A teaching apparatus comprises a three-dimensional geometrical object having a surface divided into a plurality of segments, each of which includes a question relating to a particular field of liberal arts study. In a preferred embodiment of the instant invention, the three-dimensional geometrical object is a sphere, and the plurality of segments are defined by visible lines provided on the sphere's surface. In embodiments of the teaching apparatus of the instant invention, the particular fields of liberal arts study include the fields of music, literature, and art. For each of these embodiments, the particular questions are applicable to approximately any song and artist, story and author, and piece and artist. At least one of the questions used is designed to elicit emotional responses from a user. Alternatively, at least one of the questions is designed to elicit individualized responses from a user. Furthermore, a preferred embodiment of the instant invention includes at least one of the questions which is designed to elicit creative responses from a user.

Much of teaching and learning involves nothing more than the rote memorization of facts, figures, and dates. Subjects which are amenable to such rote memorization includes the study of simple mathematics, the alphabet, counting, and spelling, as just a few examples. In each of these subject areas, the recognition of the need for repetition and memorization has spawned an entire industry of study aids designed to allow students to continuously practice the particular fact based area in which they are studying. For example, in the subject of mathematics, learning aids such as flash cards, times tables, dice games, and other such products have been developed to aid a student in memorizing the required relationships in rote fashion.
One such device which allows students to master the basic concepts of mathematics is described in U.S. Pat. No. 5,571,019 issued to Wilson on Nov. 5, 1996, for an APPARATUS AND METHOD FOR TEACHING CONCEPTS OF MATHEMATICS. This reference describes the use of a ball having situated thereon certain mathematical problems and solutions framed by a certain colored geometric symbol. This device, as with the use of flash cards, allows a student to randomly receive a mathematical problem and solution for memorization. Unlike most flash cards, however, the Wilson '019 device also establishes certain relationships between the color, geometric symbol, and the type of mathematical problem contained therein.
Similar learning devices for the study of mathematics are marketed in the Spring 1998 edition of the Summit Learning Math Catalog, A Steck-Vaughn Co., under the name CLEVER CATCH for the subjects of addition, subtraction, multiplication, and division. However, the CLEVER CATCH balls do not appear to establish and maintain a fixed relationship between the geometric shape, color, and the type of mathematical problem contained therein. As with the Wilson '019 apparatus, however, these learning aids are limited to the rote memorization of mathematical facts.
While rote memorization of certain facts may be necessary to the proper educational development of our children, such techniques do not allow for the educational development of the whole child. Specifically, these techniques do not allow for the proper emotional development and development of creative thinking skills of a child. In fact, such rote memorization devices tend to stifle a child's creative development because they allow for no creative addition, subtraction, multiplication, or division, nor do they allow for synergism between components when adding numbers. With these devices, two plus two is always four, regardless how one feel about that answer. However, these are the only type of learning aid devices available.

Apparatus and method for teaching liberal arts concepts


This invention relates to porous polytetrafluoroethylene (hereinafter PTFE) materials having the property of rapid recovery and a method for producing these materials. The microstructure of the porous PTFE material consists of nodes interconnected by fibrils, substantially all of the fibrils having a bent or wavy appearance. Articles made from these materials are particularly suitable for use in the medical field, but are also useful in other areas such as filtration and fabric applications.

Strong, porous PTFE products and their method of manufacture were first described in U.S. Pat. No. 3,953,566. Such products have found widespread acceptance in a myriad of fields. They are used in the medical field as replacement veins and arteries, as patch materials, as sutures and as ligaments. They have also found use int he fields of waterproof and breathable clothing, filtration, sealants and packings, and in threads and filaments for weaving and sewing. These products possess a microstructure of nodes interconnected by fibrils.
U.S. Pat. No. 3,962,153 discloses porous PTFE products with a very fine microstructure and very high strength as well as a process for making the same. U.S. Pat. No. 4,402,516 discloses porous PTFE products with a coarse microstructure but still maintaining the desired high strength. The products disclosed in these patents, like those disclosed in U.S. Pat. No. 3,953,566, have a microstructure of nodes interconnected by fibrils.
The products of the above mentioned patents are relatively inelastic. If they are stretched any appreciable amount they become deformed and will not regain their unstretched dimensions.
U.S. Pat. No. 4,443,511 discloses a method of making a laminated fabric composed partly of porous PTFE that has improved elastic properties. This patent, however, only discloses how to make a stretchable laminated article but does not teach how to provide porous PTFE with the property of rapid recoverability.
In the field of medical prostheses there have been a number of patents directed to tubular products that have elastic properties. U.S. Pat. No. 3,142,067 to Liebig describes a vascular prosthesis comprising a tubular fabric body made of Dacron in which crimps have been made throughout the length of the tube so that the final product demonstrates an elastic accordion-like behavior and is also said to possess flexibility and freedom from kinking under flexure and bending. U.S. Pat. No. 2,836,181 to Tapp similarly describes a nylon tube in which crimps have been made throughout the length of the tube so that it is resistant to kinking or collapsing.

Rapidly recoverable PTFE and process therefore


Methods and systems are provided for displaying an unusual attitude of an aircraft in a head-up display system. The system comprises a projection unit configured to project the unusual attitude of the aircraft and a processor coupled to the LCD projection unit. The processor is configured to control the LCD projection unit during the unusual attitude of the aircraft to produce an attitude indicator of the aircraft and a horizon symbol. The horizon symbol divides the attitude indicator into a first region having a first display characteristic and a second region having a second display characteristic different from the first display characteristic. The first display characteristic is substantially uniform throughout the first region, and the first region indicates a ground with respect to the aircraft.

A variety of display systems have been devised to present aircraft and flight information, such as pitch and roll attitude, altitude, airspeed, heading, and the like, to the pilot. These display systems typically use a combination of alphanumeric and graphical information to indicate the state of the aircraft on a single display. Two general categories of aircraft display systems commonly found in commercial, military, and civilian aircraft include a panel-mounted variety (e.g., a Head-Down Display or HDD) and a Head-Up Display (HUD) variety.
In general, a greater degree of information may be presented on a panel-mounted aircraft display than a HUD. A HUD typically projects flight information onto a combiner located within the general viewing area (e.g., the cockpit window) of the aircraft pilot, and the amount of flight information provided onto the combiner is generally limited to permit simultaneous viewing of the flight information and the environment seen beyond the cockpit window. Additionally, many conventional HUD systems are monochromatic because some colors provide greater viewing performance than other colors and because multi-colored Cathode Ray Tube (CRT) projectors used in such HUD systems generally process flight information at a rate unsuitable for real-time performance. Without concern for viewing of the environment beyond the cockpit window, panel-mounted aircraft displays generally lack these constraints and can provide multi-colored presentations with greater information detail than conventional HUD displays.
One display instrument presented in these display systems is an Attitude Direction Indicator (ADI). An ADI generally indicates a reference point or line, e.g., a horizon line, relative to the position of an aircraft. The aircraft may be represented by a fixed element of the ADI display, and most ADIs depict the aircraft wings as one or more horizontal marks that are centered with respect to the display screen. The horizon line rendered on the ADI display may move up and down to reflect pitch changes of the aircraft. Similarly, the horizon line may rotate to reflect roll changes of the aircraft.
Some conventional ADIs used in HDDs include a blue colored region above the horizon line (e.g., representing the sky) and a brown or tan colored region below the horizon line (e.g., representing the Earth or ground). This color scheme is particularly useful when the pilot attempts to visually ascertain the relative position of the aircraft (e.g., with respect to the ground) within a short time period because the two colors more clearly distinguish the sky from the ground. While an ADI having such a color scheme may be suitable in many HDDs, most conventional HUDs, such as those employing CRT projectors, lack a multi-colored depiction of the regions above and below the horizon line. Under normal circumstances, a conventional HUD uses a pitch ladder and a roll scale, instead of the conventional ADI, and thus lacks features to distinguish the sky from the ground.
Distinguishing the sky from the ground is particularly useful during the occurrence of an upset condition. An upset condition may occur when the aircraft has an unusual attitude (e.g., an attitude promoting aircraft stall) that requires an eventual recovery from the unusual attitude. When the aircraft is oriented such that either all sky or all ground would be displayed, the conventional ADI used in HDDs presents some of both the sky and ground to minimize the pilot workload in ascertaining which direction to direct the aircraft for recovery.
Accordingly, it is desirable to provide an aircraft HUD system having a display that maintains both a sky region and a ground region and differentiates the sky region from the ground regions within the ADI during an upset condition. In addition, it is desirable to provide a method for displaying an ADI in an aircraft HUD system that maintains both a sky region and a ground region within the ADI and differentiates the sky region from the ground region within the ADI during an upset condition. Furthermore, other desirable features and characteristics of the present invention will become apparent from the subsequent detailed description of the invention and the appended claims, taken in conjunction with the accompanying drawings and this background of the invention.

Method and HUD system for displaying unusual attitude


The present invention relates techniques for identifying suitable secretion fusion partner (SFP) for hyper-secretory production of recombinant proteins. The SFPs can be obtained from secretome analyzes. Recombinant proteins are produced in a fusion form with a secretion fusion partner (SFP) and can be separated from the SFP by in vitro protease treatment. SFPs of this invention greatly improve the secretion level of target proteins and peptides which are valuable for bio-pharmaceuticals and the bio-industry.

