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Mathematical Problems in Engineering
Volume 2013, Article ID 708935, 8 pages
Reorientation of Asymmetric Rigid Body Using Two Controls
1Texas A&M University, College Station, TX 77843-3141, USA
2Chosun University, Gwangju 501-759, Republic of Korea
Received 9 May 2013; Accepted 25 July 2013
Academic Editor: Mufid Abudiab
Copyright © 2013 Donghoon Kim et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Most spacecrafts are designed to be maneuvered to achieve pointing goals. This is accomplished usually by designing a three-axis control system, which can achieve arbitrary maneuvers, where the goal is to repoint the spacecraft and match a desired angular velocity at the end of the maneuver. New control laws are required, however, if one of the three-axis control actuators fails. This paper explores suboptimal maneuver strategies when only two control torque inputs are available. To handle this underactuated system control problem, the three-axis maneuver strategy is transformed to two successive independent submaneuver strategies. The first maneuver is conducted on one of the available torque axes. Next, the second maneuver is conducted on the torque available plane using two available control torques. However, the resulting control law is more complicated than the general three-axis control law. This is because an optimal switch time needs to be found for determining the end time for the single-axis maneuver or the start time for the second maneuver. Numerical simulation results are presented that compare optimal maneuver strategies for both nominal and failed actuator cases.
1. Introduction
This work addresses the problem of finding suboptimal spacecraft maneuver control laws for handling underactuated system, with only two control torques available. Many researchers have considered controlling the attitude of rigid and flexible spacecrafts when all actuators are available. Many different control strategies have been introduced for handling the nominal three-axis control case [1–3]. For underactuated system control application, more limited literatures exist. For example, Tsiotras and Longuski [4] have considered the case designing control strategies for handling situations in which sensor and actuator failures limit the control options available for carrying out the original mission objectives. Keraï [5] has considered a more extreme case in which only a single control actuator is available but is shown to be uncontrollable, which is intuitively reasonable. Brockett [6] has shown that two controls can be made asymptotically stable about the origin. Tsiotras et al. [7–14] have further addressed the problem of stabilization of axis-symmetric spacecraft including tracking control laws. Others [15, 16] have presented approximate strategies that switch between two different control laws. Much of the later work has considered complex mathematical approaches for overcoming the underactuated spacecraft control problem. Recently, Kim and Turner [17] have suggested a simple way to handle the failure control problem by introducing a sequential maneuver approach that avoids exciting nonlinear coupling interaction effects in the equation of motion and attitude kinematics during suboptimal maneuvers. Analytically the problem leads to a high-dimensional optimization problem, where it is very important to specify accurate starting guesses [18]. The problem becomes computationally challenging, because of increased number of unknowns and constraints [19]. A major contribution to this work is the reduction of the number of unknowns and constraints through two successive maneuver strategies. Reducing three submaneuvers to two submaneuvers confirms that the suggested strategy requires less torque than the three-successive-maneuver strategy.
In this work, we address the problem of formulating and solving a rigorous nonlinear optimal control problem formulation for handling spacecraft maneuvers where actuator failures limit the number of control inputs to two axes. First, a single-axis maneuver is conducted to move the given attitude to a torque available plane. Then the general simultaneous maneuver is conducted for reorienting the spacecraft attitude. The necessary conditions are developed for two cases, such as control torque minimization and control torque-rate minimization. Unless the closed-loop control is considered, the second approach provides continuous control time histories to avoid an unexpected flexible body response [20, 21]. The nonlinear necessary conditions are handled by introducing a multiple shooting method [22], which enforces both the terminal and interior boundary conditions that define the optimal solution.
An asymmetric rigid spacecraft math model with two control inputs is assumed. The control design objective is to avoid the axis where the actuator failure has occurred. With only two control inputs available, our strategy consists of carrying out two successive submaneuvers of unknown duration. For obtaining a suboptimal solution, an optimal switch time must be found. Provided numerical examples demonstrate that, if one fails to determine the optimal switch time, then the impact on the integrated value of the performance index is very significant. The full nonlinear set of necessary conditions is solved by introducing a multiple shooting method that is found to require 80 iterations for convergence.
2. Dynamics and Kinematics for a Rigid Body
In general, the rotational dynamics equation of a rigid spacecraft is given by [1–3] where is the moment of inertia tensor for the spacecraft, which is assumed to be diagonal, is the angular velocity vector of the spacecraft, and is the control torque vector, and the cross-product matrix with a generic variable is define as
For describing an actuator failure condition, (1) is modified as [21] where is the available control torque vector, and the control mapping matrix is defined as
There are various parameters to describe attitude such as the quaternion, Euler angles, direction cosine matrix, modified Rodrigues parameters (MRPs), and so forth. Considering the number of parameters to describe the attitude and singularity issues, the MRPs are selected to define kinematic equations. The MRPs are defined in terms of the quaternion or the principal rotational elements as [23]where the MRPs have a geometric singularity at radians from (5b).
