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Collaboration produces breakthrough in workforce development
Story By: Brigitte Coles
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Original Published: 7/3/2014
A remarkable development in adult workforce development will begin on July 7, when 15 job candidates from Spherion Staffing Agency begin a 56 hour class in basic IRT training at North Central State's Kehoe Center.
All 15 members of the class are expected to complete the training and receive their certificates in a graduation ceremony, also at Kehoe, in the ground floor reception area. It will begin at noon, on Friday, July 18.
For many years, local Spherion officials and Richland County Commissioners Workforce Staff have been working to establish an effective transition model that would move unemployed "temporary workers" from temporary work assignment into full time employees at companies where they have been assigned.
Recently, a conversation between Ann Smith of Spherion and Bob Zettler of the County sparked an idea. With the addition of the 56 hour IRT (Industrial Readiness Training)course from North Central State, Spherion would agree to hire most or all, of these applicants , who usually do not qualify for hiring and placement by Spherion.
According to Smith, most of these applicants range in age from 18 to 25. Once successful, the applicants will be assigned to full time positions at area businesses.
It is hoped that their time on the job will actually lead to permanent positions with bright futures. This approach appears to be unprecedented and could represent a remarkable breakthrough in moving a substantial number of traditionally under and unemployed young adults into meaningful positions of rewarding work in Richland County and North Central Ohio.
There is no cost to the applicants for this training. The curriculum is developed between Spherion and NSCS- IRT officials. The IRT program at North Central State is new and is funded by a federal grant awarded to NCSC and collaborating Community Colleges in other states.
Other training grants that deal with increased skills have been provided primarily for dislocated workers. This may mark the first successful entry -level training using the "Placement Agency" pathway ever attempted.
For further information, contact Bob Zettler, Workforce Consultant, 419-755-5682.
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FAQ on Mandatory Placement of Lock Boxes
At the 2012 NAR Midyear Meetings, the Board of Directors added a new paragraph in MLS Policy Statement 7.31, Lock Box Security Requirements. These FAQ explain the update.
Supreme Court Dismisses First American RESPA Appeal
Overshadowed by the Supreme Court's June 28 decision on the Affordable Care Act, the Court also reversed course and dismissed the appeal of First American Corporation in First American Financial Services v. Edwards challenging whether a claim alleging RESPA violations can be brought in the absence of actual financial injury to a plaintiff.
Win for Real Estate in Supreme Court RESPA Ruling
The U.S. Supreme Court last week provided real estate brokers a lot of clarity about administrative fees charged by brokerages.
May 2012 Podcast: Risks in Listing and Leasing Vacant Property
Attorney Thomas Gregory discusses legal risks associated with listing and leasing vacant properties and offers risk management tips that licensees can use to mitigate their risk.
Gear Up for the Ethics Rush: Every Member Must Complete An Ethics Class Before 2013
The countdown is on. The NATIONAL ASSOCIATION OF REALTORS®' ethics requirement gives members until Dec. 31, 2012, to take an approved ethics course. Associations are doing everything they can to avoid holding eleventh-hour ethics courses for hundreds, or even thousands, of members in December.
How 6 Recent Cases Affect Your Business: Recorded Webinar
State and federal courts have recently decided—or are considering—a number of significant real estate cases. In this webinar recording from April 19, 2012, NAR's legal experts explain some of the most important issues on court dockets and what their implications are for your business.
4 Code of Ethics Changes You Need to Know for 2012
The Code of Ethics, like other NAR governing documents, can be updated every year. Learn the 4 most important changes you should know for 2012 and prepare to complete the Code of Ethics Training Requirement if you haven't since 2008.
Association Policy
The National Association of REALTORS® has assembled a variety of recommended policies and procedures for REALTOR® Associations.
Federal Appeals Judge Scraps EPA Veto, Agrees with NAR on Mountaintop Coal Mine
U.S. EPA overstepped its authority when it vetoed a Clean Water Act permit issued for a sprawling mountaintop-removal coal mining project in West Virginia, a federal judge ruled today.
Anti-Money Laundering Rule
Effective Jan. 1, 2002, a new rule issued by the federal government requires non-financial trades and businesses to report certain information regarding cash transactions involving currency over $10,000 to the Financial Crimes Enforcement Network ("FinCEN"), a bureau within the U.S. Treasury Department, in order to aid intelligence and law enforcement agencies in their battle against money laundering.

subset: commoncrawl


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Dr. Barry J. Hanger, MD
Internal Medicine, Mecklenburg Medical Group Inc Valentine
- 15110 John J Delaney Dr Ste 200
Charlotte, NC 28277
- 1 Office Location
- (704) 302-8100
Dr. Barry J. Hanger has been practicing medicine for 24 years. Dr. Hanger graduated from the Univ of Cape Town, Fac of Med, Cape Town, So Africa in 1990. He practices medicine in Charlotte, NC and specializes in Internal Medicine. Dr. Hanger is affiliated with Carolinas Medical Center-NE and Carolinas Healthcare Medical Center. He speaks English and Spanish.
Gender: Male
Years in Practice: 24 Years
Languages Spoken: English, Spanish
Medical School: Univ of Cape Town, Fac of Med, Cape Town, So Africa
Graduation Date: 1990
Hospital Affiliations: Carolinas Medical Center-NE, Carolinas Healthcare Medical Center
Specialties: Internal Medicine


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Base Structures Ltd
based in Bristol, UNITED KINGDOM
A simple solution to a simple problem - award winning biogas storage.Biogas storage is a fundamental part of all Anaerobic Digestion systems. With capacities ranging from 5m3 to 5,000m3, biogas holders are used to regulate the supply of Methane Gas produced from the decomposition of slurry and organic waste. The membrane gas holder is designed to work like a flexible ...
Anaergia Inc.
based in Burlington, ONTARIO (CANADA)
Anaergia, headquartered in Burlington, Ontario, Canada, is a global pioneer in the generation of renewable energy through anaerobic digestion of organic waste streams such as municipal solid waste, source separated organics, wastewater treatment plant sludge, food waste, industrial waste streams, manure and energy crops. Operating out of 14 offices globally, Anaergia has ...
Aikan A/S
based in Hedehusene, DENMARK
The unique Aikan Technology converts discarded organic resources into valuable biogas and fertilizer. This is achieved in a single work-flow, removing the need for costly movement of material. It is a robust, reliable and flexible process and can be set up as an income-generating business. The Aikan Technology integrates state-of-the-art anaerobic digestion (dry AD) with ...
based in Johannesburg, SOUTH AFRICA
We convert waste into energy. The business model is to provide a turnkey solution to our clients. Our solutions include Anaerobic Digestion Plants, Gasification Plants and Waste Water Treatment Plants. Our primary focus is on the conversion of waste to gas which can then be utilised in generating electricity, heat, cold and etc
EISENMANN Corporation USA
based in Crystal Lake, ILLINOIS (USA)
EISENMANN is a leading global industrial solutions provider of environmental, general finishing and material flow automation technology. They are a leading supplier of regenerative thermal oxidizers (RTOs) to the renewable fuels industry and have expanded their product portfolio to include a variety of renewable energy products and waste to energy solutions.
Berlie Technologies Inc.
based in La Prairie, QUEBEC (CANADA)
Berlie Technologies Inc. is a private Canadian company which is recognized as a specialist in the manufacturing of water treatment equipment. We offer industrial and municipal clients, a complete range of technologically advanced equipment to handle all stages of the water treatment process. In addition, we are more specifically recognized as a specialist in the drying of ...
BTA International GmbH / Biotechnische Abfallverwertung
based in Pfaffenhofen, GERMANY
Biogas Plants, Process for Anaerobic Digestion of Biowaste. BTA is offering a high developed and experienced technology to process waste by an effective separation of contaminants and digestion of the organic matter. Products are biogas and compost.
Biothane - Veolia Water Solutions & Technologies
based in Camden, NEW JERSEY (USA)
Biothane is one of the world's leading companies in the field of biological treatment of industrial wastewater. More then 500 installations located in over 40 countries operate in a wide variety of industrial sectors. This unique reference base underlines our company's extensive experience. Biothane Corporation along with it`s Dutch subsidiary company, Biothane Systems ...
AAT Abwasser- und Abfalltechnik GmbH
based in Wolfurt, AUSTRIA
AAT offers plant design, process engineering and equipment supply for sorting and anaerobic treatment of organic residue and highly polluted organic waste water including biogas handling and utilization. AAT core business is pre-treatment and anaerobic digestion of sewage sludge, sorted organic waste, agricultural residues and energy crops.
Botres Global
based in ITALY
Experts with unique technology in field of residue biorefinery, biogas and waste water treatment. Coverage of all fields, like waste pre-treatment, anaerobic digestion, waste water treatment, fertilizer production/composting, green chemistry, and bio-materials.


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Stayed in this hotel after getting what we believed to be a fantastic deal . Honestly I wish I would have just spent the $30 extra on a nicer hotel . The room itself was old and dirty. Sheets were full of holes ,squished bugs on the wall , a dried noodle next to our coffee pot not to mention "presents" smeared in the toilet from previous guests. Staff wasnt too friendly and It's pretty far from downtown. Honestly DO NOT stay here .