Field of the Invention
This invention is in the field of recombinant protein expression. In particular, the invention relates to secretion fusion partners (SFPs) and techniques for screening for suitable SFPs. Optimized SFPs for accomplishing high level secretion of target polypeptides are described. The SFPs of the invention are capable of inducing hyper-secretory production of recombinant proteins.
Related Art
The recombinant expression of proteins of interest is a widely used procedure to produce large quantities of proteins for research purposes or for therapeutic and other commercial uses. A variety of recombinant expression systems are known in the art, including bacterial, yeast, and mammalian host cell systems, and many different proteins have been successfully produced in these systems. However, there are also many proteins that are not easily produced using available expression systems, resulting in little or no protein expression and secretion. Methods for improving the secretion of recombinantly expressed proteins, such as overexpression of molecular chaperones and foldase (Hackel et al., Pharm Res 23:790 (2006); Poewer and Robinson, Biotechnol Prog 23: 364 (2007); Shusta et al., Nat Biotechnol 16: 773 (1998)), over-expression of genes related to the secretory pathway ((Carla Fama et al., Biochim Biophys Acta 1773: 232 (2007); Wentz and Shusta et al., Appl Environ Microbiol 73: 1189 (1998)), engineering of the leader sequence (Clements et al., Gene 106: 267 (1991); Kjaerulff and Jensen, Biochem Biophys Res Commun 336: 974 (2005); Sagiya et al., Microbiol. Biotechnol 42: 358 (1994); Li et al., Bitechnol Prog 18: 831 (2002)) have had some success with particular proteins of interest.
Another way of increasing protein productivity is to link the protein of interest to a fusion partner. Secretory proteins used as a fusion partners, including, human serum albumin (Kang et al., Protein Expr Purif 53: 331 (2007); Huang et al., J. Pept. Sci 14: 588 (2008)), alpha-lactalbumin (WO1995027782A1), rubredoxin (WO2000039310A1), human glucagon (WO2000053777A1), cathelicidin-related peptide derived from the hagfish (WO2005019242A2), phosphoribulokinase (US6500647B1), protein disulfide isomerase (Kajino et al., Appl Environ Microbiol 66: 638 (2000), Staphylococcal Protein A (Moreno et al., Protein Expr Purif 18: 242 (2000), Hsp150 protein (Sievi et al., Biotechnol. Prog. 19: 1368 (2003), cellulose-binding domain (Ahn et al., Appl Microbiol Biotechnol. 64: 833 (2004)) and gold binding peptide (US20050106625A1) have had some success with particular proteins of interest.
In an effort to identify secreted proteins and novel signal sequences, several signal sequence trap systems have been developed. U.S. Pat. No. 6,228,590 describes a technique for screening for mammalian signal sequences by transforming reporter protein-deficient yeast with nucleic acids comprising mammalian coding sequences fused to a reporter protein and detecting cells that secrete the reporter protein. A similar system using invertase-deficient yeast and an invertase reporter protein is disclosed in EP0907727. Yeast-based signal sequence traps have been used to identify secreted proteins from human DNA (Klein et al., Proc. Natl. Acad. Sci. USA 93:7108 (1996); Jacobs et al., Gene 198:289 (1997)), mouse DNA (Gallicioti et al., J. Membrane Biol. 183:175 (2001)), zebrafish DNA (Crosier et al., Dev. Dynamics 222:637 (2001)), Arabidopsis DNA (Goo et al., Plant Mol. Biol. 41:415 (1999)), potato DNA (Surpili et al., Anais de Academia Brasileira de Ciencias 74:599 (2002)), and Candida albicans DNA (Monteoliva et al., Eukaryotic Cell 1:514 (2002)). Similar trap systems have been developed using mammalian host cells (Gallicioti et al., J. Membrane Biol. 183:175 (2001)) and bacterial host cells (Ferguson et al., Cancer Res. 65:8209 (2000). Reporter proteins that have been used in signal sequence traps include invertase (Klein et al., Proc. Natl. Acad. Sci. USA 93:7108 (1996)), alpha amylase (U.S. Pat. No. 6,228,590), acid phosphatase (PHO5) (Surpili et al., Anais de Academia Brasileira de Ciencias 74:599 (2002)), and β-lactamase Ferguson et al., Cancer Res. 65:8209 (2000).
A method for identifying translational fusion partners (TFPs) useful for secretion of a target protein is disclosed in WO 2005/068658. The method comprises (i) obtaining a plurality of host cells transformed with a variety of vectors comprising a library of nucleic acid fragments and a target protein-encoding nucleotide sequence fused with a reporter protein-encoding nucleotide sequence, wherein the host cells are deficient in the reporter protein, and (ii) identifying a TFP library from the host cells, wherein the TFP library comprises nucleic acid fragments which individually induce the secretion of the target protein.
Translational fusion partner (TFP) technology for secretory production of rarely secretable proteins in yeast was described in WO 2007/015178. In the course of TFP screening from the yeast genome, the YGR106C (Voa1p) gene was discovered. The cellular location of Voa1p protein was recently identified in the ER membrane (Ryan et al., Mol. Biol. Cell, Epub ahead of print, Sep. 17, 2008). Voa1p was proposed to be one of five V0 assembly factors for vacuolar ATPase.
There remains a need in the art for additional sequences that enhance expression of proteins, and methods for identifying such sequences.

Screening of abundantly secreted proteins and their use as fusion partners for the production of recombinant proteins

Korean Research Institute of Bioscience and Biotechnology


The present invention concerns a process for removing metal ions from waste water, which process comprises providing plant-derived anionic nanofibrillar cellulose, carrying out a purification treatment comprising sorption of positively charged metal ions contained in the waste water to said nanofibrillar cellulose, separating used plant-derived anionic nanofibrillar cellulose from the waste water, and recovering treated waste water. The invention also concerns use of plant-derived anionic nanofibrillar cellulose for removing metal ions from waste water.

Water treatment and purification involves removing contaminants in the water or reducing their concentration in order to make the water suitable for its desired end-use, for example for simply returning used water safely into the environment. The industry produces large amounts of waste water that needs to be purified. Waste water treatment chemicals, such as pH conditioners, coagulants, flocculants, antifoam and biocide agents are widely used, but they cause a burden on the environment.
Most contaminant species in water (raw or process water) have either negative or positive net charge. Consequently, the contaminant species with similar charge repel each other. Thus they may not be easily removed by filtration or sedimentation. Quite often the contaminant species are relatively small. It would be easier to remove small contaminant species from water if they can be flocculated first. If contaminant species have spherical shape, as suspended in a fluid medium, they settle at a rate proportional to the fourth power of the particle radius according to Stoke's Law. In order to flocculate contaminant species coagulants and/or flocculants are used.
During water purification, waste water is first screened after which the water suspension is coagulated and flocculated with the aid of chemicals. The flocculated material is then sedimented and the rest of the water is directed to filtration and disinfection processes.
Some major industries for sludge treatment chemicals are metal-processing industry, oil and gas industry, electronics industry, paints and coatings industry, power plants, textile industry, food and beverage industry, paper and pulp industry, chemicals and personal care industry, mining industry and agriculture.
Current solutions for water purification are based mainly on polyacrylamides, PolyDADMAC and aluminum sulfates, which cause further environmental burden. Natural flocculants may be based on for example gelatin, guar gum and linear polysaccharide.
There is a need for more environmentally friendly purification processes and chemicals. Furthermore, there is a need for solutions which also are economically feasible.
Aroua et al. ("Removal of chromium ions from aqueous solutions by polymer-enhanced ultrafiltration", J. Haz. Mat. 3 (2007), pp 752-758) have studied the removal of chromium species using polymer-enhanced ultrafiltration (PEUF) process. Three water soluble polymers, namely chitosan, polyethyleneimine (PEI) and pectin were used.
Also micro- or nanofibrillar celluloses have found applications also in the area of water treatment. Nanofibrillar celluloses (NFC or nanocellulose) can be derived from cellulose containing material, such as wood and other plant material. Nanocelluloses have recently found applications in various areas. In higher plants, cellulose is organized in morphologically complex structure consisting of β(1→4) D-glucopyranose chains. These chains are laterally bound by hydrogen bonds to form fibrils with a diameter in nanoscale, which are further organized in microfibril bundles. Furthermore, cellulose molecules are associated with other polysaccharides (hemicelluloses) and lignin in plant cell walls, resulting in even more complex morphologies. The cellulose micro- or nanoscale fibers can be released from the highly ordered structure by mechanical processes, optionally combined with other treatments such as chemical or enzymatic pretreatment of the cellulosic raw material. The microfibrillar or nanofibrillar celluloses obtained after mechanical processing may also be subjected to e.g. chemical treatment.
Isobe et al. ("TEMPO-oxidized cellulose hydrogel as a high-capacity and reusable heavy metal ion adsorbent", J. Haz. Mat., 260 (2013), pp 195-201) discloses studies with TEMPO-oxidized cellulose hydrogel for adsorption of toxic metal ions, such as copper (Cu2+), zinc (Zn2+), iron (Fe3+), cadmium (Cd2+), and cesium (Cs+).
Sehaqui et al. ("Enhancing adsorption of heavy metal ions onto biobased nanofibers from waste pulp residues for application in waste water treatment", Cellulose, 21 (2014), pp 2831-2844) concerns the use of cellulose and chitin nanofibers functionalized with carboxylate entities prepared from pulp residue and crab shells, respectively, by chemically modifying the initial raw materials with 2,2,6,6-tetramethyl-1-piperidinyloxy (TEMPO) mediated oxidation. The adsorption capacity of oxidized cellulose nanofibers for metal ions, including copper(II), nickel(II), chromium(III) and zinc(II) was studied.
Suopajärvi et al. ("Coagulation-flocculation treatment of municipal waste water based on anionized nanocelluloses", Chem. Eng. J., 231 (2013) pp 59-67) discloses dicarboxylic acid nanocellulose (DCC) flocculants produced by nanofibrillation of periodate and chlorite-oxidized celluloses with a homogenizer. The flocculation performance levels of five anionic nanocelluloses with variable charge densities were examined in the coagulation-flocculation treatment of municipal waste water and the results compared with the performance of a commercial coagulant and a synthetic polymeric flocculant.
Suopajärvi et al. ("Flocculation of municipal wastewaters with anionic nanocelluloses: Influence of nanocellulose characteristics on floc morphology and strength", J. Env. Chem. Eng., 2 (2014) pp 2005-2012) concerns testing the flocculation performance of anionic sulfonated (ADAC) nanocellulose flocculants, with variable charge densities in combined coagulation-flocculation treatment of municipal wastewater and compared the results with the performance of a commercial coagulant and a synthetic polymeric flocculant.
Suopajärvi et al. ("Lead adsorption with sulfonated wheat pulp nanocelluloses", J. Water Process Eng. (2014), http://dx.doi.org/10.1016/j.jwpe.2014.06.003) describes studies where wheat straw pulp fine cellulosics were used as a biosorbent for the removal of Pb(II) in aqueous solutions after nanofibrillation and sulfonation pretreatments.
Hokkanen et al. ("Removal of heavy metals from aqueous solutions by succinic anhydride modified mercerized nanocellulose", Chem. Eng. J., 223 (2013) pp 40-47) studied the removal of Zn(II), Ni(II), Cu(II), Co(II), and Cd(II) ions from aqueous solutions was investigated. Microfibrillated cellulose (MFC) was used, which was mercerized and then reacted with succinic anhydride.
Hokkanen et al. ("Adsorption of Ni(II), Cu(II) and Cd(II) from aqueous solutions by amino modified nanostructured microfibrillated cellulose", Cellulose, 21 (2014), pp 1471-1487) concerns investigating the adsorption properties of aminopropyltriethoxysilane (APS) modified microfibrillated cellulose (MFC) in aqueous solutions containing Ni(II), Cu(II) and Cd(II) ions. Microfibrillated cellulose was used and it was reacted with a coupling agent, APTES, to obtain modified microfibrillated cellulose.
Hokkanen et al. ("Adsorption of hydrogen sulphide from aqueous solutions using modified nano/micro fibrillated cellulose", Env. Techn., 35 (2014), pp 2334-2346) concerns a study where microfibrillated cellulose (MFC) was modified by aminopropyltriethoxysilane (APS), hydroxycarbonated apatite (HAP), or epoxy in order to produce novel nanostructured adsorbents for the removal of hydrogen sulphide (H2S) from aqueous solutions.
Hokkanen et al. ("Adsorption of Ni2+, Cd2+, PO43− and NO3− from aqueous solutions by nanostructured microfibrillated cellulose modified with carbonated hydroxyapatite", Chem. Eng. J., 252 (2014), pp 64-74) describes adsorption studies of Ni2+, Cd2+, PO43− and NO3− by carbonated hydroxyapatite (CHA) modified microfibrillated cellulose (MFC) was studied in the aqueous solution.
Hokkanen et al. ("Removal of Arsenic(V) onto magnetic Fe3O4 activated Microfibrillated Cellulose (MFC)), Chem. Eng. J., 260 (2015), pp 886-894) concerns a study using magnetic iron nanoparticles modified microfibrillated cellulose (FeNP/MFC) for arsenate (As(V)) removal from aqueous solutions.