The kinematic differential equations for the MRPs can be expressed as where
3. Problem Formulation for Normal Control
Two quadratic performance indices are introduced for defining the optimal control problem for the actuator mechanical failure maneuver case. Both the nominal and failed control actuator maneuvers are designed to achieve the three-dimensional rigid body boundary conditions. Two related control formulations are presented: quadratic penalties on control, leading to discontinuous control time histories, and quadratic penalties on control rate, leading to continuous control time histories. Both performance indices are defined as follows:where the time derivative of control torque is defined as
As shown in the numerical results section, (8a) leads to a discontinuous control solution whereas (8b) leads to a continuous control solution. With only two control inputs available for the failed actuator case, one defines first single-axis maneuver to move given attitude to controllable plane. By introducing two successive submaneuvers, one must define an unknown switch time between the first single-axis maneuver and the following maneuver.
3.1. Optimal Control Formulation
We seek a solution of (3) and (6) satisfying the prescribed terminal boundary conditions where the 12 members of (10) are prescribed constants characterizing the attitude and angular velocity at the initial and final times. Defining the Hamiltonian for the system where the loss function and the Lagrange multipliers are and , one obtains the following first-order nonlinear necessary conditions.
State Equations Are where for a generic variable .
Costate Equations Are where
Stationarity Condition Is
Given the fixed initial time and final time , the initial states and , and the final states and , there are no extra boundary conditions. These fixed terminal boundary conditions define a classical two-point boundary-value problem.
3.2. Optimal Control-Rate Formulation
We seek a solution of (3), (6), and (9) satisfying the terminal boundary conditions in (10) and where the 16 members of (10) and (16) are prescribed constants characterizing the attitude, angular velocity, and control torque at the initial and final times. Defining the Hamiltonian for the system where the loss function and the Lagrange multiplier is , one obtains the following first-order nonlinear necessary conditions.
State Equations Are
Costate Equations Are
Stationarity Condition Is
As described in optimal control formulation, no additional boundary conditions exist.
4. Problem Formulation for Failure Control
For the underactuated system, a concept of sequential control is introduced to avoid a control input about the failed control axis. A sequential Euler angle transformation [23] is used for determining the MRPs at the switch time. Assuming that an Euler angle rotation sequence is selected that avoids the failed actuator axis, one seeks to design two successive submaneuvers where the maneuver times are unknown. At the interior switch time, the angular velocity is set to zero to avoid cross-coupling term's effect. These control design assumptions guarantee that the constraints for the states at the interior switch time are perfectly known.
After developing a strategy for carrying out two successive submaneuvers, the switch time must be specified. Failure to solve the optimal switch time leads to large penalties in performance indices, which indicates poor maneuver performance.
4.1. Switch-Time Boundary Conditions
A free interior switch time is introduced for changing the control actuator being used; the following unknown boundary conditions are introduced: since the Hamiltonian is not an explicit function of time.
Because the unknown switch time is defined, a multiple shooting method [22] is applied to find a suboptimal solution, where the interior point condition [24] is given by where is the total states. The interior point condition yields the following two additional boundary conditions that define the suboptimal solutionwhere is the total Lagrange multipliers associated with the total states and is the another Lagrange multiplier describing the maneuver switch-time jump conditions.
4.2. Optimal Control Formulation for Failure Control
An Euler angle transformation algorithm [23] is used to define the boundary conditions for the MRPs. Unlike the normal control, the MRPs at the switch time need to be determined. The boundary conditions for the MRPs are handled by using an Euler angle rotation sequence that avoids the failed control actuator axis.
To formulate the mathematical structure for the problem, one now collects all the problem unknowns and constraint conditions as follows.
19 Unknowns Are
19 Constraints Are
The constraints in (25) are particularly challenging because jump conditions govern the optimality of the resulting solutions. The problem is characterized by both high dimension and nonlinearity, which makes it critically important to develop useful approximate starting solutions. The unknowns in (24a), (24b), and (24c) and the constraints in (25) are enforced by iteratively solving (12a), (12b), (13a), (13b), and (15).
4.3. Optimal Control-Rate Formulation for Failure Control
To formulate the mathematical structure for the problem, one now collects all the problem unknowns and constraint conditions as follows.
25 Unknowns Are
25 Constraints Are
The unknowns of (26a), (26b), and (26c) and the constraints of (27) are enforced by iteratively solving (18a), (18b), (18c), (19a), (19b), (19c), and (20).
5. Numerical Results
The numerical simulation parameters are listed in Table 1. For asymmetric rigid spacecraft, a diagonal moment of inertia tensor is assumed to model the spacecraft, where all values of the inertia are different.
Numerical simulations are performed for both nominal (3-axis controls) and failure control cases (2-axis controls). For the failure control simulation case, and are only available. Using the Euler transformation, the given initial attitude can be transformed into two possible sets of expression, such as (1-2-1) and (2-1-2). In this paper, the (1-2-1) set is studied, and a trend of first single-axis maneuver is shown in Figure 1. Future work will develop algorithms for optimally selecting the Euler angle rotation sequence.
The unknown Lagrange multipliers are selected arbitrarily, and the unknown switch times are initialized by assuming half of the total simulation time. With this initial guesses, the Lagrange multipliers and switch time are found and listed in Tables 2 and 3.