- Reservation Options:
- TripAdvisor is proud to partner with Booking.com, Orbitz, Expedia, Hotels.com, Priceline, Travelocity, HotelTravel.com, Despegar.com, Odigeo, TripOnline SA and Tingo so you can book your Banff Voyager Inn reservations with confidence. We help millions of travelers each month to find the perfect hotel for both vacation and business trips, always with the best discounts and special offers.
- Also Known As:
- Banff Voyager Hotel Banff


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I never expected to find so much color at a few kilometers from home in a gray sunday afternoonThis photo was shot on film. Taken by superlighter with a Lomo LC-A loaded with LOMO 400 negative film in Ancona, Italy. These tags describe this photo: carnival, masque, mask, and parade. Date: 2012-02-26. Time: Afternoon. This photo can also be found in the album Carnival Is Not Over.
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text: Located in an up Scale strip mall it is growing to be a real find in fine dining. I had the seared Chilean Sea Bass. My wife the coq au vin with a delicious salad. Both were excellent and well priced. Seating is not large but intimate. Varied menu with three specials tonight. Reservations good idea on weekends.


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Clocking In
You have clocked in to MySA.com's business news blog about San Antonio and South Texas businesses and business people.
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Putting the brakes on pedicab fares
Following the story of a Texas couple that was charged $442 for a 14-block ride on a pedicab in New York City, city officials are stepping in. The New York City Council is looking at a proposal that would nix the current confusing pricing system with a simple per-minute charge that each driver could set. […] [Read More]
Financial industry going red
According to a MarketWatch report, the securities and investment industry is breaking hard for presidential candidate Mitt Romney having donated $18.3 million to his campaign. The financial industry remains Romney largest backer followed by the real estate industry. On the blue end of the political spectrum, lawyers and law firms are President Barack Obama's largest […] [Read More]
Dow plunging
Disappointing earning reports and worries over Spain's economy led the Dow Jones Industrial Average off a cliff this morning with the index falling by almost 250 points during early trading. The S&P 500 and Nasdaq composite are also dropping like stones. Some of the companies whose quarterly earning reports jolted the skittish investors included DuPont, […] [Read More]
KMD Realty Advisors teams with Studley
KMD Realty Advisors has teamed up with commercial real estate services firm Studley with plans to open an office in Austin. The Austin office is expected to open later this year, a news release states. The alliance allows both companies to expand farther into the San Antonio and Austin area markets. The commercial real estate […] [Read More]
Golden Chick to open location in Live Oak
United Commercial Realty announced that its client Golden Chick has closed on a deal to open a location in Live Oak, according to a news release. The fried chicken restaurant chain, which looks to grow by three to five units annually, purchased a 34,000-square-foot piece of land along Pat Booker Road for the new location, the release […] [Read More]
Have some blood to spare? or, How to get into Six Flags for free
Regular blood donors may be familiar with the slight woozy feelings following a trip to their local blood bank. And roller coaster enthusiasts craving that G-Force rush know Six Flags Fiesta Texas can more than deliver. Now, the theme park and South Texas Blood & Tissue Center offer you the chance to combine the two […] [Read More]
My hair is orange (and other reasons to miss work)
Do you call in sick when you aren't? Nah, we at Clocking In know you've never done that. But what if you did? How creative could you get? Check out this list. The excuses are real and come from a survey by Harris Interactive: One worker said his sobriety tool wouldn't allow his car to […] [Read More]
Rackspace: The animated short
No it's not a trailer for the newest animated feature film but it could pass as just that. San Antonio-based Rackspace Hosting Inc. has put together a nice little storyline to communicate what the tech company does and how it leverages OpenStack, the opensource platform it uses and helped found. The three-minute animated short called "One Very Proud […] [Read More]
Wendy's new look
Wendy's is ditching the childlike image of the red headed pigtail girl on its logo and replacing it with a modern looking Wendy. The former logo has been attached to the burger chain since 1983. Customers can expect to see the new logo popping up on new and renovated restaurants beginning in March of 2013. […] [Read More]
Greece takes another hit
Bottler Coca Cola Hellenic is Greece's biggest company, rather, was Greece's biggest company. The drink bottler is slipping out of Greece and moving to Switzerland and will list its shares in London. CNBC reports the company's plants in Greece will remain but the loss of the company from the Athens Stock Exchange to the London […] [Read More]
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The median home value in Hempstead, TX is $95,800.
This is
lower than
the county median home value of $131,200.
The national median home value is $170,100.
The average price of homes sold in Hempstead, TX is $95,800.
Approximately 40.59% of Hempstead homes are owned,
compared to 37.7% rented, while
21.72% are vacant.
Hempstead real estate listings include condos, townhomes, and single family homes for sale.
Commercial properties are also available.
If you see a property you're interested in, contact a Hempstead real estate agent to arrange a tour today!
Learn more about Hempstead Real Estate.
837.916 ac. with prime location between Houston & Bryan-College Station featuring a rolling terrain with scattered oak trees, wooded areas, 7.25 ac. lake, 4 ponds, sandy loam soil, cross-fenced pastures, hilltop homesite and improved ranch roads for all weather access. Improvements include 3 homes, ranch office, cattle/horse show barn, covered arena, equipment barns, and cattle working facility. The lighted covered arena features perimeter pipe fencing, holding pens, and roping chute.
A well maintained 16x80 manufactured home with 10x25 front deck,16x18 new patio and 3 car attached carport on 32+ acres. Has pad site for 2nd home with water, electric and separate septic. 60x60 barn with concrete floors, 7 stalls & shop.Lighted 150x250 roping arena. 2 loafing sheds Hay barn, excellent working pens, fenced garden area, 2 ponds. Great building sites and frontage on 2 roads. Easy and quick commute to 290 or I-10 to Katy and Houston.
Little less than 1/2 acre property in light restricted rolling hills. You'll definitely get peace and quiet out here. Come and build on your little piece of the country. Subdivision has a catch and throw lake or enjoy the park
Approximately 115.6 Acres in Waller county with street access on two sides. Perfect opportunity to build a home, with land for cattle or horses to roam. Great for the outdoor lover. Ag exemption. Family cemetery approximately 1/4 acre exclusion. Property listed for land valued only. Survey required.
Fully fenced approximately 14.752 acres of unrestricted and cleared property with good access to HWY 290 within one hour of Houston. Great location for your spacious dream home, cattle to roam or an investment for the future. Near public golf course. Current Ag exemption.
Bring your horses. 2 story, 3 BR/2 BA, 2,325 SF home built in 1996 on 11+ acres. Original owner. Gently curving driveway from the automatic wrought iron gate to the home has beautiful canopy of trees that surround this fenced/cross fenced quiet country setting. Screened covered patio off Master BR overlooks a pond stocked with bass & catfish. 3,000 SF barn with 5 outer stalls. 2 rental cottages, sheds and chicken coop. Space to garden, nice pastures. You must see this property to appreciate!
This commuter home on 10+ acres in the Waller School District has a hilltop view that can be appreciated from the French doors, back porch and upstairs balcony. The first floor features wood floors throughout the living room, dining room, island kitchen, mudroom, half bath and a mother-in-law wing. Upstairs is a master bedroom/bath, two additional bedrooms, another bath and utility room. Added is a lovely pond and a 3-car garage/utility building to complete this exceptional country property.
.83 Acres in Rolling Hills Colony, catch and throw lake quiet with light restrictions. minimum 1000 sqft build. enjoy the country but still close to 290 to for a quick shot to Houston for entertainment
This home is a great opportunity for investors and first time home buyers. Great location to be close to the growing city of Hempstead. Close to local stores, and restaurants. This home will not last long.
Beth Wolff REALTORS® Real Living
1775 St. James Place, Suite 100
Houston, TX 77056
Email Us | Visit our Real Estate Website


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Zeitgeisting TV: 'American Horror Story: Freak Show'; Episode 7
The latest entry in a new feature where two editors recap the fourth installment of "American Horror Story," this season called "Freak Show."
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NJ Cop Arrested After Showing His Penis to Male Drivers
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Food Network Star Giada Stays Thin By Spitting, Not Swallowing
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Man on Scooter Arrested for Riding Stolen Meat Out of Wal-Mart
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Well-Strung Releases New Video from Chenoweth's Concerts
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Portuguese Police Detain Ex-Premier in Fraud Case
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30th Annual White Party Week
There are many events going on during White Party Week, which starts on Wednesday, November 26, and runs through Sunday, December 1.