An elongated opaque member having a longitudinal recess including a fluorescent mark at the distal end thereof viewable only by the shooting eye of the shooter when the elongated member is mounted at the proximal end of the gun barrel. The fluorescent mark typically comprises an elongated plastic member partially extending forward of the elongated opaque member, or alternately within the distal end of the elongated opaque member and revealed by an aperture provided within the elongated opaque member. Further alternate embodiments provide additional contrasting fluorescent material surrounding the fluorescent mark for enhanced sighting accuracy.

As distinct from precision target shooting wherein the shooter takes precise aim of a target through a pair of sights disposed at the extremes of the gun barrel, a moving target shooter adopts a different strategy, of accurately "pointing" the gun barrel after raising, or "mounting" the gun. In less than 11/2 seconds, the moving target, or "wing" shooter must first acquire the target in his view, second determine the proper position at which to point the gun. Simultaneously with acquiring the target, the shooter must mount the gun and acquire optimum pointing control of the gun. Moreover, it is preferable that while determining the proper position at which to point the gun, the gun is simultaneously pointed to that position and thereafter fired. However, traditional gun sights require the shooter to alternate between or compromise the target and gun related tasks, reducing accuracy.
Gun pointing aids such as single point sights located at the distal end of the barrel are intended to simplify the pointing process; however, as both eyes can see the same single point sight, it is instantly ambiguous which perceived point corresponds to the proper gun pointing. Attempts to interpose a lateral shield to cut off the view from the non-shooting eye are often ineffective during the mounting phase of shooting, and add little or nothing to aid the further optimization of pointing once the gun is mounted.
Sights mounted on the distal end of the gun barrel presenting an illuminated light having restricted range of viewing requires the shooter to limit the range of distal end gun motion and to fairly exactly point the gun barrel before the light begins to be seen. Alternately, a highly collimated light as may be provided by a long (>12") collimating tube delays or confuses the shooter by making it difficult to acquire the sight. Moreover, once seen, the light adds no further guidance on improving the pointing of the gun barrel, or precise targeting if sufficient time is available.


A mass storage array, having a plurality of mass storage drives, is flexible and adaptable to receive data blocks of a preselected varying size and, using an initialization process, adapts itself for writing the data blocks to disk drives having a known physical congfiguration. The disk storage system is software initialized to enable it to receive, from a host computer, data blocks having one of a selected number of possible block sizes. The disk storage system then, under software control, reformats the data to the particular configuration and physical block size of the disk drives attached to it. Thus, in one example, data blocks having 504 bytes per block, available from a Unisys mainframe computer, can be formatted and stored in disk drives having a block size of 512 bytes per block in a manner transparent to the user. In other configurations, a software configuration for the same physical storage controller and disk array takes data blocks from a Unisys Series A System having a data block size of 180 bytes per block, and groups them so that eight incoming computer formatted 180 byte blocks are stored in three physical blocks on the disk drive system.

The invention relates generally to mass storage systems, and in particular, to the communications for, and configuration of, a mass storage system.
To meet the growing requirements of today's computer systems, and simultaneously, to achieve flexibility and reliability in the function and configuration of a mass storage system, manufacturers of such systems have needed to make their systems adaptable to differing host standards. However, it would be desirable to manufacture the same mass storage system for use with the differing standards associated with various host computer manufacturers.
One particular area in which the standards have clearly not been consistent is the data block structure with which a host computer system formats its data. Thus, in a Unisys Series A system, for example, each block has 180 bytes of data whereas in an IBM AS/400 system, each block has 520 bytes of data. Other system configurations, such as those using the Unix operating system, require 512 bytes of data per block (the defacto standard). In addition, there can be one or more bytes of error correcting code or parity as required by the host system.
In modern high speed, high capacity systems, the host system does not perform the actual storage of the data on or in the mass storage device. This is left to a sophisticated storage controller which receives the blocks of data and formats them for storage in view of the physical characteristics of a disk drive.
Most disk drive manufacturers configure their disk drives for 512 bytes of data per block, with a plurality of blocks forming a track. (Those made for compatibility with IBM equipment such as the AS/400, use 520 bytes per block.) Each drive contains a plurality of tracks to form a cylinder. It is necessary in accordance with prior art systems to configure the physical disk drive, at the factory, for differing protocols, and thus create drives which cannot be used for any other block size protocol without being returned to the factory.

Mass storage controller with universal track size adaptability


A computing device processor may be configured with processor-executable instructions to implement methods of detecting and responding non-benign behaviors of the computing device. The processor may be configured to monitor device behaviors to collect behavior information, generate a behavior vector information structure based on the collected behavior information, apply the behavior vector information structure to a classifier model to generate analysis results, use the analysis results to classify a behavior of the device, use the analysis results to determine the features evaluated by the classifier model that contributed most to the classification of the behavior, and select the top “n” (e.g., 3) features that contributed most to the classification of the behavior. The computing device may display the selected features on an electronic display of the computing device.

Cellular and wireless communication technologies have seen explosive growth over the past several years. Wireless service providers now offer a wide array of features and services that provide their users with unprecedented levels of access to information, resources and communications. To keep pace with these enhancements, personal and consumer electronic devices (e.g., cellular phones, watches, headphones, remote controls, etc.) have become more powerful and complex than ever, and now commonly include powerful processors, large memories, and other resources that allow for executing complex and powerful software applications on their devices.
Due to these and other improvements, personal and consumer electronic devices are becoming ubiquitous in modern life, and have unprecedented levels of access to information that is generated by, or which relates to, their users. In addition, people frequently use their devices to store sensitive information (e.g., credit card information, contacts, etc.) and/or to accomplish tasks for which security is important. For example, mobile device users frequently use their devices to purchase goods, send and receive sensitive communications, pay bills, manage bank accounts, and conduct other sensitive transactions. Due to these trends, personal and consumer electronic devices are quickly becoming the next frontier for malware and cyber attacks. Accordingly, new and improved security solutions that better protect resource-constrained computing devices, such as mobile and wireless devices, will be beneficial to consumers.