The simulation results for minimizing control torques are shown in Figures 2–5. Figure 2 shows that all the states meet the terminal and interior conditions using only two control torques. Since a single-axis maneuver is conducted until the switch time, we observe linear control time histories. Then, two control torques are utilized for reorientation. Note that discontinuous control time histories are obtained for torque minimization case. Figure 3 presents time histories of Lagrange multipliers associated with the states.
The results among the normal control, failure control using two successive maneuvers, and failure control using three successive maneuvers are compared. Figure 4 presents the Hamiltonian and performance index time histories. As defined in (21), it shows that Hamiltonian is constant over time regardless of normal and failure controls. For the normal control, the performance index value at final time indicates the torque consumption. For the failure control, the sum of the performance index value at switch times and final time indicates the torque consumption. Figure 5 presents the principal angle time histories. We observe that the principal angle path using three successive submaneuvers is the longest. Thus we can expect that the two-successive-submaneuver strategy has better performance than the three-successive-submaneuver strategy.
The simulation results for minimizing control torque rates are shown in Figures 6–9. Figure 6 shows that all the states meet the terminal and interior conditions using only two control torques. Even though a single-axis maneuver is conducted until the switch time, different control time histories are obtained. This is because control rates are minimized instead of control torques. Also, it leads to continuous control time histories. Figure 7 presents time histories of Lagrange multipliers associated with the state.
Similarly, constant Hamiltonian time histories are obtained in Figure 8. Like the control torque minimization results of the principal angle path, the three-successive-submaneuver result has the longest path in Figure 9. For comparing torque consumptions according to the usage of control rate as a performance index, is calculated. For both torque and torque-rate minimization cases, torque consumptions are compared and listed in Table 4.
As shown in Table 4, the two-successive-submaneuver strategy requires less torque than the three-successive-submaneuver one.
6. Conclusion
The classic spacecraft maneuver problem is generalized to handle the special case that an actuator failure alters the hardware capabilities available for repointing the vehicle. A key objective is to maintain a suboptimal solution strategy even during the degraded hardware environment. A solution strategy is presented that enables two control inputs to complete the originally defined three-dimensional rigid body maneuver. Nonlinear necessary conditions are defined for carrying out a sequence of maneuvers. For a single-axis and simultaneous submaneuver, an unknown switch time must be recovered switching between the remaining control actuators. Two control formulations are presented. The first approach penalizes the control torques but is shown to lead to discontinuous control time histories. The second approach penalizes the control torque rates but is shown to eliminate the discontinuous control time histories, which is important for flexible body applications. The problem is defined by a nonlinear high-dimensional set of necessary conditions, which are iteratively solved by introducing a multiple shooting method. On comparing the performance indices for the nominal and failed actuator cases, it is demonstrated that the failed actuator case requires 20-fold increase in computational cost. The proposed method is expected to be broadly useful for spacecraft applications that must deal with actuator failures on orbit, where optimized approaches are required for maintaining vehicle pointing goals. Future research will investigate developing more accurate starting guess solutions for reducing the number of nonlinear optimization iterations required.
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Traditional herbal products are widely used in Australia to treat a broad range of conditions and diseases. It is popularly believed that these products are safer than prescribed drugs. While many may be safe, it is worrying that the specific effects and harmful interactions of a number of their components with prescription medications is not well understood. Some traditional herbal preparations contain heavy metals and toxic chemicals, as well as naturally occurring organic toxins. The effects of these substances can be dire, including acute hepatic and renal failure, exacerbation of pre-existing conditions and diseases, and even death. The content and quality of herbal preparations are not tightly controlled, with some ingredients either not listed or their concentrations recorded inaccurately on websites or labels. Herbal products may also include illegal ingredients, such as ephedra, Asarum europaeum (European wild ginger) and endangered animal species (eg, snow leopard). An additional problem is augmentation with prescription medications to enhance the apparent effectiveness of a preparation. Toxic substances may also be deliberately or inadvertently added: less expensive, more harmful plants may be substituted for more expensive ingredients, and processing may not be adequate. The lack of regulation and monitoring of traditional herbal preparations in Australia and other Western countries means that their contribution to illness and death is unknown. We need to raise awareness of these problems with health care practitioners and with the general public.
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15 comments:
- Nes said...
This is wonderful for you Jen....so happy for you!!
- 16 March 2010 at 9:20 am
- Ev said...
that is an amazing amount of hits, congrats on the DT too
- 16 March 2010 at 9:27 am
- Mistra Hoolahan said...
Anyone would think you're talented with so many hits ;-) well done Jen!
Great going... and with those yummies up for grabs, I'm commenting!
Mis xo
- 16 March 2010 at 9:40 am
- tij1 said...
Congrats Jen, on both the multiple 0 hits and the design team news. Can't wait for all the new inpsiration to come floating down to us learners through scraptivate! Pick me Pick me!!!!
- 16 March 2010 at 11:29 am
- Bev said...
Congrats Jen on both the number of hits and the DA design team. As you know I'm a another DA addict.
Can't wait to see what designs you come up with.
- 16 March 2010 at 12:13 pm
- Anonymous said...
well you are an inspiration and incredibly talented! Good on you Jen!xx
- 16 March 2010 at 1:35 pm
- Fi said...
Love you work and love you to bits!
XXXXXXXXXXXX Dusty attic woo hoo...