SF Man Convicted in Choking Death Free After Time Served
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Farm to Table :: Let Your Fingers Do the Pickin'
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text: POPSUGAR Food Cocktails Photo Gallery: Hot Rum-and-Pineapple Toddy by Food 2/22/10 0 Reactions 0 Shares Print 0 0 0 0 0 Previous Photo 1 of 5 View on One Page ADVERTISEMENT ( more slides) Next 1 Photo Gallery: Hot Rum-and-Pineapple Toddy 0 0 0 0 0 Read More Canadian2010 OlympicsMaple SyrupPineappleHot ToddyCanadaRumOlympicsHappy HourCocktails Cocktails Make Your Own All-Purpose Holiday Liqueur 19 hours ago Gift Ideas For the Mom Who Loves Her Children . . . and Her Cocktails 1 day ago Thank the Gourd For This Adorable Fall Cocktail 2 days ago Sweeten Fall Nights With This Maple Bourbon Cocktail 2 days ago 3 Hostessing Tips That Will Forever Change the Way You Throw a Party 4 days ago This "Adult" Gingerbread Hot Chocolate Will Warm Up Your Holidays 4 days ago 7 Cocktails to Pound Before the Bourbon Apocalypse 6 days ago Get inspired with our daily newsletter Enjoy gorgeous decor ideas, fast and easy recipes, and more in your inbox. Home Love & Sex Vegetarian DIY Food Tech Link Love 13 fuss-free recipes for a vegan Thanksgiving — Food52 50 states of Thanksgiving — The New York Times Minnesota revolts against The New York Times' grape dish — Grub Street 5 essential wines to serve at Thanksgiving — PureWow All the unbelievable food you can eat on a Carnival cruise — Foodbeast Latest Food


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Here, the former Jonas Brothers singer—now a burgeoning fashion plate and front row regular—shows you how to up your jacket game... more >
World Cup 2010
Arenas That Rock
Thanks to stunning stadiums in South Africa, you can now geek out on architecture as much as soccer
1. Moses Mabhida Stadium, Durban
With its 350-foot arch (taller than the Statue of Liberty), this structure has become a landmark in its own right. Unlike most soccer stadiums, Moses Mabhida has open sides composed of more than 1,000 columns, which allows the arena to be ventilated naturally. On non-game days, a cable car will zip fans to the top of the arch for 360-degree views of the city. They'll also have the option of jumping off (attached to a harness, of course).
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Corvallis 104.3 FM • Hood River 91.9 FM • Portland 90.7 FM
Portland like you've never seen it! Laura O. Foster takes us on a tour of the City! Laura is the author of numerous books about Portland including Portland Hill Walks, The Portland Stairs Book, Portland City Walks and Walk There. She has been writing about Oregon since 2001, after careers as a commercial banker, technical writer, and book editor. Raised in suburban Chicago, she moved to the Pacific Northwest in 1989. With the enthusiasm of a former flatlander, she writes about topics such as Portland's public stairways, parks, neighborhoods, and urban planning, the animals and people of the Oregon Zoo, recycled paint, and Oregon geology, ethnobotany, natural areas, and native plants.
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Get the Best Priced Volkswagen Golf Hatch Strut
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Volkswagen Golf Replacement Hatch Strut Information
For cars that are known for great fuel economy, performance and dependability, vehicle buyers turn to Volkswagen. Volkswagen very consistently satisfies, with vehicle designs that merge fuel efficiency alongside the delights of supple handling. When an issue comes up or a system ought to be fixed, don't economize with a low-grade component. Your Volkswagen Golf is meant to have the right car parts to serve at top efficiency. Good gas mileage comes at the cost of providing maintenance, since the Volkswagen Golf needs top quality auto parts to run at the highest mileage. Gas-sipping roadsters such as the sensible Volkswagen Golf were designed to be maintained highly tuned so as to keep on demonstrating good levels of mileage. Your Volkswagen was built using care and craftsmanship; it ought to have new OEM parts of the same high level of quality. Though they may not be crucially important components such as your car's transmission, the less crucial segments of your vehicle may be just as important to having maximum pleasure from the car you direct so much money and energy on. Volkswagen produces solid and rugged cars and trucks, but all vehicles have secondary systems that can on occasion stop working or require repair - PartsGeek.com has the replacement parts your car is in need of. The Volkswagen Golf Hatch Strut braces the hatch reliably each time it's open, preventing it from coming down on your back when unloading the car. Volkswagen Golf Hatch Struts must be switched out as they wear out in order to stop accidents. Volkswagen Golf Hatch Struts are constructed in numerous dimensions; it's important to determine the length when the hatch is totally up prior to purchasing a new unit. A Volkswagen represents a lifestyle decision that you can guard with the best parts and equipment. Usually the most frustrating thing about restoring a car or truck is searching for a reliable source of quality parts. If you want the most service from your car or truck, you'll figure out that quality parts make for outstanding performance - PartsGeek.com carries those quality parts right here.
They are available for the following Volkswagen Golf years: 2014, 2006, 2005, 2004, 2003, 2002, 2001, 2000, 1999, 1998, 1997, 1996, 1995, 1994, 1993, 1992, 1991, 1990, 1989, 1988, 1987, 1986, 1985, 14, 06, 05, 04, 03, 02, 01, 00, 99, 98, 97, 96, 95, 94, 93, 92, 91, 90, 89, 88, 87, 86, 85. This part is also sometimes called Volkswagen Golf Hatch Shock. We stock hatch strut parts for most Volkswagen models including Passat, Beetle, Vanagon, Jetta, Rabbit, Touareg, Scirocco, Rabbit Pickup and Transporter.
We stock these Hatch Strut brands for the Volkswagen Golf: Stabilus, OEQ, Aftermarket, Rhino Pac and PartsMaster.
01 2001 Volkswagen Golf Bumper Bracket Front Right - Passenger Side Action Crash
04 2004 Volkswagen Golf Bumper Cover Front Action Crash
02 2002 Volkswagen Golf Bumper End Right - Passenger Side Action Crash
98 1998 Volkswagen Golf K2 Door Handle 2.0L 4 Cyl ABA Front Right Hella
02 2002 Volkswagen Golf Door Mirror Glass Right Dorman
02 2002 Volkswagen Golf GTI 1.8T Emblem Genuine
11 2011 Volkswagen Golf Fender Front Right - Passenger Side Action Crash ; Capa Certified
02 2002 Volkswagen Golf Floor Mats Front Weathertech
97 1997 Volkswagen Golf Grille Assembly Action Crash
96 1996 Volkswagen Golf Grille Moulding Action Crash
04 2004 Volkswagen Golf Hood Release Cable Original Equipment
01 2001 Volkswagen Golf Hood Strut First Equipment Quality
97 1997 Volkswagen Golf TDI Hub Cap Hella
03 2003 Volkswagen Golf Inner Fender Front Right - Passenger Side Action Crash
02 2002 Volkswagen Golf GTI 1.8T Mirror Left TYC w/ Mirror Glass
01 2001 Volkswagen Golf Trunk Strut Sachs
98 1998 Volkswagen Golf Window Motor Front Right Genuine
01 2001 Volkswagen Golf Window Regulator Front Left Genuine
01 2001 Volkswagen Golf Window Switch Front Left Original Equipment - 2dr
01 2001 Volkswagen Golf GL Window Vent Visors 1.9L 4 Cyl Weathertech - 2dr
Great product. Easy to install and the price was right.
Great Product, Price, and Delivery! Will use them again for sure.
Just came across these hopefully they will fit my 01 gti, cant beat the price!
Ordered hatch struts and other stuff for my sons Golf. Was very pleased with the parts and they came sooner than I thought they would. Will definitely order from you again
I just bought a 92VW GTI hatchback and it would not stay up while I needed to work on the in-tank fuel pump, so I used a stick a couple times. The pump was bad so I checked Parts Geek and they had not only a pump, but all kinds of exact VW parts including the struts, and they were way less than I thought they would be. The pump and struts were here in two days and were exactly right and the struts help raise the hatch and hold it just like they are supposed to. Much better than a stick!


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Sonesta Gwinnett Place Atlanta
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Day 3 Adventures
Well our day started off in sunny Florida. Then we drove some backroads of Alabama and Georgia. Awesome small towns. No cell service. It was so relaxing! We can't wait for more backroads driving :-) We are now in Atlanta. Of course our hotel in downtown with one-way street, partiers everywhere. Horse and ...
Martin Luther King
... itself is very modern. I found it similar to my home city (Calgary, Canada) with its ring road and transit system situated in a large X to cover all corners in the city.
From my gate, I took the free plane train that you can only access once through the security, to the domestic baggage "T" stop.
From there I walked to the Metro and bought the transit card and 2 fares for $6 from the machine. Prior, I stopped at the money exchange to exchange ...
... TV. The works! I feel utterly spoiled. We go to a nearby restaurant and both have shrimp and grits which is the specialty of the place, it was delicious. Much nicer than the grits I had in New Orleans. It's just lovely being able to sit outside all night and not feel cold, also lovely catching up with a friendly face. Already looking forward to catching up when were both back in London. I should mention Cokkie who is a total sweetheart and a fabulous host, I felt thoroughly looked ...
Atlanta, USA
... all the eating we have been doing it wasn't a great fit anyway. Having slept like a baby and feeling revived we hop straight back into Cecil and head for the East coast, we have been told by the concierge to check out a place called Savanna which is around 4 hours from here, he seemed so excited for us I thought he was going to climb in the boot and come with. We have now crossed literally ...
Going to Morocco !
