISTAKES THAT THE XSTL WG DOES OVER AND OVER YEAR AFTER YEAR. > > Generation and transformation are two different things, done often by > different people and for different goals and with different constaints. > > Having one language for both will do only harm, because it will make > it harder for people to decide when to use generation and when to use > transformation. Although I agree that using XSLT as a generator feels awkward, the context of Cocoon is different. XSLT as a transfomer uses an input document, and XSLT as a generator has no input which makes it look strange (although it can load data with the infamous document() function). Now what is the "input document" equivalent in Cocoon? It depends: - it can be the view data passed to cocoon.sendPage() - it can also be the output of the generator. So in the first case, the template is a generator, and in the second case, the template is a transformer. And in all cases, the template actually does *transform* a set of data. So having a template language used either as a generator or a transformer doesn't seem so awkward to me, as contrarily to W3C specs, it is always a transformation of some data given by some previous layer in the processing chain (either the controller or the generator). Note however that JXTemplateTransformer seems really weird to me as its input data *is* the template. Sylvain -- Sylvain Wallez Anyware Technologies http://www.apache.org/~sylvain http://www.anyware-tech.com { XML, Java, Cocoon, OpenSource }*{ Training, Consulting, Projects }
|View raw message


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Badaun (UP): A 28-year-old woman was gangraped and killed by unidentified persons in Faizganj Behta area in Badaun, Uttar Pradesh.
The body of the victim was found in a cane field in Mannu Nagar village on Monday night, Additional Superintendent of Police Balendu Bhushan Singh said on Tuesday. He said that both the hands and feet of the woman were tied and there were injury marks on the body.
The ASP said that prima facie it seemed that the victim was gangraped before being killed. He said that the identity of the woman is yet to be ascertained.


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World news story
UK and India sign a multimillion-pound programme of co-operation on commercialisation of research
- English
- हिंदी
- From:
- British High Commission New Delhi and Department for International Trade India
- Part of:
- India
- Published:
- 14 March 2013
This was published under the 2010 to 2015 Conservative and Liberal Democrat coalition government
The new programme further strengthens the UK India research and innovation partnership.
The POC was signed on 12 March at the Innovate UK conference in London, in the presence of Rt Hon Minister David Willetts, UK Minister for Universities and Science.
The UK and the Indian Government's Department of Science and Technology (DST) have agreed to undertake a joint programme to support innovative UK and Indian businesses which are working together on the commercialisation of research in a range of key areas including energy and healthcare. The POC was signed on 12 March at the Innovate UK conference in London, in the presence of Rt Hon Minister David Willetts, UK Minister for Universities and Science.
The new programme further strengthens the UK India research and innovation partnership, which was one of the themes during Prime Minister David Cameron's visit to India last month. It will enable the two countries to build on current collaborations in the thematic areas covered. The agreement is also the first ever international partnership the Technology Strategy Board has signed outside of Europe. The Programme of Co-operation will see the TSB and the Indian GITA, sponsored by the Indian Government, supporting UK and Indian businesses and academics in joint R&D and innovation projects over a three year period.
On signing the agreement Iain Gray, Chief Executive of the Technology Strategy Board, said:
These programmes not only help build and strengthen links between countries but will help build the international partnerships between businesses so vital in today's global economy.
This programme is the first agreed between the two organisations and is expected to expand further over time, for the mutual benefit of businesses from both countries. India is a rapidly growing economy which provides huge opportunities for innovative UK businesses. By working with similar Indian businesses, UK companies are able to understand the needs of this vibrant and fast-moving market. The support of the Technology Strategy Board will help them build partnerships and will support joint, collaborative R&D and innovation projects.
Sir James Bevan, British High Commissioner to India said:
I am extremely happy to note that the Technology Strategy Board, UK is working with partners in India. This is a welcome step in addition to the UK and India research partnerships which have grown from less than £1m in 2008, to over £100m today. Just as those research partnerships support pre-commercial research done by our institutions, this new programme will now also directly create new opportunities for innovative businesses to work together.
Further information
About the Technology Strategy Board: The TSB is the UK's innovation agency. Its goal is to accelerate economic growth by stimulating and supporting business-led innovation. Sponsored by the Department for Business, Innovation and Skills (BIS), the Technology Strategy Board brings together business, research and the public sector, supporting and accelerating the development of innovative products and services to meet market needs, tackle major societal challenges and help build the future economy
The Global Innovation and Technology Alliance: The GITA is a Not-for-Profit (Section 25) PPP Company, promoted jointly by the Confederation of Indian Industry and the Technology Development Board, Department of Science & Technology, Government of India. GITA works to strengthen India's innovation ecosystem through supporting and enabling technology and innovation driven enterprises.
Follow @UKinIndia on Twitter
Marcus Winsley Director, Press and Communications British High Commission Chanakyapuri, New Delhi 110021
Telephone: 91-11-44192100; Fax: 91-11-26870065
Email: firstname.lastname@example.com
Document information
Published: 14 March 2013


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Foursquare © 2017 Lovingly made in NYC & SF
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text:
a mountain book a very personal look back
30 years captivated
by terry rabbitt
About the Book
Features & Details
- Category Sports & Adventure
Standard Landscape, 10×8 in, 25×20 cm
98 Pages
- Publish Date Dec 01, 2012
See More
About the Creator
terry rabbitt
bolton lancashire uk
aged 78 yrs - married 53yrs - 5 children obsessed with my wife and children grandchildren and great grandchildren - english lake district - photography - venice
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