- 16 March 2010 at 8:43 pm
- Nae said...
Congratulations on your fabulous designs, it is a pleasure to watch you create, you are such an inspiration for all of us.
- 16 March 2010 at 8:44 pm
- DorothyC said...
Congratulations Jenny!! Your creations are always an inspiration. Let me know if you change your mind about turning the sewing room into a class project! xox
- 17 March 2010 at 11:15 am
- Julie said...
Booooody eck, you is popularrrrrrrr
seee always did say you was amazin.
Loves ya Popcorn xoxoxoxox
- 17 March 2010 at 5:57 pm
- ceejay said...
congrats on 10,000 hits. Also you blog and artwork is awsome!
- 18 March 2010 at 7:03 pm
- Marcy said...
- This comment has been removed by the author.
- 18 March 2010 at 8:01 pm
- Marcy said...
a stupid spelling mistake she couldnt edit so deleted the post so's not to look stupid...hows that workin for me! NOT! LOL
Take 2.....
Oooo When I grow up I want to be just as talented and....POPULAR as you Jen! Congratulations on hitting10,000! Oh and can I beg beg beg you for some dusty attic since I'm your newest fan and all! LOL
(brown nosing is never embaressing! :)
- 18 March 2010 at 8:04 pm
- Binxcat1 said...
hehehe @ Marcy... how EMBARRASSING! I do that all the time too (as in delete a post of mine if I see a spelling mistake and re-post it... I think it's a bit OCD but I can't stop myself!)
Happy 10 000 hits Jen... just leavin' a comment! ;)
- 19 March 2010 at 12:58 pm
- Kelvin & Melissa said...
Congratulations on so may hits. No wonder though, your work is just stunning.
Thanks for inspiring me.
- 22 March 2010 at 11:01 am


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borro® Reaches Milestone Of $100,000,000 Lent Against Luxury Assets And Rare Collectibles
24-hour Approval on Loans Ranging from $1,000 to $1 million Lets Individuals Turn High-Value Assets into Cash to Fund Investments, Business Opportunities or Cash Flow Shortfalls
Jan 29, 2014, 09:00 ET
NEW YORK, Jan. 29, 2014 /PRNewswire/ -- Leading personal asset lender borro® has reached the milestone of issuing over $100 million worth of loans. Offering a faster, less cumbersome approach to traditional bank lending, borro lends up to $1 million on personal assets including jewelry, watches, luxury cars, fine art and antiques, fine wine and more. With no invasive background checks, funds can be wired within 24-hours.
"We've seen a tremendous surge in business over the past year," said borro CEO Paul Aitken. "borro's faster service compared to typical bank lending and the lower cost versus selling the asset are very appealing to high-net worth individuals and small business owners looking to strike while the iron is hot for new investments, including real estate and property development where time is of the essence."
borro's hundred-million milestone is comprised mainly of loans against assets such as jewelry (30%), art (21%), watches (18%), vehicles (15%), and even the occasional bottle of exceptionally rare wine (1%). Borrowers have entrusted borro with the care of such incredibly unique items as Olympic gold medals, an Oscar statuette, an original Salvador Dali watercolor painting, and a Patek Philippe Annual Calendar Chronograph watch.
To find out more about borro's award-winning, on-demand personal asset lending service, or to apply for a loan now, visit www.borro.com.
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borro is a personal asset lender which offers small business owners, entrepreneurs and high-net worth individuals liquidity against luxury personal assets such as watches, jewelry, prestige and classic cars, fine art and antiques. Loan values are determined by expert appraisers with over 100 years of combined experience from the top auction houses. With borro there are no credit checks and money is received within 24 hours. The service can be completed online, or in-person and borro will lend $1,000 to $1,000,000 depending on the asset.
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A rare and valuable WIP picture!
See, when my friend Brit asked for a hat I agreed. He was going to buy the yarn, but then I realized that I had some that was generously given to me at ArtBeat by Alasdair. This yarn is perfect for a 20-something guy that will probably not handwash anything. ;)
So, why is there a WIP pic?
I know, I know...


text:
Thursday, July 1, 2010
Currently in the lead for
bitchin' Sportster-tracker-bus-jumper style goodess:
Posted by Garrett302 at 11:47 PM No comments: Links to this post
Labels: bus jumper, crazy idea, harley, inspiration, marshall, scrambler, sportster, street tracker, very extra great
Iron XR
I have a soft spot for the Iron XR. So purty! and all business.
this one's for sale at vft.org
Posted by Garrett302 at 11:59 AM No comments: Links to this post
Labels: 70s, flat track, harley, inspiration, iron, XR750
Monday, June 28, 2010
Back on the Street, er, temporarily...
Posted by Garrett302 at 10:55 AM No comments: Links to this post
Labels: colorado, garrett302, project, sportster, street tracker
Wednesday, May 19, 2010
Classy Tracker
Stolen from XLForum
Check out the groovy heads!
Posted by Garrett302 at 9:55 AM 1 comment: Links to this post
Labels: harley, inspiration, sportster, street tracker
Thursday, April 15, 2010
Tuesday, March 23, 2010
Rick V!