... a photography class so I can master the new Canon T3i and capture the beauty of landscape and people of Africa


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- List of properties
- Properties on map
19 commercial properties for sale found
- Photos: 4
- Floorplans: 0
20,290 sq ft
Warehouse for sale Unit 5a, Access 63, East Common Lane, Selby, North Yorkshire, YO8 8GA
Unit 5A provides a NEWLY CONSTRUCTED HIGH SPECIFICATION warehouse / industrial facility. The development is accessed off East Common Lane, which PROVIDES DIRECT ACCESS onto the Selby Bypass (A63). More details ›
£795,000 Offers in Region of
Offers in Region of £795,000
Commercial property for sale The Old Vicarage, Kellington
Substantial and spacious country house set in 0.5 acres with parts dating back to 1750 - Currently operates as 4 star B&B guest accommodation - Planning for erection of 3 detached dwellings & conversion of existing building into 3 further dwellings - Sale includes property, grounds and business More details ›
Reduced on 11/07/2014 by FSL Estate Agents, Wakefield. Call: 01924 767162 Local call rate
Land for sale Leeds Road, Selby, YO8
* * PLANNING CONSENT FOR TWO ADDITIONAL EXECUTIVE DETACHED DWELLINGS AND SUBSANTIAL PADDOCK LAND * * Ideally located in one of the finest areas of Selby set in substantial mature gardens and grounds with open aspect views to the rear is this unique individually built five bedroom detached family... More details ›
Added on 14/07/2014 by Reeds Rains , Selby. Call: 01757 820022 Local call rate
£525,000 Offers in Region of
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Commercial Property for sale Main Street, Riccall, Riccall, North Yorkshire, YO19
Attractive commercial investment currently producing £48,000 per annum with residential planning consent. BUSINESS NOT AFFECTED More details ›
Added on 02/10/2014 by Stephensons, York - Sales. Call: 01904 200052 Local call rate
£500,000 Guide Price
Guide Price £500,000
Land for sale Off Main Street, Riccall, YO19
** AN EXCELLENT OPPORTUNITY TO PURCHASE THIS RESIDENTIAL DEVELOPMENT SITE WITH OUTLINE PLANNING PERMISSIN FOR 5 DETACHED HOUSES TO THE REAR OF 12 AND 14 MAIN STREET, RICCALL, SUBJECT TO CONDITIONS ** - Decision No. 2013/1002/OUT (8/15/187B/PA). The village benefits from a number of local am... More details ›
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Land for sale Barmby-on-the-Marsh, Goole
A village site with outline planning for 4 superior detached properties. Outline Planning Approval was obtained from East Riding of Yorkshire Council on 11 December 2012 for the erection of 4 detached dwellings (12/03633/OUT). Subsequently, reserved matters were approved on 18 December 2013 for... More details ›
Added on 10/10/2014 by R M English York Limited, York and Surrounding Villages. Call: 01904 200032 Local call rate
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1.2 acres
Land for sale Main Road,Drax,Nr Selby,YO8 8PA
Prime RESIDENTIAL DEVELOPMENT SITE extending to approx. 1.22 ACRES on the edge of this popular semi-rural Village ideal for Selby and Goole and within 4 miles of J36 of the M62. The Site has OUTLINE CONSENT for 9 DWELLINGS being one Detached Dormer Dwelling and 4 Pairs of Semi Detached Houses. More details ›
Added on 17/06/2014 by Neville E. Townend, Selby. Call: 01757 820029 Local call rate
£400,000 Offers in Excess of
Offers in Excess of £400,000
Residential Development for sale Development Opportunity, CANAL ROAD, Selby, YO8
**STAR BUY** This PRIME DEVELOPMENT SITE extends to approx 0.56 Acres situated opposite Selby Canal in a mixed residential and commercial area towards the edge of this popular Market Town where a number of successful high density Developments have been completed. ALL REASONABLE OFFERS CONSIDERED. More details ›
Marketed by Neville E. Townend, Selby. Call: 01757 820029 Local call rate
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Land for sale Land at, Main Road, Hambleton, Selby
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Added on 20/11/2014 by Hudson Moody, Micklegate. Call: 01904 200036 Local call rate
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Commercial property for sale Park Street, Selby, YO8
This Grade II listed building in close proximity to the historic Selby Abbey and overlooking Selby Park maintains many original period features and MUST BE SEEN!!! Close to all amenities, including Selby bus and railway stations, and providing spacious facilities (including bar, restaurant area ... More details ›
Added on 28/10/2014 by Keith Taylor, Selby. Call: 01757 820035 Local call rate
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The Press Newspaper
The Press Newspaper
A committee meeting of Woodville Village Council is planned for Feb. 10 to discuss an application for a federal grant to purchase a S. Perry Street property as part of a hazard mitigation program.
The environmental and community development committee will meet at 7:45 p.m., following council's regular meeting.
If the grant is received, the village will use the funds to purchase the property and demolish the residence, said Barb Runion, village fiscal officer.
She said the current owner has been unable to sell the property due to seasonal flooding of the Portage River.
The village would be required to have the property assessed and offer fair market value to the owner.
The Federal Emergency Management Agency, through its Ohio office, is administering the Unified Hazard Mitigation Program that offers grant money to states and local governments for mitigation projects.
Once the property is purchased, the village will have to comply with deed restrictions that limit how the property can be used, Runion said, adding it will likely be left as a vacant lot.
"We'll have to plant it with grass and then every three years provide proof that we haven't developed it," she said.
A public notice of the grant proposal was placed in the Jan. 27 issue of The Press.
To receive grant funding, the village must:
• Ensure the owner is aware of what the village considers the fair market value of the property.
• Ensure the land will not be available for levees.
• Remove existing structures within 90 days of settlement.
A public hearing may be scheduled if there is sufficient opposition to the proposed acquisition, Runion said.
Bill Rowles, the village zoning inspector, originally brought the idea for applying for a grant to the attention of village officials, she said.
According to the website, FloodSmart.gov, the property is located in a high-risk area where there is at least a one in four chance of flooding during a 30-year mortgage.
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Jen goes on a date with an old flame
Here is my video review for FF issue 4. Tell me what you guys think about my video review in the comments below:
Here is my video review for FF issue 4. Tell me what you guys think about my video review in the comments below:
Cover & Solicit - 3/5Would I pick-up or buy the comic based on the solicit or cover alone?Are the alternate covers appealing?Does the solicit and cover portray what happens in the issue?Do I like the artist's style on the cover?Art, Colors & Inking - 2/5- Weighted DoubleDo I personally like this artist's style?Does the artist stay true to the characters appearance?If there are multiple artists do they blend well and not disturb the reading experience?Does the coloring/inking blend well w...
Now that the whole surrogate team is all together, it's time to start exploring the characters more. Unlike the iconic main Fantastic Four, this FF is a new team. These characters have their history, but as a team they're completely new, and the Future Foundation is still a fairly recent group themselves. This issue really builds upon the various interactions between the characters, especially between the temporary FF and the Future Foundation.Ant-Man came up with a pretty drastic and massive sc...
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Treasury Secretary Jack Lew held a meeting of the Financial Stability Oversight Council by telephone on Tuesday to discuss the potential breach of the U.S. debt ceiling and possible consequences. "Failure to raise the debt limit by Oct. 17 would place the United States government in the untenable position of operating with only the cash on hand and could severely impact financial markets and the broader economy," according to Treasury spokesman Anthony Coley.