Methods and systems for using causal analysis for boosted decision stumps to identify and respond to non-benign behaviors


A core sample from an oil or gas well can be quickly and easily inserted and removed relative to a reusable sealing sleeve fixed within a test housing wherein the core sample is tested for both longitudinal and lateral strain in response to applied stress. Young's modulus and Poisson's ratio can be determined from the strain and stress information. Pressures and temperature can be set to simulate downhole conditions inside the apparatus.

This invention relates generally to methods and apparatus for testing core samples extracted from an oil or gas well. In particular, the invention relates to a method of determining elastic properties of a core sample and an apparatus useful in performing the method, which apparatus is for detecting changes in longitudinal and lateral dimensions of the core sample.
A commonly utilized technique for stimulating the production of hydrocarbons from a subterranean rock formation penetrated by a well bore is to create and extend fractures in the formation. Generally, the fractures are created by applying hydraulic pressure on the formation from the well bore. That is, a fracturing fluid is pumped through the well bore and into the formation at a rate and pressure such that the resultant hydraulic force exerted on the formation causes one or more fractures to be created. The fractures are extended by continued pumping; and the fractures can be propped open or flow channels can be etched in the faces of the fractures with acid, or both can be done, to provide openings in the formation through which hydrocarbons readily flow to the well bore. Fracturing is also utilized in carrying out enhanced production procedures in subterranean formations (e.g., water flooding from an injection well to a production well) as well as in other applications.
In designing fracturing treatments to be carried out in subterranean rock formations, it is often necessary and always desirable to know the direction in which fractures will extend in the formation. Such knowledge enables more efficient reservoir management. For example, knowing such directional information allows one to better place production wells for maximizing production from the reservoir of hydrocarbons in the subterranean formation and to better place waterflood injection wells for increasing waterflood sweep efficiency by avoiding an injection well arrangement that would cause premature breakthrough of the injected fluid into the producing well.
Information that can be used to help predict fracture direction includes Young's modulus and Poisson's ratio, which describe elastic properties of rock. These can be determined by testing rock core samples that have been extracted from an oil or gas well in a known manner.
Young's modulus can be defined as the ratio of normal stress to the resulting strain in the direction of the applied stress. Stress can be applied to a core sample with a longitudinal or axial compressive force from a known type of press. The resulting longitudinal or axial strain is the yield or deflection measurable as the change in the longitudinal or axial dimension of the core sample.
Poisson's ratio can be defined as the ratio of lateral or radial strain to the longitudinal or axial strain for normal stress within the elastic limit. This is measurable using the aforementioned detected dimensional change in conjunction with a lateral or radial dimensional change detected in response to the applied stress.
There are prior types of core sample test methods and apparatus with which to apply forces to core samples and measure responses to such forces; however, we are not aware of any in which core samples can be tested and removed without removing a sealing sleeve from inside a supporting housing of a test instrument and in which both longitudinal yield and lateral yield can be concurrently sensed and in which such sensing can be done under temperatures up to about 300.degree. F. and radial and pore pressures up to about 10,000 psi to better simulate actual downhole conditions and thereby provide more accurate indications of formation properties. To facilitate testing and to provide more useful information, there is the need for an improved method and apparatus for testing core samples which has the aforementioned features we do not find in any one prior test method or apparatus of which we are aware.


A portable valet system and method of use that incorporates a basket for storing items for movement as well as a collapsible hanger assembly that can be used for hanging items while in use. The portable valet system and method of use is collapsible and on wheels for portability.

The present invention, and inventive system, is a new and novel invention that works as valet, wardrobe carrier, drying ironing station, and article transportation system. One of the problems that the present invention was designed to address was the transportation of clothing, such as, dance costumes from various competitions. The main issue to be overcome was that there were numerous outfits as well as shoes, hat, hoops and other gear that could be utilized at the competition, but there was no easy way to transport them all at the same time. As is sometimes the case, it could take many trips back and forth to the car to get various articles of clothing and gear loaded and unloaded. The present invention is designed, in many embodiments, to overcome that problem.
The present invention is distinguishable from the prior art in the field. The present invention is patentably distinct from U.S. Pat. No. 197,979 to Ruckwardt, entitled "Portable Clothes-Rack." The invention of the Ruckwardt patent is not mobile, or on wheels. The invention of Ruckwardt does not have the capabilities to cart items in a basket, as does the present invention. The invention of Ruckwardt also does not have capabilities to hang garments simultaneously while using a cart, as can be done in the present invention.
The present invention varies from the invention as disclosed in U.S. Pat. No. 247,382 to McCallen entitled "Clothes Rack." The invention of the McCallen patent is not mobile, or on wheels, like the present inventive device. The invention of the McCallen patent is not compact, and cannot fold flat as can many embodiments of the present invention. The invention of McCallen does not provide the option to cart objects and only functions to hang clothes, unlike the present invention.
The present invention is distinguished from U.S. Pat. No. 2,240,561 to Grotta entitled "Portable Clothes Rack." The invention of Grotta does not offer the cart transport aspects of the present invention. The invention of Grotta is not mobile, or on wheels. The invention of Grotta does not have capabilities to hang or cart simultaneously, unlike the present invention.
The present invention is distinguishable from U.S. Pat. No. 2,901,124 to Gingher entitled "Folding Portable Rack" for several reasons. The invention of Gingher does not provide option to cart items in basket section, unlike the present invention. The invention of Gingher requires more tedious set up and adjustments in order to be utilized, unlike the easy to set up qualities of the present invention. The invention of Gingher has no capacity to become compact, or flat, for easy storage and assembly.
The present invention is distinguished from U.S. Pat. No. 3,162,473 to George entitled "Portable Rack" for several reasons. The invention of George does not allow the option to transport hanging garments. The invention of George does not provide wheels for easy transport, unlike the present invention. The invention of George also does not offer a cart to carry additional gear, unlike the present invention.
The present invention is distinguished from U.S. Pat. No. 4,221,402 to Kazmark entitled "Garment Bag Attachment for Portable Luggage Carrier. The invention of Kazmark focuses mainly on transporting of garment bags unlike the present invention, which in many embodiments focuses on the movement of garments themselves. In the Kazmark patent the hanging component is attachable/removable, unlike the present invention in which the hanging component is not attachable or removable, but rather a permanent aspect of the invention. The Kazmark invention is not designed for multiple hangers unlike the wardrobe of the present invention. The invention of Kazmark only uses two wheels whereas the present invention utilizes four wheels. The invention of Kazmark cannot stand upright for loading without assistance unlike the present invention.
The present invention is distinguishable from U.S. Pat. No. 4,538,709 to Williams entitled "Wheeled Garment Bag." Specifically, the invention of Williams is designed to move luggage easily particularly when traveling. The present invention is not related to luggage transportation. Furthermore, the invention of Williams only has two wheels, whereas the present invention requires four wheels. The invention of Williams also does not have option to function as portable wardrobe and hang materials, such as is found in the present invention.
The present invention is distinguished from U.S. Pat. No. 5,738,365 to McCarthy entitled "Collapsible Cart." The invention of McCarthy has no basket. The invention of McCarthy has no handle to push or pull. The invention of McCarthy is not designed for clothes transport. The invention of McCarthy also requires locking pins, whereas the present invention does not require locking pins, but can in some embodiments utilize locking pins.
The present invention is distinguished from U.S. Pat. No. 7,520,513 to Bush entitled "Ultra Portable Wheeled Valet" in many regards. The invention of Bush does not have the cart characteristics of the present invention. The invention of Bush also does not have four wheels, as is found in the present invention. The invention of Bush is not capable as acting as wardrobe, unlike the present invention. The invention of Bush cannot simultaneously cart and carry clothes.
The present invention is distinguishable for the U.S. Pat. No. 7,832,574 to Sexton entitled "Portable Collapsible Garment Support Rack Apparatus for several reasons. The invention of Sexton is not mobile, unlike the present invention. The invention of Sexton has no basket, unlike the present invention. The invention of Sexton does not have the capability to collapse flat, unlike the present invention. The invention of Sexton also does not have capability to both cart and hang clothes simultaneously while in operation.
The present invention is distinguishable from U.S. Pat. No. 8,820,777 to Pargansky entitled "Collapsible Valet Cart." The invention of Pargansky has no basket no cart and no handles to push, unlike the present invention. The invention of Pargansky also requires telescoping pins for operation, unlike the present invention, which only uses telescoping pins as an option. The invention of Pargansky also does not provide simultaneous use of cart and wardrobe, unlike the present invention.
The present invention is distinguished from US Pat. App. 2009/0000894 to Middup entitled "Portable Costume Case with a Collapsible Rack." The invention of Middup is basically a piece of luggage. The invention of Middup contains telescoping poles with pins, which the present invention does not require, but may include as an option. The invention of Middup has no carting capabilities. The invention of Middup can't be pushed when open and extended. The invention of Middup has bars that are separated from the luggage and are not self-contained. The invention of Middup also has only two wheels instead of the four of the present invention.
The present invention is distinguishable from US Pat. App. 2014/0131963 to Bengtzen entitled "Multi-function Cart" in several ways. First the invention of Bengtzen requires hard covers on the exterior of the invention which is not required or contemplated by the present invention. The device of Bengtzen also is not self-contained for functionality to both transport materials and act a hanging device. The invention of Bengtzen also has no vertical wardrobe capabilities, unlike the present inventive device.
The present invention is distinguishable from U.S. D142,059 to Botsford entitled "Portable Clothes Rack" for several reasons. The invention of Botsford is a portable clothe rack and that's its only function. The invention of Botsford has no carting capabilities. It is not mobile and has no wheels. The invention of Botsford has no handles to push/guide/transport. It also appears that the Botsford device cannot fold flat, as can many embodiments of the present invention.
The present invention is distinguished from U.S. D414,625 to Stelmarski entitled "Portable Clothes Rack" for several reasons. First, Stelmarski is basically a clothes stand. The invention of Stelmarski does not have wheels unlike the present invention. The invention of Stelmarski has no carting capabilities. The invention of Stelmarski has also no handles to guide/transport materials.