Got a great e-mail from Rick. Always cool to hear from like-minded folks! Check out his awesome bikes above, plus he's got tons more fantastic bike pics here:
Rick's Pics
Here's the story from Rick, I love this stuff:
"CHR1000(Custom Harley Racer) -- back story:
I graduated from art school in 1966 with a fine art degree (useless unless you wanted to teach). A friend and I worked nights as guards at the Walker Art Center, and we would wander the empty galleries talking about what the perfect motorcycle would look like and what its components would be. It took two years of research and phone calls, but I managed to actually cobble together what I thought would be "perfect". It was very close, but in the end it became an albatross around my neck. It was a hell of a journey, though, and I'll always be very proud I undertook the project.
Before I die, I may just do it again.
And "Next time, we'll get it right!" (to borrow the last line from Bob Seger's Roll Me Away).
The tank was from a Canadian supplier, as was the fiberglass seat - as you can see, it mounts with a single top-tube bolt (just like the fiberglass tank on my '66 BSA Hornet). I always planned to paint the bodywork, but stayed so fond of the green metalflake and white seat fairing, that I never got around to it. The taillight was a Bates and the headlight came from Drag Specialties, which was just a little shop on Lyndale Ave. back then. I don't know if I got the drag bar with risers from DS, but I got the VDO tach and Magura levers from Germany. The Ceriani road-racing fork, Borrani rim and Fontana four-leading shoe brake came from Italy via Jim Belland, who took them off an HD factory racer, and the tire was a racing Dunlop from the Brits - rear tire was a Continental, Universal tread - don't remember if it was British, but the Girling racing shocks were. The engine was built from scratch by the Eide Bros. shop in north Minneapolis, and they wired and final assembled the bike, but I put all the main parts together in my basement and then got about seven friends to drag it up the stairs and out the back door using the usual bait - couple of cases of beer. As I've said elsewhere, Mert Lawwill's builder/tuner Jim Belland made the frame for me (for a paltry $300!) - I spent a whole summer calling and bugging him about it - got to be pals with his lovely wife Wanda, who had to field most of my calls (spent 250 1968 dollars on the phone bill for the summer). I have no memory of how I connected with Jim, except I know I first called him at the big San Fran HD dealer where he worked. (I never had any interaction with Mert.) I remember sending a drawing of what I thought a Sporty frame should look like, and he said it was so much like their KR750 racing frame that all he needed to do was raise the backbone tube to fit the overhead valve Sportster engine into it. He finally sent it, (I had to have the nickel-plating redone) with the Ceriani/Fontana fork/brake as a surprise for my patience (for only $100!). When the Eide's got the bike running I went to get it, and the sky opened up with a cloudburst, so I rode it home under seriously god-awful conditions. To say the little Harley had a "personality" does not cover it - when the cursed Tillotson was behaving, it scared the bejesus out of any other bikers on the street, which was exactly as I planned - and those shorty glass-packs made a sound like a pack of banshees chained in the backyard...hehehehe. I figure maybe 100hp moving 380lbs. of bike with 150lbs. of little ol' me; it would lift the front wheel for a block or so...and then I'd hit second gear and be gone.
It cruised past other bikes reading 125mph, but since speedos aren't to be trusted, who knows what it topped out at.
It steered like it was on rails and the big Fontana hauled it down like a couple of modern discs. But vibration was intense and the two 500cc 12:1 cylinders were almost impossible for me to kick over, plus the carb would simply not stay tuned.
After two on-again off-again summers with my little "CHR1000", I took it out to the Norton/Ducati dealer and traded it in
on a Commando 750. On the way, a squad car pulled me over for noisy pipes (big blue flames shooting out of the glasspacks) and I told the cop I was taking it to trade in on a Norton and he let me go. I still miss my little Harley bullet, but not the grief it gave me.
I think I invested a total of $3200 into it, which was a lot to invest in a bike back then.
That's it.
Posted by Garrett302 at 8:37 AM 1 comment: Links to this post
Monday, March 1, 2010
Not normally a fan of DTX-ers, but
Posted by Garrett302 at 8:30 PM No comments: Links to this post
Labels: 2-stroke, DTX, flat track, honda, no way you're gonna fit on that thing
Wednesday, February 10, 2010
Posted by Garrett302 at 1:42 PM No comments: Links to this post
Labels: garage rock, music, rock-n-roll, Wildebeests
Tuesday, January 12, 2010
Nice Yam
for sale at vft.org.
Posted by Garrett302 at 8:49 AM No comments: Links to this post
Labels: flat track, scrambler, street tracker, vintage, yamaha
Monday, January 4, 2010
caught my eye looking at old posts over at bikeexif.
Posted by Garrett302 at 3:09 PM 1 comment: Links to this post
Labels: cafe, cool blog, inspiration, matchless, vintage
Saturday, January 2, 2010
Marshall, Check It Out
Posted by Garrett302 at 5:55 PM 1 comment: Links to this post
Labels: 2-stroke, flat track, Husqvarna, inspiration, vintage
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text:
The inspiration
I usually start with a trip to the river before I start painting. It always seems to calm me, especially in the middle of winter when the water is half frozen and there is motion between the ice and the current. I often find myself bringing home little found objects and containers of water after my visits to incorporate them into my work. Ill either use the water to paint with or paint a piece inspired by the texture or shape of the found object. Water is home to me – it is my source of inspiration, relaxation, calmness and peace."