View Full Article in:Bloomberg · Wall Street Journal (tiered subscription model), The


text: Navigation, Vol. 46, No. 4, pp. 261-270, 1999 Direct Exterior Orientation of Airborne Imagery with GPS/INS System: Performance Analysis Dorota A. Grejner-Brzezinska Department of Civil and Environmental Engineering and Geodetic Science The Ohio State University 470 Hitchcock Hall, 2070 Neil Ave. Tel. (614) 292-8787, fax. (614) 292-2957 e-mail: email@example.com ABSTRACT Integrating the Global Positioning System (GPS) with an Inertial Navigation System (INS) allows for direct image georeferencing, offering a possibility of relaxing the demand for aerial triangulation (AT) in airborne surveying/mapping. The performance of the prototype of the Airborne Integrated Mapping System (AIMS™), based on GPS/INS/CCD (charge-coupled device) integration, developed by The Ohio State University Center for Mapping, is investigated in this paper. A brief description of the essential features of the integrated system and its practical implementation is presented. The performance of AIMS™ is primarily assessed based on the photogrammetric processing of 1:6,000 large-scale aerial imagery considered as a truth reference. An accuracy analysis and discussion of the impact of direct orientation and the multi-sensor system calibration on the photogrammetric data extraction process are also addressed. INTRODUCTION Recent technological developments have created a number of new systems for 3D data acquisition, processing and visualization. On the spatial data acquisition side, one can find a variety of new sensors, whose direct orientation is provided by the integrated GPS and INS. In fact, the GPS/INS platform orientation systems are rapidly emerging as a core component of modern airborne mapping and remote sensing systems. Over the past few years, there has been a growing interest of the airborne survey and remote sensing community in using the integrated GPS/INS systems for direct georeferencing [1-9]. The application of GPS in determination of the camera perspective center location has already become a commonly accepted procedure in aerial surveys. The most pronounced advantage of GPS- supported aerotriangulation is the decrease of ground control, leading to a substantial cost reduction in aerial mapping. System augmentation by an inertial sensor offers a number of advantages over a stand-alone GPS, such as immunity to GPS outages and reduced ambiguity search volume/time for the closed-loop systems, and more importantly, continuous attitude solution. Conversely, GPS contributes its white error spectrum, high accuracy and stability over time, enabling a continuous monitoring of inertial sensor errors. Implementation of a closed-loop error calibration 1 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 allows continuous, on-the-fly (OTF) error update bounding INS errors, leading to increased estimation accuracy. A GPS-calibrated, high-to medium-accuracy inertial system can provide attitude accuracy in the range of 10-30 arcsec [10, 6, 11, 9]. Alternatively, a direct platform orientation (DPO) can also be achieved by means of an array of GPS antennas mounted on a mobile platform with known relationship to the reference frame of an imaging sensor. For the most demanding mapping applications, however, the stand-alone multi-antenna GPS, is currently not able to provide acceptable Exterior Orientation Parameters (EOP, including the three position coordinates and the three attitude angles of the camera). Assuming that some ambiguity resolution method was applied before the attitude components are estimated by the interferometric method, the actual attitude accuracy can reach 1-2 arcmin for long baselines of 20-30 m [12, 13], depending primarily on the GPS antenna separation and orientation with respect to line-of-sight, and multipath level. Moreover, attitude is available usually at 1-10 Hz rate, which may not be satisfactory for the fast-moving airborne platforms, where frequency of 64-256 Hz is needed. In general, the stand-alone multi-antenna GPS provides less accurate attitude information, and at much lower frequency, compared to integrated GPS/INS solutions, where a high accuracy inertial system is supported by differential GPS (DGPS). For example, the Ashtech GPS 3DF-ADU multi-antenna system is capable of providing 2 Hz attitude information, with accuracy estimated at 0.2 deg RMS (root mean square error) for heading, and 0.4 deg RMS for pitch and roll, based on a 1 m square antenna array (3DF-ADU Manual), and the Trimble TANS Vector delivers 10 Hz attitude information with an accuracy of 0.3 deg for 1m baseline (TANS Vector product description). As pointed out by Ward and Axelrad [13], in order to achieve 0.1 deg pointing accuracy by the interferometric method, the baselines connecting the phase centers of GPS antennas must be known to within 2 mm on a 1 m antenna separation, which is rather difficult to achieve. Since the baseline separation can change from the pre-surveyed value during the airborne or space-borne mission (due to varying conditions compared to the laboratory environment), the baseline estimation must often be performed by the attitude determination filter, which naturally adds to the overall system's algorithmic complexity. Combining DGPS and inertial measurement unit (IMU) data bounds the gyro drifts, leading to high accuracy attitude estimates even with a single roving GPS antenna. Furthermore, implementing the interferometric method to the integrated systems based on low accuracy IMU may result in a more robust system. In this case, the gyros are used to estimate the phase differences related to the airborne GPS baselines, which form a class of external updates to the integrated filter. This solution, however, may lead to some parameter observability problems, and thus, requires special care in proper parameterization and dynamic modeling of the filter states, since attitude and baseline errors (that need to be added to the state vector) are closely coupled. Moreover, careful maneuvering of the platform is required, since attitude motion is needed to separate baseline and attitude errors in the combined filter. The Ohio State University Center for Mapping has developed a prototype of an integrated GPS/INS system to support direct platform orientation for a fully digital airborne mapping system (AIMS™), designed primarily for precise large-scale mapping. The AIMS™ positioning module is based on a tightly integrated differential, dual 2 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 frequency GPS, and a strapdown inertial system. The tight integration, as implemented in AIMS™, is preferred as opposed to the loose coupling approach, as it allows for continuous IMU error calibration and positioning even if the number of satellites drops below four. Furthermore, the high accuracy of the well-calibrated inertial system over short time periods allows correction of cycle-slips affecting GPS measurements, and supports more robust OTF ambiguity resolution, even after a total loss of GPS lock. Although, the extended losses of GPS lock do not occur very frequently in the airborne mapping scenario, since careful mission planning and avoiding steep banking will usually assure a continuous lock on several satellites, the power of tight integration becomes more important for the low-altitude missions (300-500 m), especially over urban areas. At this level, the radio interference (possibly from commercial VHF radio, over-the-horizon military radar, broadcast television, mobile satellite system telephones, etc.) causes signal reception problems, resulting in a very low signal-to-noise ratio, leading ultimately to extended losses of GPS lock [14]. During the past 18 months, the AIMS™ technology has been tested over baselines ranging from 20 to 350 km, in order to assess the accuracy of the positioning component. Extended discussion about the system's architecture, integrated Kalman filter design, and GPS/INS error sources and modeling, as well as initial test results were presented in [11, 15, 7, 16, 17]. This paper discusses the results of the airborne tests performed in summer 1998 with the prototype AIMS™ hardware configuration, and reviews the key aspects of multi-sensor system calibration and their influence on the ground object coordinates. DIRECT IMAGE GEOREFERENCING Sensor orientation, also called image georeferencing, is defined by a transformation between the image coordinates specified in the camera frame and the geodetic (mapping) reference frame. This process requires knowledge of the camera interior and exterior orientation parameters. The interior orientation, i.e., principal point coordinates, focal length and lens geometric distortion characteristics, are provided by the camera calibration procedure. The interior orientation parameters are only concerned with the modeling of the camera projection system, whereas the exterior orientation parameters directly define the position and the orientation of the camera at the moment of exposure. In photogrammetry, the six exterior orientation parameters (three coordinates of the perspective center, and three rotation angles known as ω, ϕ, and κ) are determined using a mathematical model for transformation between object and image spaces, defining correlation between ground control points and their corresponding image representations. This illustrates a traditional approach, where georeferencing is achieved indirectly by adjusting a number of well-defined ground control points and their corresponding image coordinates. In the case of frame imagery, only one set of exterior parameters per image must be determined. However, for sensors such as push-broom line systems or panoramic scanners, perspective geometry varies with the swing angle (panoramic scanners), and with each scan-line (push-broom systems). For these kinds of sensors, the direct georeferencing by means of GPS/INS integrated systems becomes indispensable in order to achieve operationally effective high volume production. 