Portable valet mechanism and method of use


Methods and an apparatus for buffering write operations are disclosed. In one embodiment, a processing system bursts data to a bus. The processing system includes a memory cache, a write buffer unit, and a control unit. The memory cache produces an address and data. Included in the write buffer unit are a plurality of data locations coupled to the memory cache. The control unit directs the first data to any of the plurality of data locations.

This invention relates in general to memory writing and, more specifically, to an apparatus and methods for allowing burst writes to memory.
Performance of computer systems is heavily dependent upon memory architecture. Processors which are clocked at ever increasing frequencies suffer from bottlenecks when data is passed to dynamic random access memory (DRAM) which is external to the processor. Today, microprocessors are being clocked at frequencies upward of one gigahertz while DRAM memory is commonly clocked at frequencies less than two hundred megahertz. Memory is still evolving to operate at faster frequencies, but still memory lags behind the frequencies of microprocessors.
Because the external memory operates at a frequency much lower than the frequency of the processor, the processor occasionally must wait for a write operation to complete before issuing new instructions. For example, a number of writes to external memory could stall the processor if the processor operates at a frequency of one gigahertz and the memory runs at two hundred megahertz because five write operations can be issued by the processor for each memory cycle. As those skilled in the art appreciate, stalling the processor is undesirable.
Memory is written in discrete data packets. Each data packet is preceded by an address for that data packet. For each write to memory, a number of processor clock cycles are required to write each data packet. For example, in order to write four words of data, the sequence includes writing the following to the memory bus: a first address, a first word, a second address, a second word, a third address, a third word, a fourth address and a fourth word. The address cycle can take three processor clock cycles while the data cycle can take only one cycle. Transferring the above four words takes a total of sixteen clock cycles.
To increase memory bandwidth, different varieties of memory have been developed. These variants include page mode DRAM, synchronous DRAM and double data rate DRAM. These new memory variants allow bursting data to them in a way which increases data bandwidth to the memory. Bursting involves writing the address to memory once and following the address with a number of data packets. For example, to write a block of four words of data, the sequence includes writing a single address followed by the four words in succession to the memory bus. This approach presumes the block of four words are related to a single address, for example, the four words could be in adjacent memory locations. Using the same timing as the non-burst example in the preceding paragraph, the four words are transferred in seven clock cycles.
Although bursting can improve the bandwidth to memory, processing systems under-utilize this feature. A large proportion of writes to memory are single words. These single words cannot take advantage of the bursting feature in memory. Accordingly, techniques and hardware for better utilizing the burst mode of memory are desired.
According to the invention, disclosed are an apparatus and methods for buffering write operations. In one embodiment, a processing system is disclosed which bursts data to a bus. The processing system includes a memory cache, a write buffer unit, and a control unit. The memory cache produces an address and data. Included in the write buffer unit are a plurality of data locations coupled to the memory cache. The control unit directs the first data to any of the plurality of data locations.
In another embodiment, a method for optimizing storage in a write buffer unit is disclosed. First data and a first address are received. The first data is stored in the write buffer unit. Second data and a second address are also received. A determination is made whether the second address and the first address correspond to the same data block. The second data is stored in the write buffer unit.
In yet another embodiment, a method for storing data in a write buffer unit and dispensing those data to a bus is disclosed. In a first step, a plurality of data and a plurality of addresses respectively associated therewith are received. The plurality of data is arranged in the write buffer unit according to the plurality of addresses respectively associated therewith. A data block associated with a block address is burst to the bus.


An apparatus, system, and method are disclosed for ensuring query execution plan stability in a database management system. The present invention binds a static database query to a new query execution plan (QEP) that produces the same result set as an original QEP bound to the static database query. Next, the present invention identifies one of the original QEP and the new QEP as a primary QEP and automatically collects execution statistics for the original QEP and the new QEP. Finally, the present invention automatically selects one of the original QEP and the new QEP as the primary QEP in response to completion of the automatic collection of execution statistics, the primary QEP selected such that the automatically selected QEP provides optimal execution performance based on performance criteria in comparison to the automatically unselected QEP, the primary QEP selected based on the execution statistics.

1. Field of the Invention
This invention relates to database management systems and more particularly relates to binding and rebinding of query execution plans to database queries.
2. Description of the Related Art
Both critical and non-critical transactions rely on database technologies to store, retrieve, update, and delete data. Database management systems (DBMS) such as Oracle, DB2, IMS, MYSQL, are highly tuned and carefully managed to ensure that database queries to the DBMS are serviced and returned as quickly as possible. These queries may be made using various languages including SQL, XPATH, and the like. The database queries may be dynamic (meaning the query is generated as needed with a form that is unknown until they are received and likely to change between requests) or static (meaning the database query is predefined does not change form between requests, although the data values of the query may change). Static database queries lend themselves to high optimization and tuning because the form does not change.
Typically, a DBMS will store the text representing a static database query and/or assign a unique identifier for the static database query. The static database query is then associated with a query execution plan (QEP), also referred to as a query execution path. This association is referred to as a binding. The QEP identifies a set of indexes, tables, caches, and other optimization aides that the DBMS reference the QEP each time the DBMS receives a request to execute the static database query associated with the QEP. By following the QEP for a static database query a DBMS can significantly reduce response times.
A database administrator (DBA), or other user tasked with maintaining and tuning the DBMS, uses an assortment of tools and technologies to influence DB2 to generate a QEP that optimizes the use of DBMS resources and minimizes the response times for the static database query. Various tools and algorithms exist for identifying an inefficient QEP and determining a new QEP that is expected to perform better. Significant time and expense has been spent working to ensure that the new QEP is in fact more efficient than a previous QEP.
Unfortunately, these tools and algorithms are unable to provide a 100% guarantee that the new QEP for a particular database query is optimal. When a new QEP bound to a static database query in place of an original QEP performs less optimally than the original QEP, the QEP binding for the static database query has regressed. Regression of QEP bindings with its consequential reduced performance can be very costly to an organization in terms of lost reputation, failure to meet quality of service obligations, operations disruptions, time and expense in troubleshooting the matter, and the like
The problem of QEP binding regression currently unsolved due to the high number of factors which cause one DBMS environment to operate so differently from another. Some of these factors include the amount of query traffic, the variety of traffic loads, user request patterns, hardware configurations, processing bottlenecks, I/O bottlenecks, and the like. The problem of QEP binding regression is further complicated because the effects of binding a new QEP to a particular static database query may not be determinable within a predictable period of time due to usage patterns and the like. In addition, the configuration of the DBMS is such that administrative actions taken to improve performance of one set of static database queries can adversely affect another unknown set of static database queries.
Solutions exist for identifying when a QEP is regressive and for computing a new QEP that is predicted to provide more optimal performance than an original QEP. Unfortunately, these solutions still require the DBA to review the proposed new QEP and decide whether to bind the static database query to the new QEP.
The involvement of the DBA is a significant step. The DBA may need to consider bindings of new QEPs for hundreds or thousands of static database queries. The DBA must weigh the potential performance improvement against the potential that the new QEP is in fact not an improvement. The results of this decision are typically not known until the decision is made and the effects are experienced. Consequently, a DBA is often very reluctant to perform a rebinding without more proof that there will not be a regression in DBMS performance.
To minimize the impact of regression, a DBA will not perform the rebinding, or if the rebinding is performed, the DBA is prepared to quickly revert to original QEPs for a batch of static queries if performance suffers. In certain DBMS systems reverting to an original QEP is impossible. Unfortunately, this may return the status quo, but the benefit of the non-regressive new QEPs is lost at the expense of a few regressive QEPs.

Apparatus, system, and method for ensuring query execution plan stability in a database management system

International Business Machines Corporation


A latch system has two latch circuits corresponding to two internal clock signals synchronized with an external output signal. The internal clock signals are synchronized with rising edges of the external clock signal and produced as one-shot pulses having a frequency corresponding to ½ of an external clock frequency of the external clock signal.