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One project I have worked on for my granddaughter, June, is "Prayer Sticks." June is too young to make prayer sticks on her own but perhaps your children or grandchildren are older and won't need much assistance with this meaningful activity. Its even a great idea for adults too!
The popsicle sticks I used cost just $1 at the Dollar Store. That was for a bag of a couple hundred sticks. Then I took some bright markers and wrote simple prayers or praises on them.
For example:
Help me, Lord, to learn to share.
Thank you, Jesus, for my bed.
Dear God, Teach me to obey.
God, please help the sick.
On the back side of the sticks, I made colorful little flowers or polka-dots, just so they would be eye-catching and cute. I placed June's sticks in a small jar with a ribbon. Then, two or threes times a day, when she is visiting me, she can pull out a stick and we can say a prayer together.
Several things make this an excellent project:
It's very inexpensive!
It teaches the importance of prayer!
It help our young ones learn how to talk to God about everything!
It can keep on going!
You might choose to purchase styrofoam and put it in a pot to hold the sticks, like flowers. You probably can think of several other ways to place these prayer sticks around your home. Keep adding to the sticks over time. You can even put specific names on the sticks, such as a school friend who gets sick or a pet that gets hurt. Nothing is too small to the Lord because He cares about everything in our lives! Isn't it awesome to serve such a wonderful God?
"And they that know your name will put their trust in you: for you, Lord, will not forsake those that seek you."
~Psalm 9: 10


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'Princess Bride' Cast Reunites for an Interview; Universe Smiles
So we're a few days late on this adorable little video clip, but hey, better late than never! Long story short: Entertainment Weekly's latest issue is dedicated to reunions of all kinds, and one of their best picks was the classic 1987 adventure movie The Princess Bride. Gathered together for a video shoot (and interview) were actors Cary "Westley" Elwes, Robin "Buttercup" Wright, Billy "Miracle Max" Crystal, Carol "Valerie" Kane, Wallace "Vizzini" Shawn, and Chris "Humperdinck" Sarandon.
My only complaints about this video clip? A) We're missing the late, great Andre the Giant and Peter Falk, B) there's no trace of Mandy Patinkin or Fred Savage or Christopher Guest, and C) it should have been an hour longer. Enjoy!
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(Hat tip to Buzzfeed and Good Morning America!)
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Please note this is a third party rental event.
Toronto Movie Club presents Angamaly Diaries in English. This story revolves around Vincent Pepe and his friends, who want to be powerful leaders of a righteous gang that rules the city. The film follows the gang-fights, the failed romances, an accidental death, a messy business deal and much more. Through Pepe's amusing point of view, this story steers through the ups and downs of his life, and how he handles the pickle that he is in. For more information, please visit edmontonmovieclub.ca.
Tickets: $12
Hot Docs Member discounts do not apply on this event.
Keep up-to-date with the latest news from Hot Docs and the Hot Docs Ted Rogers Cinema.
Join our email list to receive the latest Hot Docs news, including Festival announcements, screenings and events.
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Dr. Dawn Hui Plays the Violin at "Jim Hoft Live" 2014
This past weekend friends, family, special guests, fellow patriots and several doctors helped me celebrate "Jim Hoft Live" here in St. Louis.
One of the special guests that evening was Dr. Dawn Hui, a very distinguished heart surgeon at St. Louis University Hospital. Dawn assisted Dr. Richard Lee and saved my life back in September. In fact, I was later told I had only days to live when they operated on my heart. Dr. Hui is also an accomplished violinist and spent a year in the Hong Kong Philharmonic before moving into medicine.
On Saturday she played for us at our celebration of life.
Thanks to author Marinka Peschmann for posting the video.
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text:
It's 2012. You would think that by now, we'd have worked out effective solutions so that we could use our phones in more than one country. Of course, that's not the case. Despite the more than 600,000 Canadian business trips to the US every year, sorting out a phone or data plan for the US is unwieldy. Prices are extortionate, and the average traveler isn't savvy enough to swap SIM cards on their phone. And, in truth, they shouldn't have to. Their phone should just work, wherever they take it. And that's just going from one country to another.
I was reminded of this when, earlier this month, we traveled to Ireland. Rental car companies have begun renting out mobile Internet (or 'mifi') units along with their car. For a reasonable fee–I think we paid about €5 a day–we got mobile Internet access nearly anywhere in the country. You get a little mifi unit that comes with a wall and car charger. We have a similar unit for France, for when we're traveling within the country or on the rare occasion when our local Internet access goes down.
By the way, it's non-trivial to sign up with one of those units in the US, Canada or France. It's not simply a question of buying it and then getting top-up cards. In the US and France when we've bought them, there was a fair amount of paperwork. And in Canada, where I had to buy one out of desperation earlier this year, there was no pay-as-you-go option available. I ended up signing up for a monthly plan with Bell, using it for three days, and then promptly canceling it.