3 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 Implementation of the DPO system to frame imagery can render a dramatic reduction in the number of control points, and might eventually lead to the elimination of AT in the traditional sense (however, it is still needed for system calibration). Eventually, the GPS base station might be the only ground control point applied in the aerial mapping process, translating into substantial cost savings. Furthermore, the automatic aerial triangulation requires image matching, which might be very difficult for large-scale images of urban areas, no texture images, steep slopes or moving objects. These problems are naturally avoided if direct georeferencing is used. It should be emphasized, however, that special attention must be paid to the accuracy and reliability of the mapping products generated by direct-orientation aerial systems. The requirements of position and attitude accuracy are application dependent, defined primarily by the scale of the resulting maps. For example, cadastral or precise construction engineering projects require sub-decimeter and at least 3-arcminute accuracy in position and orientation, respectively [5]. However, the most demanding applications such as precise large-scale airborne mapping with required mapping accuracy at 10-30 cm level may need higher precision for the exterior orientation, depending on the imaging sensor and flight altitude. As an example, Table 1 presents the results of the simulations of the impact of the errors in the camera exterior orientation on the positioning accuracy of the ground points extracted from the imagery. A representative sample of 2000 sets of Von Gruber points (six evenly distributed points in the image) was generated for every set of assumed errors in attitude and projection center location, and the resulting mean error, median and RMS for the ground point location were computed, as shown in Table 1. Focal length of 0.05 m and flight altitude of 300 m were assumed, which represents typical scenario of the low-altitude mission with the medium format digital frame camera. For comparison, the focal length of 0.153 m and altitude of 1000 m, typical for large format analog aerial cameras, are also considered in Table 1. In addition, Figures 1 and 2 illustrate the dependence of the ground position error on the amount of error in the exposure center position and image attitude at 300 m altitude. It can be observed in Figure 1 that for the fixed error in the exposure center coordinates, the increase in the attitude error (to the extent considered here) does not significantly change the ground position error. Consequently, an increasing error in the exposure center coordinates shows increase in ground coordinate errors comparable for all the levels of errors in attitude analyzed here (Figure 2). This can be explained by the fact that the assumed errors in attitude are relatively small, compared to the assumed errors in exposure center coordinates, and their projection to the ground level from 300 m amounts to about 7 mm for 5 arcsec error, 1.4 cm for 10 arcsec, 3 cm for 20 arcsec, 4.3 cm for 30 arcsec, and 8.7 cm for 60 arcsec. They become more important for higher altitude flights and in situations where the exposure centers are estimated with high accuracy (below 10 cm), which is currently achievable with quality GPS/INS systems. 4 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 Errors in 50 mm focal length 153 mm focal length Xo,Yo,Zo 300 m altitude 1000 m altitude ωo,ϕo,κo Mean RMS Median Mean RMS Median [m] [m] [m] [m] [m] [m] 5 cm, 5" 0.142 0.088 0.119 0.134 0.076 0.117 5 cm, 10" 0.147 0.091 0.128 0.173 0.103 0.149 5 cm, 20" 0.168 0.106 0.142 0.275 0.165 0.236 5 cm, 30" 0.192 0.119 0.163 0.393 0.236 0.338 5 cm, 60" 0.303 0.193 0.254 0.775 0.467 0.671 10 cm, 10" 0.287 0.182 0.239 0.266 0.155 0.232 10 cm, 20" 0.297 0.190 0.248 0.348 0.209 0.301 10 cm, 30" 0.307 0.194 0.260 0.436 0.265 0.373 10 cm, 60" 0.396 0.245 0.346 0.791 0.473 0.681 20 cm, 10" 0.569 0.345 0.488 0.491 0.288 0.425 20 cm, 20" 0.576 0.362 0.488 0.535 0.311 0.466 20 cm, 30" 0.587 0.364 0.502 0.611 0.359 0.533 20 cm, 60" 0.603 0.382 0.504 0.893 0.536 0.768 30 cm, 20" 0. 833 0.528 0.700 0.752 0.433 0.661 30 cm, 30" 0. 858 0.533 0.737 0.805 0.470 0.694 30 cm, 60" 0.879 0.547 0.740 1.036 0.612 0.901 Table 1. 3D ground point positioning error resulting from the errors in exterior orientation: simulation results. 0.9 0.8 Xo, Yo, Zo error 0 cm Xo, Yo, Zo error 5 cm Xo, Yo, Zo error 10 cm 0.7 Xo, Yo, Zo error 20 cm Xo, Yo, Zo error 30 cm Ground point error [m] 0.6 0.5 0.4 0.3 0.2 0.1 0 0 10 20 30 40 50 60 Error in attitude [arcsec] Figure 1. 3D ground point error as a function of increasing errors in attitude for variable error levels in exposure center location. 5 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 0.9 attitude error 0" 0.8 attitude error 5" attitude error 10" attitude error 20" 0.7 attitude error 30" attitude error 60" Ground point error [m] 0.6 0.5 0.4 0.3 0.2 0.1 0 0 5 10 15 20 25 30 Error in Xo, Yo, Zo [cm] Figure 2. 3D ground point error as a function of increasing errors in exposure center location for variable error levels in attitude. CURRENT HARDWARE CONFIGURATION The prototype of the integrated GPS/INS system used in tests presented here comprises two dual-frequency Trimble 4000SSI GPS receivers, and a medium-accuracy and high-reliability strapdown Litton LN-100 inertial navigation system, based on Zero-lockTM Laser Gyro (ZLGTM) and A-4 accelerometer triad (0.8 nmi/h CEP, gyro bias – 0.003°/h, accelerometer bias – 25µg). The LN100 firmware, modified for the AIMSTM project, allows for access to the raw IMU data, updated at 256Hz [18]. Estimation of errors in position, velocity, and attitude, as well as errors in inertial and GPS measurements, is accomplished by a centralized Kalman filter that processes GPS L1/L2 phase observable in double-differenced mode together with the INS strapdown navigation solution. The AIMS™ imaging component in the current configuration consists of a digital camera based on a 4,096 by 4,096 CCD with 60 by 60 mm imaging area (15 micron pixel size), manufactured by Lockheed Martin Fairchild Semiconductors. The imaging sensor is integrated into a camera-back (BigShot™) of a regular Hasselblad 553 ELX camera body, and the camera is installed on a rigid mount together with the INS. The current 6 s image acquisition cycling rate is limited mainly by the CCD read-out rate. This acquisition time is too long to achieve the required 60% forward overlap for the fast moving airborne platforms at low altitude. Thus, for these missions a special flight pattern has to be applied, where the flight lines are flown several times, and the required overlap is achieved by combining images from the repeated passes. 6 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 MULTI-SENSOR SYSTEM CALIBRATION In traditional airborne surveying, angular components of EOP are related to the camera body reference frame. The DPO rotational components are, however, naturally related to the INS body frame. In order to relate the GPS/INS- derived positions and attitude components to the image point coordinates, a multi-sensor system calibration is required. This procedure must be able to resolve the misalignments between the INS body frame and the imaging sensor frame with sufficient accuracy. In addition, the imaging sensor has to be calibrated to determine the camera interior orientation and the lens distortion parameters. The calibration parameters should stay constant for the entire mission duration. Moreover, since the crucial part of the DPO concept is the rigidity of the common mount of the imaging and the georeferencing sensors, no flex or rotation can occur during the airborne mission. Camera calibration Traditionally, the photogrammetric analog cameras have been periodically laboratory-calibrated for actual estimation of the location of the principal point, focal length and lens distortion. CCD-based frame cameras currently enjoy increasing interest among the remote sensing and aerial surveying communities. However, they are not manufactured metric devices, therefore, their calibration has to be performed repeatedly by using a suitable test range. Consequently, the AIMS prototype camera is not a metric device. Moreover, the connection between the camera body and the sensor assembly is rather loose, therefore, significant changes in the location of the principal point can be observed during the camera calibration after the CCD has been removed and re-attached to the camera body (see Table 2). Hence, it is crucial that these type of digital cameras are frequently re-calibrated to recover the current interior orientation parameters, if they are to be used in precision mapping applications. Calibration 1 - Calibration 1 - Calibration 1- Parameter Calibration 1 Calibration 2 Calibration 3 Calibration 4 Xo [mm] 0.314 -0.355 0.389 0.464 Yo [mm] 0.112 -0.115 -0.264 0.039 Table 2. Difference in principal point location between subsequent CCD frame camera calibration. Calibration 1 is used here as a reference. For the airborne test described in this paper, the calibration of the AIMS camera equipped with 50-mm lens was performed at the indoor test range, containing over a hundred high-accuracy survey points. A total of 610 image coordinate pairs were measured on eight images acquired from four exposure stations and subsequently processed with the OSU Bundle-Adjustment with Self-Calibration (BSC) software, providing estimates of the focal length, principle point, and lens distortions. The additional parameters for decentering distortion and the affine transformation for scale differences between axes were constrained to zero for compatibility with the used softcopy system's (Autometric SoftPlotter ) distortion model. This, however, introduces an error in the image coordinates at 7 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 the order of 2-3 microns (equivalent to less than 0.2 of a pixel), and therefore is negligible. The calibration results are shown in Table 3 and Figure 3. Clearly, this camera exhibits significant distortions (at the order of 450 microns or ~30 pixels) towards the edges of the image. These distortions are typical to a camera that is not specifically designed for photogrammetric applications. Parameter Value Sigma C (mm) 51.762 0.008 Xo (mm) 0.669 0.005 Yo (mm) 0.227 0.005 Rad1 -2.71E-05 3.40E-07 Rad2 1.38E-08 2.50E-10 Table 3. Calibration parameters of 50-mm lens equipped 4K by 4K CCD frame (C is the focal length, Xo and Yo are the principal point coordinates, Rad1 and Rad2 are the SoftPlotter lens radial distortion model parameters). 