This invention relates to a latch circuit for use in a synchronous memory which has an internal clock circuit for producing an internal clock signal for latching an address signal, a command signal, and a data signal in synchronization with an external clock signal and which inputs and outputs the address signal, the command signal, and the data signal in accordance with the internal clock signal. This invention also relates to the synchronous memory including the latch circuit.
For a latch circuit used in an existing synchronous memory such as a synchronous dynamic random access memory (SDRAM), a setup time and a hold time of an input signal, input and output pin capacitances, and input and output amplitudes are defined in detail in specifications so as to operate an input/output interface between an inside and an outside of a chip at a high frequency (i.e., a high speed). On the other hand, in order to increase an operation speed inside the chip, development of a finer process and a higher-speed device is effective, but it is difficult to follow up the high-frequency (high-speed) operation of the interface. Thus, a difference between the operation speed inside the chip and the operation speed at the interface tends to increase. Under the circumstances, a prefetch memory capable of reading and writing a plurality of bits of data in parallel is effective in order to increase the operation speed inside the chip.
As a typical prefetch memory, a double data rate synchronous dynamic random access memory (DDR-SDRAM) is known. The DDR-SDRAM transfers a data at a rising edge and a falling edge of an external clock, i.e., at a double data rate as compared with a synchronous operation in which a single data is transferred in one cycle of the external clock. In the DDR-SDRAM, the number of prefetch bits is equal to 2N where N represents the number of data pins (DQ). Thus, 2N-prefetch is achieved. Further, in a DDR2-SDRAM as an improvement of the DDR-SDRAM, data transfer is continuously carried out every two cycles of the external clock. In this case, the number of prefetch bits is equal to 4N. Thus, 4N-prefetch is achieved. By increasing the number of the prefetch bits as mentioned above, a data transfer rate is improved. In case of a 8-bit (×8) structure, N is equal to 8.
In the 2N-prefetch, 2×8 (=16) bits of data are read in parallel and outputted at two separate timings, i.e., in synchronization with the rising edge and the falling edge in each cycle of the external clock. Therefore, the 2N-prefetch allows an operating frequency inside the chip to be equal to ½ of an external clock frequency of the external clock. In the 4N-prefetch, 4×8 (=32) bits of data are read in parallel and outputted at four separate timings, i.e., in synchronization with the rising edges and the falling edges in every two cycles of the external clock. Therefore, the 4N-prefetch allows the operating frequency inside the chip to be equal to ¼. Thus, such a prefetch architecture is effective in increasing the operation speed inside the chip in conformity with the higher-frequency operation of the interface.
However, even if the prefetch architecture is used, it is impossible to increase an operation speed at a portion where an external input signal such as a command signal, an address signal, or a data signal is captured from the outside of the chip to the inside of the chip. The above-mentioned portion is implemented by a latch circuit and must have a clock frequency equal to the external clock frequency in order to enable the address signal, the command signal, or the data signal to be inputted and outputted in synchronization with the external clock. Therefore, an operating frequency of the synchronous memory is limited by a performance of the latch circuit even if the prefetch architecture is adopted.
Recently, the higher-frequency operation at the interface is achieved by lowering a power supply voltage from 2.5 V to 1.8V, further to 1.5 V, and narrowing an amplitude of the external input signal. Correspondingly, the operation speed inside the chip is increased by increasing the number of prefetch bits from 2N to 4N, further to 8N. Under the circumstances, the latch circuit is also required to be increased in operation speed in order to meet the higher-frequency operation at the interface.
Referring to FIGS. 1 through 3, an existing DDR2-SDRAM will be described. A command latch circuit 130 illustrated in FIGS. 1 and 2 comprises a command decoder 131, a latch circuit 132, and an output circuit 132. Various external command signals RASB, CASB, WEB, and CSB are captured into an internal circuit of the chip through the command decoder 131, the latch circuit 132, and the output circuit 133. The latch circuit 132 is supplied with an internal clock signal CLKB as a control signal for latching.
As shown in FIG. 3, the internal clock signal CLKB synchronized with all rising edges of an external clock signal CK is supplied to the latch circuit 132. Therefore, the external clock signal CK and the internal clock signal CLKB are equal in operating frequency to each other. Thus, the command latch circuit 130 comprises a latch circuit 132 corresponding to the internal clock signal CLKB and is operable at the operating frequency equal to an external clock frequency of the external clock signal CK.
For a standard data transfer rate of 667 Mbps of the DDR2-SDRAM, the external clock signal CK has a frequency period (TCK) of 3 ns. In this case, the internal clock signal CLKB has a pulse width as small as about 1.5 ns which corresponds to a half of that in the DDR-SDRAM having a data transfer rate of 333 Mbps. Therefore, without a significant improvement such as achievement of a finer process and a higher-speed device, it is difficult to reserve a sufficient margin in capturing or fetching the command signal. In this event, an operation error may be caused to occur due to an insufficient margin.
As a result, the operating frequency inside the chip is limited by the performance of the latch circuit. Even in the prefetch architecture is adopted, a high-frequency memory is difficult to achieve. Further, a high-frequency operation inside the latch circuit deteriorates setup and hold characteristics.

Latch circuit and synchronous memory including the same


An expandable and collapsible purse for insulating and carrying cans or bottles or other selected items within coverable pouches or pockets formed on the inside and/or outside or the purse. The storage cavity includes pockets to store other selected items. A continuous integral cover or sleeve extends upward from the top edge which can be folded inwardly over the inner pockets and contents on the inside of the purse or folded outwardly over the outer pockets surrounding the outer surface of the purse. After the containers are stored in the pockets, the sleeve can pulled down over the inner wall pockets or over the outer wall pockets to cover and further insulate the containers. The purse preferably has a carrying strap or straps and contains a zipper, snaps or hook and loop fasteners to close the top opening when the sleeve is pulled down over the pockets.

People frequently attend various public and private events and wish to carry their own cans or bottles along for personal consumption during the events. Ice chests are often used to provide a means for carrying and cooling or heating beverages. However, ice chests are large, heavy, and often require two people to carry them. The inconvenience of carrying and finding a spot to put an ice chest often prevents people from carrying beverages along to particular events. Moreover, an insulation type of fabric may be all that is necessary to maintain a desired temperature of a food item for a reasonable length of time when traveling.
For various reasons, a person may want to cover the cans or bottles. Parents carrying beverages or baby bottles often prefer that their children or others don't see the beverages within the purse. Some people consider the fact that they are carrying food or beverages with them to be a private matter and simply don't wish others to know or to see what they are carrying.


To provide an NOx removal catalyst management unit for use with an NOx removal apparatus, the management unit detecting an NOx removal catalyst layer that is actually deteriorated, whereby the deteriorated catalyst layer can be effectively replaced by a new catalyst layer, and to provide a method for managing the NOx removal catalyst. The management unit for managing a plurality of NOx removal catalyst layers provided in a flue gas NOx removal apparatus includes NOx measurement means 16A through 16E for determining NOx concentrations on the inlet and outlet sides of respective NOx removal catalyst layers 14A through 14D; NH3 measurement means 17A through 17E for determining NH3 concentrations on the inlet and outlet sides of the same NOx removal catalyst layers; and percent NOx removal determination means 18 for determining percent NOx removal (η) on the basis of an inlet mole ratio (i.e., inlet NH3/inlet NOx).

Conventionally, boilers provided in thermal power stations and a variety of large-scale boilers employing a fuel such as petroleum, coal, or fuel gas, waste incinerators, and similar apparatuses have been equipped with a flue gas NOx removal apparatus which contains a plurality of NOx removal catalyst layers.
The above employed NOx removal catalysts assume the form of honeycomb, plate, etc. During use, the catalytic performance of the catalysts is problematically deteriorated with elapse of time as a result of deposition, on the surface of the catalyst, of a substance which deteriorates the catalytic performance (hereinafter referred to as deteriorating substance) or through migration of the dissolved deteriorating substance into the catalyst.
Conventionally, the performance of the NOx removal catalysts has been managed by measuring NOx concentration and unreacted NH3 concentration on the inlet and outlet sides of respective catalysts. When a drop in total performance of a catalyst system is confirmed, old catalysts are replaced with new catalysts or regenerated catalysts in order of use age, and such replacement is carried out periodically.
Generally, NOx removal catalysts are very expensive. Thus, there has been proposed one approach for prolonging the service life of the NOx removal catalysts to as long a duration as possible by assessing the performance of each unit catalyst (Japanese Patent Publication (kokoku) No. 7-47108).
However, the aforementioned catalyst managing method has a drawback. According to the method, NOx concentration and unreacted NH3 concentration of each catalyst layer are determined, and percent NOx removal and percent contribution of each catalyst layer are calculated from the determined NOx concentration. On the basis of these values, performance-deteriorated catalysts are replaced with new catalysts in order of degree of deterioration. In this case, when the catalytic performance is evaluated by the percent contribution calculated on the basis of the NOx concentration, the catalyst layer(s) having actually deteriorated performance cannot be detected correctly.
In view of the foregoing, an object of the present invention is to provide an NOx removal catalyst management unit for use with an NOx removal apparatus, the management unit detecting an NOx removal catalyst layer that is actually deteriorated, whereby the deteriorated NOx removal catalyst layer can be effectively replaced by a new catalyst layer. Another object of the invention is to provide a method for managing the NOx removal catalyst.


A markerless method is described for tracking the motion of subjects in a three dimensional environment using a model based on linked kinematic chains. The invention is suitable for tracking robotic, animal or human subjects in real-time using a single computer with inexpensive video equipment, and does not require the use of markers or specialized clothing. A simple model of rigid linked segments is constructed of the subject and tracked using three dimensional volumetric data collected by a multiple camera video imaging system. A physics based method is then used to compute forces to align the model with subsequent volumetric data sets in real-time. The method is able to handle occlusion of segments and accommodates joint limits, velocity constraints, and collision constraints and provides for error recovery. The method further provides for elimination of singularities in Jacobian based calculations, which has been problematic in alternative methods.