Because we're self-employed, a certain amount of any leisure travel is usually sacrificed to the Gods of Finding the Internet. Can we find a cafe with Internet access (particularly in the off season)? Does the hotel access actually work? A very first world problem, I know, but it's a routine concern. Happily, this little mifi unit–we named it Dougal–spared us this inconvenience.
But what if we were just visiting Dublin for a week, and not renting a car? Or what if we were taking the train around Europe and traveling on foot? Where would we turn? Most travelers don't absolutely need web access on the go, but increasingly they want it.
Thus far, the options look kind of dubious. There's services like this one–that site feels a little sketchy. They charge $15 per day, plus another $13 or so to ship the device to you. You get 'unlimited' data access, except that after you use up 500 MB, you're downgraded from 3G to a 2G network. Their coverage in Europe looks decent, though interestingly you can't use one of their devices in Canada. Trustive seems like a similar product. Worryingly, I couldn't find reliable pricing information on their site. I wouldn't trust either of these services without a recommendation from somebody I trust.
It seems like there's a sizable opportunity for somebody with a recognizable brand to step in and own this space. In Europe, I could see somebody like Orange, who has presence in a lot of countries, offering a mifi solution to the city-bound tourist. Or maybe there are solutions on the horizon that I haven't heard of?
5 Responses to "Roaming still sucks"
Kevin Baggs
A friend of mine who does a lot of travelling has a few posts on roaming in Europe.
Roland Tanglao
1. roaming still sucks
2. carriers still suck
3. follow whatever Andy recommends for roaming iff you travel as much he does. otherwise just buy a local sim card in each country.
happy new year!
John Biehler
This topic definitely feels like a completely missed opportunity for carriers to get new, willing to pay a reasonable amount, foreign customers for part time access to their networks.
The biggest problem (in North America at least but I suspect it's similar in Europe) is that many US carriers won't even let you use a Canadian address or credit card to pay for their services – their systems are simply not setup for anything other than a US address. Some will let you slug in your province and postal code in the 2nd address line and fake the rest of the info but many will not. Others work via topup cards so that causes the frustrating search for a card once you've landed in the foreign land vs just using your own credit card.
I started using Roam Mobility earlier this year as they seemed to be better than the alternatives out there (much cheaper than carrier roaming options and much easier for Canadians to use while in the US) but it's still not perfect – no rollover data, no Canadian usage, no online usage meter etc.
All of this is a huge PITA for the average, non-geek traveller…it's still an ongoing PITA for the geek traveller too.
Will Hughes
I spent about 7 weeks in UK, Europe, and Hong Kong in 2012.
Last time I spent that much time overseas was in 2006, well before smart-phones were smart and 3G was sane.
Having a smartphone, with access to maps and translation software got me out of more than a few jams. Yeah, I could've muddled through, but it turned potentially stressful situations into something we could laugh about.
So – having Internet access on the go might not be a 'must have', but it's fast becoming that.
That said – my experience getting a Travel SIM was… not great. It worked fine in one country, but then went down for days on end. Eventually I gave up and bought SIMs as I went.
Please post your Oscar Picks for 2013. What film will win best Picture and what do you think was the best Picture of 2013?
Comments are closed.


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If you've emptied the recycle bin only to remember that there's a file you need, then Aidfile Free Data Recovery Software can help. If you've ever formatted a hard drive or installed Windows only to remember crucial files, Aidfile can help. It isn't a comprehensive professional solution, but it is a convenient solution that you can download and use right away when the need arises.
The user interface is simple and straightforward. It may look a little undercooked, to be honest. It's clear the developers focused more on the underlying engine than the UI. That's probably OK. After all, this isn't the kind of program you'll use every day. In fact, most people will probably only use it once when they need it and then discard it. You'll be able to navigate it and achieve your goals the first time you use it without issue. If you do encounter a problem, there's an integrated help system that explains the features and even data recovery theory. With this program, you can recover deleted files and folders and even entire partitions.
When you use Aidfile, you have two options: quick and full. Quick is a great option for recovering from a mistake you just made. Recover from a file delete, partition delete, partition change, OS installation and so forth. You can even focus the quick scan on particular directories. The full scan covers an entire drive or series of drives and identifies all files that it has a chance to recover. The longer out the file has been deleted or corrupted, the less chance there is that the program will be able to recover it, though.
One area where Aidfile works particularly well is with external hard drives and other external devices, including USB flash drives and SD cards. This is an area where many data recovery solutions come up short, but Aidfile works fast and with accuracy for the most part in these scenarios. A common problem scenario with external HDDs is a premature disconnection, which results in corrupted files. Aidfile is good at locating and repairing these files so that you can access them for reading and writing.
Aidfile does come up short in some areas. For one, the English translation was performed by someone with a lacking understanding of the language. Labels and descriptions are off, and while you will understand what they mean, it's a bit distracting. A more serious issue is a lack of optimization. The program is simply not as well optimized as most comparable programs. It works fast enough with small capacities. With larger capacities, performance will depend on processing power and memory. Even good computers may take hours to complete drives 1 TB and larger.
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Hayes Library
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text:
"It seems we can't go ANYWHERE" one of my friends recently stated.
First we were all afraid to fly.
Then we couldn't go to the movies.
Even worse, we couldn't even send our kids to school without worry.