0 ] s n -100 o r c i m [ -200 s n o i t -300 r o t s i d -400 l a i d -500 a r 40 20 40 0 20 0 -20 -20 [mm] -40 -40 [mm] Figure 3. Radial distortion surface for Carl Zeiss Distagon 4/50 lens. Boresight calibration Since DPO rotational components are naturally related to the INS body frame, they must be transformed to the imaging sensor frame. The angular and linear misalignments between the INS body frame and the imaging sensor frame are known as boresight components. The boresight transformation must be determined with sufficiently high accuracy, and is usually resolved by comparing the GPS/INS positioning/orientation results with the independent 8 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 aerotriangulation solution, or as a part of bundle adjustment with constraints. Naturally, the boresight parameters can only stay constant for the entire mission duration if no flex or rotation of the common mount of the imaging and the georeferencing sensors occurs during the airborne mission. The quality of the boresight estimation is limited by the quality of the AT adjustment and the quality of the direct orientation components that are used in the boresight estimation process. Consequently, the availability of a high quality test range with very well signalized points that should be used for the calibration process becomes an important issue. Our practical experiences indicate that even if the control points are surveyed with cm-level accuracy on the ground, their poor signalization (non-symmetric marks, natural targets) may propagate to the projection centers' positioning quality (in the aerotriangulation process), immediately compromising the boresight performance. As an example, Table 4 presents the effects of the image measurement error on the ground point location error. This table was compiled for a sample of 2000 Von Gruber point sets, under the assumption that only image measurements were erratic. Camera and flight parameters are similar to those presented in the second column of Table 1. Image measurement Mean [m] Median [m] RMS [m] error [micron] 3.75 (0.25 pixel) 0.06 0.05 0.04 7.5 (0.5 pixel) 0.12 0.10 0.07 15 (1 pixel) 0.24 0.20 0.15 30 (2 pixels) 0.47 0.40 0.29 Table 4. 3D ground point positioning error resulting from the errors in image measurement: simulation results. Another important aspect that determines the quality and reliability of the direct platform orientation methods is a reliable ambiguity resolution/cycle slip fixing procedure. Inability to restore the ambiguities after the loss of GPS lock, especially over the long baseline, limits the systems' operability. This is especially important for the real-time applications where the positioning results cannot be rectified by the benefits of post-processing. The effects of the boresight quality on the final object coordinates in the mapping frame can be shown based on the analysis of Equation 1, which is the well-known georeferencing formula [1]. Under the simplified assumptions that all the components, except for the boresight rotations and offsets, are error-free and uncorrelated, the covariance matrix of the object ground coordinates can be obtained by the error propagation formula, as shown in Equation 2. Table 5 illustrates an example of the effects of the errors in the boresight components on the object ground coordinates. The rcj vector was selected as [0.015 0.015 0.05], the latitude and longitude were chosen as 40 deg and –81 deg, heading, pitch and roll were selected at 100 deg, 3 deg and 3 deg, respectively for this example. M ( rM ,i = rM , INS + RBINS s ⋅ RC ⋅ rC , j + bBINS BINS ) (1) 9 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 MrM ,i = s 2 ⋅ RBINS ⋅ dRC ⋅ M ω ⋅ dRC M BINS ( BINS ) ⋅ (R ) T M BINS T + RBINS ⋅ M offset ⋅ RBINS M ( M ) T (2) where : rM ,i − 3D object coordinates in mapping frame rM , INS − 3D INS coordinates in mapping frame rC , j − image coordinates of the object in camera frame C BINS RC − boresight matrix between INS body and camera frame C R BINS − rotation matrix between body and mapping frames M MrM ,i − ground position covariance matrix M ω , M offset − diagonal covariance matrices of boresight angles and offsets, respectively dRC − partial derivative of RC ⋅ rC , j with respect to the boresight angles BINS BINS s - scaling factor bBINS - boresight offset vector Error in Error in boresight angles boresight 10 20 60 offset [m] arcsec arcsec arcsec X 0.05 0.05 0.05 0.06 Y 0.05 0.05 0.06 0.10 Z 0.05 0.05 0.06 0.10 X 0.10 0.10 0.10 0.11 Y 0.10 0.10 0.10 0.14 Z 0.10 0.10 0.11 0.13 X 0.20 0.20 0.20 0.20 Y 0.20 0.20 0.21 0.23 Z 0.20 0.20 0.21 0.23 Table 5. Error in object's ground coordinate due to boresight error [m]. MULTI-SENSOR SYSTEM: PERFORMANCE ANALYSIS The airborne test analyzed here was conducted in cooperation with the University of Florida and the Florida Department of Transportation. The major goals of the mission were to evaluate the georeferencing performance of AIMS in the production environment, and delivery of a digital elevation model (DEM) of the transportation corridor in the Callahan area. Due to the low altitude requirement, a special flying pattern had to be used to resolve the conflict between the required high image acquisition rate (1.5 s) and the limited camera cycling time (6 s). 10 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 Therefore, the project area was divided into smaller segments, which were flown in several passes with phased image capture, as shown in Figure 4. To provide sufficient overlap margin, six passes were organized with 1 s delayed image acquisition. The data processing focused mainly on the central segment of the Callahan area. GPS/INS Processing Results To analyze the system's mapping performance, the GPS and the inertial data collected over the transportation corridor were processed by the integrated filter. The resulting estimated standard deviations per coordinate for the IMU center averaged around 2 cm. The estimated standard deviations for the attitude components were at the level of about 5 arcsec during the portion of the flight where the image data were collected. 30.6 30.58 latitude [deg] 30.56 30.54 * - control points 30.52 -81.9 -81.88 -81.86 -81.84 -81.82 -81.8 longitude [deg] Figure 4. Aircraft trajectory over the Callahan area, June 2, 1998. Aerial Triangulation Solution A block of 18 images was aerotriangulated by the standard bundle adjustment method. The effective photo scale was 1:6,000, since a 50 mm lens was used at an average altitude of ~300 m. Control points with accuracy estimated at the 2 cm level were available from a static GPS survey. The image measurements were collected using the Autometric SoftPlotter digital photogrammetric workstation configured with the appropriate camera calibration parameters, determined during the camera calibration, as described earlier. The accuracy of the image coordinate measurement was at the level of 7 microns. Table 6 below summarizes the aerotriangulation results. 11 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 Exterior Image point Perspective Control orientation measurement center point RMS RMS RMS Xo 7 microns 0.12 m 0.02 m Yo 7 microns 0.14 m 0.02 m Zo N/A 0.04 m 0.02 m ωo N/A 1.5 arcmin N/A ϕo N/A 1.27arcmin N/A κo N/A 0.3 arcmin N/A Table 6. Photogrammetric adjustment results. GPS/INS and Aerotriangulation: Comparison of the Results The boresight estimation was performed by comparing AT and GPS/INS positioning and attitude estimates. The resulting boresight standard deviations were 0.29, 0.17 and 0.15 m for the linear displacements, and 3.7, 2.7 and 1.7 arcmin for the rotation angles, respectively (for the estimates based on the six centrally located images, containing the majority of the control points, the respective standard deviations were: 0.22, 0.08 and 0.06 m for the offsets, and 1.8, 2.4 and 0.6 arcmin for the rotation angles). These accuracy measures were not as good as expected. Some possible reasons are photogrammetric processing accuracy, mechanical problems with the camera body/mount, and anomalies in the image time tagging. It should be emphasized, that although the photogrammetric adjustment results were relatively good (see Table 6), the photogrammetric solution is composed of internal and external constraints such as tie points and control points. These constraints, intensified by image resolution and geometric modeling inefficiencies, imply limitations on the image measurement accuracy. For example, even though the control points were surveyed at cm-level accuracy on the ground, due to their poor signalization their image representation measuring accuracy was not even close to the otherwise sub-pixel image measurement performance. This poor localization was subsequently propagated to the projection centers' positioning quality. Therefore, the boresighting performance was immediately compromised and never reached the accuracy range of the GPS/INS data. Additional problems that could explain the rather moderate quality of the boresight estimation are possible variations in the mechanical structure of the camera body/mount/INS assembly during the flight, and the image time tagging. The light body of the Hasselblad camera is subject to flex. A single point connection between the camera body and the steel plate (limited by the camera design) of the mount is another likely source of some deformations that map as random errors to the boresight components. It cannot also be ruled out that there was some discrepancy in the timing of image captures. Table 7 presents the differences between the bundle adjustment-determined and GPS/INS-derived exterior orientation data sets, after the boresight transformation was applied to the DOPs. 12 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 Image Dx[m] Dy[m] Dz[m] 38274 0.03 0.12 0.05 37425 0.04 -0.02 -0.03 37419 0.13 0.26 -0.02 37026 -0.10 -0.37 -0.11 37020 -0.09 0.03 0.00 36620 0.00 -0.02 0.10 Mean 0.00 0.00 -0.00 RMS 0.09 0.21 0.07 Image κ Dκ[deg] φ Dφ[deg] ω Dω[deg] 38274 -0.014 0.025 0.023 37425 -0.041 0.024 -0.015 37419 -0.010 0.023 -0.033 37026 -0.024 0.022 0.020 37020 -0.025 -0.014 -0.052 36620 -0.015 -0.058 -0.066 Mean -0.021 0.004 -0.020 RMS 0.010 0.033 0.043 Table 7. The differences between the boresighted GPS/INS and AT-derived exterior orientation parameters. An additional quality check was performed by a manual measurement of 3D coordinates of the control points in four stereo models oriented by DPO, each one containing two to five control points. The comparison of these results with the reference ground coordinates is presented in Table 8, which clearly indicates that the quality of positions derived from directly oriented imagery was compromised by a moderate quality of the boresight parameters, as explained above. Stereo Pair dX dY dZ Average Sigma Average Sigma Average Sigma 37425 37026 -0.132 0.193 -0.154 0.185 0.230 0.206 37026 36620 0.154 0.294 -0.189 0.188 0.442 0.158 36620 38274 0.159 0.095 -0.083 0.170 0.298 0.219 38274 37419 -0.271 0.514 0.292 0.140 -0.255 0.065 Total Average 0.034 0.311 -0.066 0.237 0.298 0.219 RMS 0.187 0.195 0.317 Table 8. Average differences between nominal and manually measured control point coordinates. Final DEM and Orthophoto Generation Final DEM of the highway intersection in the Callahan area was generated by the Autometric SoftPlotter DEM- collection tools using GPS/INS-oriented images. Due to high image resolution over relatively featureless areas, which cannot be properly handled by the correlation process implemented in SoftPlotter, and somewhat moderate accuracy of DPO components, the system was unable to properly determine the elevation everyplace at the desired 13 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 spacing, which