The present invention relates to markerless methods for tracking the motion of a subject within a 3-dimensional (3D) space. The subject can be a human form or any form that can be modeled by a structure comprised of rigid linked segments, referred to in the art as linked kinematic chains. Linked kinematic chains are representations of non-deformable segments of the form being tracked. For example; a model of a human form could comprise rigid geometric segments, ellipsoids and cylinders, representing the head, torso, and limbs, mechanically interconnected by flexible joints that provide for rotation and angular positioning between the segments. Examples of subjects the method is applicable to tracking include but is not limited to humans, robots, laboratory animals, construction cranes and mechanical arms. The workspace within which the subject is moving, is divided into a plurality of smaller volume elements or voxels. The subject to be tracked is viewed by a system of multiple, video imaging cameras whose outputs are digitally acquired and processed on a personal computer. The method extracts silhouettes of the subject in each of the cameras views using background subtraction methods. A method is described for intersecting the multiple silhouettes to create a three dimensional volumetric data set, comprising a listing of the voxels within the workspace that are occupied by the subject. Volumetric data is collected in real time on a frame by frame basis. As the subjects motion is tracked from image frame to image frame, subsequent volumetric data indicates the new location of the subject as occupied voxels lying outside the previously computed location of the model. This new voxel data set is used to calculate virtual forces exerted on the model which act to align the model with the new voxel data set. This novel, physics-based tracking approach reduces the number of local minima that has hindered prior methods. The linked nature of the model additionally provides for tracking of partially occluded limbs. The model in the current method is dynamic and size parameters of the linked rigid segments are determined automatically by a growing process, during an initialization phase. A similar growing process is used to reacquire tracking if portions of the body are lost during tracking due to occlusion or noise. The dynamic model also incorporates velocity, joint angle, and self-collision limits. In an example embodiment, an imaging system with four cameras and a single PC operates the method in real-time at about 18 frames per second. The method describes a process for extracting volumetric data from a video imaging system, using the data to initiate dimension and initial positioning of a model template and an iterative process for aligning the model to subsequent data sets, acquired from each frame of the image, as the subject moves through a workspace. Three dimensional volumetric data is used to calculate forces acting on the model in three dimensions, which provides for a substantial improvement in tracking accuracy over prior methods performing force calculations in two dimensions, with or without multiple cameras.
In the following description of the invention, the method is applied to an embodiment for tracking human motion within a workspace. It will become obvious to one skilled in the art that the method is generally applicable to tracking the motion of any subject that can be modeled as rigid linked segments. Additional benefits to modeling the subject as a series of linked kinematic chains, as opposed to methods using a deformable model, will become apparent. An example of a method incorporating a deformable model can be found in U.S. Pat. No. 6,574,353 to Schoepflin et. al.
Video based 3D motion tracking is an active research topic. An overview of the field and this invention, including related references, is provided in J. P. Luck, "Real-Time Markerless Human Motion Tracking Using Linked Kinematics Chains", Doctor of Philosophy Thesis, Department of Engineering Systems, Colorado School of Mines, 2003, which is herein incorporated by reference in its entirety.
The need to improve man-machine interaction has made real-time markerless 3D motion tracking a highly valued goal. Current motion capture systems and methods require the subject to attach either magnetic or optical markers to their body and may even require cables extending from the markers to the system. Obviously a markerless method that does not require the user to wear specialized equipment would be more convenient, less constraining, more desirable, and in many cases necessary for the multitude of applications of such a process. These applications include:                Surveillance—In many surveillance situations such as access control, parking lot monitoring, ATM machine monitoring, or monitoring of publicly displayed valuables, it is helpful to not only know if humans are present but more importantly what they are doing.        Motion analysis—Motion analysis is extremely helpful in medical and biomechanical applications for the analysis of both injuries and the rehabilitation of injuries. Motion analysis has also become prevalent in sport applications. Analysis of swing can greatly improve a player's performance in golf, tennis, baseball, etc. A tracking system could also provide useful information in dance or ballet.        Virtual reality and video games—Tracking the human form is necessary to create interactive virtual environments. A tracking system could also be used for video games in which the user actually performs the motions of his or her screen character.        Teleconferencing—A virtual 3D teleconference could occur in real-time, because of the low bandwidth associated with transmitting joint angles.        Human robot interaction—Utilizing gesture control of systems, this type of tracking system would greatly enhance robot machine interaction. In industry typically safety constraints do not allow humans to enter spaces where large robots are performing tasks. However if the robot control system had knowledge of where the person was and what he or she was doing, the two could work together to perform tasks.        Advanced user interfaces—If a virtual interfaces are to be designed, the user must be tracked so that the system will know which virtual controls are being manipulated.
This vast array of applications presents many challenges to motion tracking. A system must be fast enough to collect data and track the subject in real-time. The system architecture must be relatively inexpensive and simple to be used for most applications—i.e. a system requiring expensive cameras and/or multiple computer architectures are of little use. The system must also be able to acquire the model on its own, and track unconstrained movement without the use of markers or specialized costumes.
Due to the growing number of applications for such a system, there has been a fair amount of interest in this field. For an excellent review of the state of the art of visually based motion tracking, see: D. M. Gavrila, "The Visual Analysis of Human Movement: A Survey", Computer Vision and Image Understanding, Vol. 73, No. 1, January 1999, pp. 82-98. Gavrila's review groups work within the art of video based motion tracking into four categories:
2D tracking approaches
3D tracking approaches using a single viewpoint
3D tracking approaches using multiple viewpoints
3D tracking approaches using 3D data.
Of course, some approaches may only slightly correspond to a particular category or may overlap two or more categories, but Gavrila provides a general framework for distinguishing the work and drawing comparisons between approaches.
2D Tracking Approaches The most simplistic process for acquiring the movement of a human in 2D is to assume that the movement can be accurately described with low-level 2D features, and hence there is no need for a model of the body. These techniques usually superimpose a grid over the region of interest, and extract low-level features for each region of the grid, such as normal flow, the number of foreground pixels, or an averaged edge vector. These techniques are adequate for many gesture interpretation tasks. However this type of approach is not accurate or robust enough for detailed tracking of a human model, mainly due to its inability to deal with occlusion.
More accuracy is achieved by using a simple body model. Many of these approaches use a simple model to identify the locations of segments in the image silhouette or outline. Some simply try to label segments using models based on: the order of segments, heuristics and learning of normal body outlines, generic postures of a human, a stick figure model of a human, or protrusions in a human outline. Others actually track segments in the silhouette using Kalman filtering, or simply track the contours of the human outline. While these approaches demonstrate the many ways a simplistic body model can be utilized in tracking, they only provide a coarse estimate of segment locations.
In order to gain further accuracy in 2D approaches, many researchers migrated to more descriptive models of the body. The motivation was that by expanding the model to include the size, shape, and connectivity of the subject, many ambiguities could be resolved. Techniques use a wide variety of data in their tracking and create a model to correspond to the data source. Silhouette based techniques incorporated the size, shape, and connectivity of segments to label their locations in the image, or tracked models consisting of either anti-parallel lines or "ribbons" (the 2D analog of a generalized cone). Optical flow based techniques align a 2D planar model to optical flow data. Another technique tracks a model consisting of blobs using motion and other low level features, such as color and shape. A degree of robustness is added by incorporating a more descriptive human model. However since the human is a three-dimensional object its shape changes depending upon its orientation to the camera; hence accurate 2D models are difficult to create. The problem is further complicated because segments move in and out of occlusion. One team attempted to mitigate this problem by switching between camera views, see: Cai, Q. and J. K. Aggarwal, "Tracking Human Motion in Structured Environments Using a Distributed-Camera System", IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 2, No. 11, pp. 1241-1248. However, there are many poses in which relevant information cannot be found for all body segments from single view point. Another method using 2D data is described in U.S. Pat. No. 6,492,986 issued to Metaxas et. al. Again, the difficulties encountered in applying 2D data to a 3D model are inherent in this approach and it also describes a deformable model.
2D tracking has shown the ability to interact with computer systems as long as segments are in view of the camera. However in his review Gavrila concludes that 2D approaches are only effective for applications where precise pose recovery is not necessary, and most applications actually require the 3D pose of the subject. Consequently researchers have strived to extend tracking to 3D.
3D Tracking Approaches using a Single Viewpoint A large portion of the research in single viewpoint 3D tracking endeavors to simply extend the methods used for 2D analysis. Researchers again attempted to track features on the human to establish a 3D pose. However, joint locations show no characteristic intensity function; hence their locations are usually found indirectly by segmenting adjoining segments, which is extremely difficult and again complicated by occlusion. Accordingly many researchers extend 2D outline-based techniques to a 3D model. Researchers also attempted to employ optical flow to track the subject. Both approaches are usually performed by projecting the 3D model to the 2D image, and adjusting the model pose to fit the silhouette or optical flow data. However problems can occur when alignment forces are calculated in the 2D image and applied to a 3D model. 2D forces cannot account for changes in the model's appearance when it is twists about an axis that is not perpendicular to the image plane; hence the resulting model forces are often incorrect. Also optical flow can only be calculated within the image plane and alignment forces perpendicular to the image plane are very difficult to calculate from silhouette data; hence the process have problems estimating movement towards or away from the camera.
Researches also incorporated additional data sources to the above techniques to improve tracking results. Additional data sources include: locating the head and hands using skin color, using an occlusion map to indicate when a particular body segment is occluded, propagating constraints through the linked model, or using color and inverse kinematics to refine the hand position. Including additional data sources gains robustness because when one data source is insufficient to establish the pose the other can help.