forced some regions to be filled with values interpolated from neighboring regions. Thus, a large fraction of the surface model was interpolated, leading eventually to manual editing of the roads and paved lots around the buildings. The final DEM was compiled from the edited stereo pairs oriented with boresighted GPS/INS DPO. The overall quality of the DEM is approximately 20 cm for the manually edited parts, and can reach a meter or more for the unedited parts, due to the problems listed above. Figure 5 illustrates the orho-mosaic derived from the images rectified by the DEM obtained from the DPO oriented stereo pairs. Figure 5. Ortho-mosaic of the Callaghan intersection area. LAND VEHICLE-BASED TEST The integrated GPS/INS/CCD system was also tested in terrestrial applications. The sensor assembly was mounted on the top of a van for acquiring data for a topographic survey of transportation corridors. The imagery was collected along the surveyed road, and the subsequent stereo-pairs (formed by the time-offset succeeding images) were formed with the directly acquired orientation parameters. The resulting GPS/INS positioning standard deviation stayed at the level of 1-2 cm; pitch and roll standard deviations were at ~5 arcsec level, while for heading 14 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 it reached 7 arcsec. Boresight calibration was established based on well-signalized points, with object distance of 8- 20 m. Examination of the repeatability of the solution obtained for the checkpoints measured in different directly oriented stereo pairs provides an overall accuracy indication of the system. The statistics of such a comparison, based on 44 stereo pairs, is presented in Table 9, and indicate that the direct orientation parameters were indeed estimated with high quality. Another repeatability test was performed by comparing the ground coordinates of 15 check points measured on the directly oriented stereo pairs from two different passes, as shown in Table 10. The GPS/INS/image data for those passes were collected with slightly different GPS constellation; the first pass observed six to seven satellites, whereas the second pass was able to collect GPS data from no more than five satellites. This is reflected in the differences listed in Table 10 that are slightly higher than their counterparts from Table 9. Statistics Easting Northing Height [m] [m] [m] Mean 0.015 0.004 0.008 Median 0.006 0.003 0.006 Maximum 0.050 0.025 0.035 RMS 0.019 0.007 0.010 Table 9. Ground coordinate difference for the control points measured from different stereo pairs. Statistics Easting Northing Height [m] [m] [m] Mean 0.015 0.014 0.044 Median 0.013 0.011 0.045 Maximum 0.050 0.034 0.130 RMS 0.020 0.018 0.052 Table 10. Ground coordinate difference for 15 control points measured on stereo pairs from different passes. The ultimate accuracy test for the direct orientation derived from GPS/INS after the boresight was applied, is the comparison of the ground coordinates obtained by the photogrammetric methods based on the directly oriented imagery, and the ground coordinates of the GPS-determined control points. The control points used in this test were estimated with accuracy of ~1.5 cm per coordinate. They were located ~20 m from the perspective center of the camera when the imagery was collected. The comparison performed on 4 control points is presented in Table 11. 15 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 Point Easting Northing Height [m] [m] [m] 1 0.002 0.029 0.008 2 0.009 0.015 0.000 3 -0.019 0.029 0.010 4 -0.059 0.018 0.009 Table 11. Coordinate difference between control points measured in the imagery and the ground truth. SUMMARY The study presented here was conducted primarily to assess the quality of direct georeferencing of the medium size digital frame imagery with differential GPS integrated with a medium/high quality IMU. The importance of the proper system calibration, with special emphasis on the non-metric digital camera calibration and boresight calibration, as well as the significance of using a special calibration range was discussed. In particular, the effects of the errors in the exterior orientation on the accuracy of the ground point location were analyzed. The impact of the errors in boresight components and image coordinates on the ground coordinates was also presented. The analysis of the results indicates that the major limitations of the GPS/INS/CCD system performance of the AIMS prototype, in the airborne mission presented here, are due to insufficient quality of boresight estimation. This, in turn, is a consequence of the lack of properly signalized targets of geodetic control quality, and the lack of rigidity of the camera body and camera/mount/INS assembly of the current prototype. Both have seriously impacted the photogrammetric data reduction. The total error introduced by point misidentification (due to lack of proper signalization on the ground) during the image measurement of the control points has propagated into the triangulation results, and limited the projection center accuracy far above the level of control point measurement accuracy. Consequently, the boresight computation, which is single most critical item connecting the positioning and imaging components, has inherited this poor accuracy. Therefore, a better control of the boresight errors might be achieved by the embedded system architecture, where IMU is permanently attached to the camera body. Moreover, in any precise mapping applications with DPO, special attention has to be paid to the multi-sensor system calibration that should be performed with a quality test range of the ground targets. Additional tests performed with the land-based vehicle, where the object distance to the well-signalized control points was 8-20 m, indicated that the integrated system is capable of delivering a high quality georeferencing. Naturally, for shorter object distances any possible inaccuracy in boresight components or flex of the camera/IMU mount has much less visible effects as compared to 300 m altitude for the airborne test discussed here. 16 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 ACKNOWLEDGEMENTS The AIMS™ project was supported by the NASA Stennis Space Center, MS, Commercial Remote Sensing Program grant #NAG13-42, and grants from Litton Guidance and Control Systems, Inc. and Lockheed-Martin Fairchild Semiconductors. The test flight discussed here was supported by the University of Florida and Florida Department of Transportation. This support is gratefully acknowledged. The author wishes to thank Dr. Charles Toth for his helpful comments and suggestions, and Mr. Edward Oshel for providing the photogrammetric data processing. REFERENCES 1. Schwarz, K. P., Chapman, W. A., Cannon, M. E., Gong, P., An Integrated INS/GPS Approach to the Georeferencing of Remotely Sensed Data, PHOTOGRAMMETRIC ENGINEERING AND REMOTE SENSING, Vol. 59, No. 11, 1993, pp. 1667-1674. 2. Kerr III, T. (): Use of GPS/INS in the Design of Airborne Multi-sensor Data Collection Mission (for Tuning NN- based ATR Algorithms), PROC. ION GPS, Salt Lake City, Utah, 1994, pp.1173-1188. 3. Schwarz, K. P., INS/GPS as a Georeferencing Tool for Multi-Sensor Systems, presented at the Mobile Mapping Symposium, May 24-26, 1995, Columbus, OH. 4. Lithopoulos, E., Reid, B., Scherzinger, B., The Position and Orientation System (POS) for Survey Applications, INTERNATIONAL ARCHIVES OF PHOTOGRAMMETRY AND REMOTE SENSING, ISPRS Comm. III, Vol. XXXI, part B3, 1996, pp. 467-471. 5. Scaloud, J., Cramer, M., Schwarz, K.P., Exterior Orientation by Direct Measurement of Camera Position and Attitude, INTERNATIONAL ARCHIVES OF PHOTOGRAMMETRY AND REMOTE SENSING, Vol. XXXI, Part B3, 1996, pp. 125-130. 6. Abdullah, Q., Evaluation of GPS-Inertial Navigation System for Airborne Photogrammetry, ACSM/ASPRS Annual Convention and Exposition, April 7-10, 1997, Seattle, WA. 7. Toth, C., Direct Sensor Platform Orientation: Airborne Integrated Mapping System (AIMS), ISPRS COMM. III, Vol. XXXII, part 3-2W3, 1997, pp. 148-155. 8. Mostafa M. M., Schwarz, K. P., Chapman, M. A., Development and Testing of an Airborne Remote Sensing Multi-Sensor System, ISPRS COMM. II SYMPOSIUM ON DATA INTEGRATION: SYSTEMS AND TECHNIQUES, July 13-17, 1998, Cambridge, England, pp.217-222. 9. Toth, C., Grejner-Brzezinska, D. A., Performance Analysis of the Airborne Integrated Mapping System (AIMS™), ISPRS COMM. II SYMPOSIUM ON DATA INTEGRATION: SYSTEMS AND TECHNIQUES, July 13-17, Cambridge, England, 1998, pp.320-326. 10. Schwarz, K. P., Wei, M., Aided Versus Embeded A Comparison of Two Approaches to GPS/INS Integration, PROC. IEEE POSITION LOCATION AND NAVIGATION SYMPOSIUM, April 11-15, 1994, Las Vegas, NE, pp. 314-321. 17 Navigation, Vol. 46, No. 4, pp. 261-270, 1999 11. Da, R., Investigation of Low-Cost and High-Accuracy GPS/IMU System, PROC. ION NATIONAL TECHNICAL MEETING, Santa Monica, 1997, pp. 955-963. 12. Lachapelle, G., Lu, G., and Loncarevic, B., Precise Shipborne Attitude Determination Using Wide Antenna Spacing, PROC. KIS94, 1994. 13. Ward, L., Axelrad, P., A Combined Filter for GPS-based Attitude and Baseline Determination, NAVIGATION, 1997, Vol. 44, pp.195-213. 14. Grejner-Brzezinska D. A., Toth C. K. and Edward Oshel, Direct Platform Orientation in Aerial and Land- Based Mapping Practice, REAL TIME MAPPING TECHNOLOGIES, ISPRS WORKING GROUP II/1, Bangkok, Thailand, April 21-23, 1999, pp. 2-4-1—2-4-7. 15. Grejner-Brzezinska, D. A., Airborne Integrated Mapping System: Positioning Component, PROC. 53RD ION ANNUAL MEETING, Albuquerque, NM, 1997, pp. 225-235. 16. Grejner-Brzezinska D. A., Phuyal B. P., Positioning Accuracy of the Airborne Integrated Mapping System, PROC. ION TECHNICAL MEETING, January 21-23, 1998, Long Beach, CA, pp. 713-721. 17. Grejner-Brzezinska D. A., Da, R., Toth C., GPS Error Modeling and OTF Ambiguity Resolution for High- Accuracy GPS/INS Integrated System, JOURNAL OF GEODESY, 1998, 72(11), pp. 628-638. 18. Litton Guidance and Control Systems, Inc. (1994), LN-100G EGI Description, Litton Systems, Inc., September 1994. 18


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This hotel is located in Montepulciano (Val di Chiana), close to Cantina Contucci, Consorzio del Vino Nobile di Montepulciano, and Piazza Grande. Local attractions also include Tenuta Valdipiatta and Terme di Montepulciano Spa.
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Recent Shame Forum Posts
Apologies to Engel PahkJ 25 Nov 17:31
Apologies to WhittingtonS & Rundle D Metro Div 2 FrankJ 21 Nov 21:00
Sincere Apologies to ZasowskiJ and Abasement NirM 21 Nov 2:32
As Lucy Ricardo would say ... FerzocoG 20 Nov 0:46
A thousand apologies for my recent forfeits ThielmanS 19 Nov 4:07
Apologies to BowersI SpillaneJ 18 Nov 8:42
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