Since all of these optimization schemes are susceptible to local minima, others have introduced the idea of multiple hypothesis tracking to find the correct solution. In this case, an optimization is run from more than one starting point using directions of high uncertainty in a Hessian matrix. While this addition greatly slows the process, it achieves some robustness to local minima, which is lacking in most approaches. The process works by restarting the optimization from several different poses and choosing the solution with the lowest error score. Because of the difficulty in finding reasonable starting poses and because the optimization must be rerun for each starting pose, the technique has not been made efficient enough to run in real-time.
Although these methods represent some improvement, such as applying forces to adjust a model, combining data sources, and incorporating multiple hypotheses, three major problems inhibit single viewpoint techniques. First, the problem of dealing with occlusion in a single viewpoint has not been robustly solved. For example if a person is turning around, these process will not be able to track any limbs behind the body. Although techniques that switch between cameras ease this problem, in many poses there is no single viewpoint from which one can accurately see all of the limbs. Secondly, 2D forces cannot account for changes in the model's appearance when it is twists about an axis that is not perpendicular to the image plane. Lastly, even when a single viewpoint method is able resolve the correct orientation of the articulated models, it still has difficulty establishing the actual 3D position. Many of these methods must know the actual size of the model to extrapolate the 3D position, or they estimate the 3D position from a pre-calibrated CAD model of the room, or they attempt to resolve the 3D position by tracking points over multiple frames. Hence, single viewpoint techniques are not robust enough to track unconstrained movements.
3D Tracking Approaches using 2D Data Obtained from Multiple Viewpoints To avoid occlusion and resolve the depth of the subject, many researchers have moved to systems that obtain 2D data from several disparate viewpoints so that multiple sides of a subject can be seen at the same time. These approaches either combine fitting performed in multiple 2D images to get 3D, or calculate forces/adjustments in 2D and apply them to a 3D model.
Many approaches again center on the silhouette or body outline, or extend optical flow based tracking to multiple viewpoints. As in single view approaches several methods that combine data sources to track blobs representing each segment have been developed. Lastly others have employed a multi-hypothesis approach, which again adds robustness but is not able to operate in real-time. All of these techniques represent improvements; however problems often occur when transforming from the 2D image to the 3D world.
First, when fitting is performed in each 2D image and combined to get 3D, any error in the 2D fitting will propagate into the 3D result. Hence these approaches are subject to the same faults as their 2D counterparts. For instance if limbs are partially occluded in a viewpoint, the process may still attempt to fit the limb and do so incorrectly. When the results are combined from each 2D view these erroneous measurements will propagate into the 3D result. To avoid this problem the process would have to decide when an accurate fit cannot be obtained in a viewpoint, which is an extremely difficult problem. Then the process would have to rely on the measurements in the other viewpoints to obtain the 3D result, which may not be sufficient to resolve all ambiguities. Hence the approach must either attempt to estimate a 2D pose from incomplete information in a particular viewpoint, or ignore any information in that viewpoint and attempt to resolve ambiguities from fewer viewpoints.
Secondly, the inclusion of multiple viewpoints does not remove the problems seen in single viewpoint techniques of applying forces calculated in 2D to a 3D model. 2D forces or adjustments cannot account for changes in the model's appearance when it is twists about an axis that is not perpendicular to the image plane; hence the resulting model forces are often incorrect.
Lastly, combining information from multiple viewpoints is not a straightforward problem. Combining 2D poses to obtain a 3D pose is complicated because small changes in one viewpoint could account for a large change in others. Therefore how does one find the best 3D pose from multiple 2D estimates when they do not align perfectly, which will be the norm for real world data. Similarly when combining tracking information (adjustments or forces) from multiple 2D viewpoints, one must decide how to combine conflicting information from separate viewpoints.
3D Tracking Approaches using 3D Data Due to the problems of performing 3D fitting from 2D images, transforming 2D information to the 3D world, and of combining conflicting information from multiple viewpoints, it is preferred to work directly with 3D data. Several research teams use 3D data taken with a range finder or from stereo cameras. In particular one method of combining stereo points with silhouette data yields extremely accurate results, see: Plankers, R. and P. Fua, "Tracking and Modeling People in Video Sequences", Computer Vision and Image Understanding Vol. 81, No. 3, pp. 285-302. This method fits a model made up of "metaballs", which change shape to account for movement of the muscles. The technique cannot operate in real-time and requires user to help extract the silhouette, but again shows robustness through combining multiple data sources. However information from more than one viewpoint must be incorporated to overcome occlusion.
Others have employed constraint fusion to 3D data, see: "Badler, N. I., et. al, "Articulated Figure Positioning by Multiple Constraints", IEEE computer Graphics and Applications, Vol. 7, No. 6, pp. 28-38. The tracking process rely on feature detectors, which are unreliable and again can require combining conflicting information from multiple feature trackers. However the methods do demonstrate the value of including constraints in the tracking process.
In other methods, 3D points exert pulls on deformable models that are connected through linking constraints, see Kakadiaris, I. A. et. al., "Active Part-Decomposition, Shape and Motion Estimation of Articulated Objects: A Physics Based Approach", Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, June 1994, Seattle, Wash., and Metaxas, D. et. al., "Shape and Nonrigid Motion Estimation Through Physics-Based Synthesis", IEEE Transactions on Pattern Analysis and Machine Intelligence", Vol. 15, No. 6, pp. 590-591. These pulls adjust both the model shape and orientation through a Kalman filter framework, which incorporates the Jacobian matrix. Since the pulls are calculated in 3D, the problems of transforming a 2D force to a 3D model are avoided. The concept of using the data to pull the model into alignment is good if data is taken fast enough so that the change between data sets is small. The methods also demonstrate how the Jacobian matrix can be used to simplify torque calculations on a linked model. However several limitations of the methods must be overcome to obtain robust real-time tracking. First, using the Jacobian with a linked model usually implies singularities, which must be removed (see below). Second, data acquisition must also occur in real-time if tracking is to occur in real-time. Third, allowing the model to change shape with each data set can cause errors. If the model is allowed to conform to each data set, where for example, data along a limb becomes sparse for several frames, the model will become erroneous and can affect tracking in subsequent frames. The limb model will shrink and become erroneously small. When data along the limb returns (perhaps only a few frames later) the new points may project onto the body instead of the shrunken limb model and cause further errors.
Approaches by others have used shape-from-silhouette sensors to acquire 3D volume data, see Cheung, K. M., et. al., "A Real Time System for Robust 3D Voxel Reconstruction of Human Motions", Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, June 2000, Hilton Head, S C and, Bottino, A. et. al., "A Silhouette Based Technique for the Reconstruction of Human Movement: A Multiview Approach", June 1996, Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition, San Francisco, Calif. The volumetric 3D data is acquired by intersecting silhouettes from multiple viewpoints. Although the reported tracking is poor with their methods, the work demonstrates that shape-from-silhouette data acquisition and tracking can both occur in real-time. Bottino's process is not able to run in real-time but provides useable results using synthetic data.
Limitations of Previous Work:                Need for 3D Data Utilization Techniques that do not use 3D data for tracking have inherent problems. Approaches using 2D data cannot overcome occlusion, have problems transforming 2D forces to a 3D model, and have difficulty establishing the actual 3D position or distance from the camera. Multiple viewpoint 2D techniques have problems performing 3D fitting in 2D, transforming 2D information to the 3D world, and of combining information from multiple viewpoints. Hence methods using 3D data are needed for development of a tracking system that can meet the requirements of all of the previously listed applications. However, several limitations of the reviewed 3D data approaches must be solved. The system must acquire data from several viewpoints, and do so in real-time without requiring markers or specialized clothing. Singularities must be removed if the Jacobian is utilized to relate changes in the data to changes in the model. Lastly, the model should not be allowed to change shape with each data set, but still must be robust enough to deal with varying data.        The model acquisition issue: Much of the previous work assumes that the 3D model is fully specified a priori and only addresses the pose recovery problem. In practice, the 3D model is parameterized by various shape parameters that need to be estimated from the images. Some work has dealt with the issue by decoupling the model acquisition and pose recovery, i.e. by requiring a separate initialization stage where either known poses or known movements simplify the acquisition of the shape parameters. Although some work represents a step forward on this matter, no method has been provided that can recover both shape and pose parameters from uncontrolled movement, e.g. the case of a person walking into a room and moving freely around.        The occlusion issue: Most methods cannot handle significant (self occlusion and do not provide criteria to stop and restart tracking of segments. There is no concept of pose ambiguity either.        The modeling issue: Human models for vision systems have been adequately parameterized with respect to shape and articulation, but few have incorporated constraints such as joint angle limits and collision constraints, and even less have considered dynamical properties such as balance. In contrast to graphics applications, they have made little or no use of color and texture cues to capture appearance. Lacking entirely is the ability to deal with loose-fitting clothes. Finally, there is also a need to model the objects the humans interact with.The real-time issue: A system and method must perform data acquisition and tracking in real-time without requiring markers or specialized clothing to be useful for most applications. All of the applications listed above, outside of motion analysis require real-time analysis to be useful.Expense and simplicity issue: Methods must be capable of operation on systems that are inexpensive and should not require large amounts of hardware to be set up and connected.The calibration issue: The data acquisition process must be relatively simple and fast to calibrate. Methods must be provided that allow for system to be calibrated by someone who is uneducated in camera calibration techniques before they can be used outside of research. Calibration also needs to be relatively fast so that systems can be moved or changed without incurring large delays due to recalibration.
Each of the above references describes a method having unique capabilities, but no reference on it's own satisfies all of the required characteristics. There remains a need in the art for a more advanced and efficient method of motion tracking. It is therefore an object of this invention to provide a real time markerless motion tracking method utilizing linked Kinematic chains to fulfill this need.

Real time markerless motion tracking using linked kinematic chains