And now, we can't run marathons or cheer from the sidelines.
Where did goodness go?
I look at all the tragedy, the hurt, the pain and I think,
what tragic and hurt and painful life is hiding inside the evil of the offenders?
It makes me angry and it makes me sad.
Angry that the world is this way. Angry that evil's broad hand has such a cruel reach.
Sad at the heart that is being cultivated in our nations right now.
Sad that my kids are growing up with these realities.
Sad that it gets more and more difficult to shield them from these events with all the social media and propaganda.
We don't watch TV, I would stay off Facebook, but the media gets in.
And so, I change my strategy.
I search
"Positive stories from _________" {the sad event.}
And somewhere in all the mess,
I find goodness.
I find heroic and kind people.
I find hope in people.
And decide not to give up on the world.
That for every bad person in the world, there are thousands of GOOD.
That I will add to the good
and do my best to raise my boys in faith,
and goodness.
And to intentionally seek out the kindness in the world ourselves.
Because, after all, kindness wins.
"Therefore, as we have opportunity, let us do good to all people" (Galations 6:10)
When was the last time you saw someone doing something good? What acts of kindness have you witnessed lately?
Sharing this post here.


text:
Week 1.
We were given a large amount of jumbled up copy about an event and we had to sort out all the information into a poster, using only helvetica and no proper images.
After doing it I realised it looks a bit like a film poster, something like 'Catch me if You Can'! with all the arrows, but these were supposed to refer to 'trade'.
Week 2.
This task was all about combining type and image. Working in a pair, me and Rowan had a selection of images to choose from, and a selection of strange phrases which we had to use together in 6 postcards. It was also an exercise on cropping images to achieve different meanings, or get the best from an image. The postcards we created are supposed to be for a photography exhibition (it's not real sorry!) entitled 'Little Pictures. Unfinished Stories' which was one of the phrases. We also used the phrase 'In the beginning there was a word' which we thought related in a way to stories. We then selected prominent words from the phrases which would relate to the idea of 'a word', and paired them up with an image. Simple, but we think fairly successful.
Week 3.
For this Tuesday afternoon we had to bring in a leaflet that we thought was badly designed. As i do children's face painting for Creative Kids Parties I thought it would be fun to try and re design their A5 leaflet! Having had only 2 hours I'm not sure it's the best I could have done, but I did find the subject quite tricky as it is for children you can't go too 'graphic-y' like some of the gig leaflets other people were doing. It was a fun exercise though.
It seems to have come out a bit paler on here than on indesign but oh well!


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Dasatinib Followed by Stem Cell Transplant in Treating Older Patients With Newly Diagnosed Acute Lymphoblastic Leukemia
|The safety and scientific validity of this study is the responsibility of the study sponsor and investigators. Listing a study does not mean it has been evaluated by the U.S. Federal Government. Read our disclaimer for details.
|ClinicalTrials.gov Identifier: NCT01256398
Recruitment Status : Active, not recruiting
First Posted : December 8, 2010
Last Update Posted : July 17, 2018
|Tracking Information
|First Submitted Date ICMJE
|December 7, 2010
|First Posted Date ICMJE
|December 8, 2010
|Last Update Posted Date
|July 17, 2018
|Actual Study Start Date ICMJE
|December 14, 2010
|Actual Primary Completion Date
|November 14, 2017 (Final data collection date for primary outcome measure)
|Current Primary Outcome Measures ICMJE
|DFS defined from the date of first induction complete response (CR) to relapse or death due to any cause [ Time Frame: At 3 years ]
Estimated using the Kaplan-Meier estimator. Proportions will be estimated using point as well as interval estimators. All interval estimators will be constructed using the finite sample size sampling distribution at the unadjusted two-sided level of 0.05.
|Original Primary Outcome Measures ICMJE
|Disease-free survival (DFS) at 3 years
|Change History
|Complete list of historical versions of study NCT01256398 on ClinicalTrials.gov Archive Site
|Current Secondary Outcome Measures ICMJE
|Original Secondary Outcome Measures ICMJE
|Current Other Outcome Measures ICMJE
|Not Provided
|Original Other Outcome Measures ICMJE
|Not Provided
|Descriptive Information
|Brief Title ICMJE
|Dasatinib Followed by Stem Cell Transplant in Treating Older Patients With Newly Diagnosed Acute Lymphoblastic Leukemia
|Official Title ICMJE
|A Phase II Study of Dasatinib (Sprycel®) (NSC #732517) as Primary Therapy Followed by Transplantation for Adults >/= 18 Years With Newly Diagnosed Ph+ Acute Lymphoblastic Leukemia by CALGB, ECOG and SWOG
|Brief Summary
|This phase II clinical trial studies how well dasatinib followed by stem cell transplant works in treating older patients with newly diagnosed acute lymphoblastic leukemia. Dasatinib may stop the growth of cancer cells by blocking some of the enzymes needed for cell growth. Giving chemotherapy before a stem cell transplant stops the growth of cancer cells by stopping them from dividing or killing them. Monoclonal antibodies, such as alemtuzumab, may interfere with the ability of cancer cells to grow and spread. Giving more than one drug (combination chemotherapy) and giving dasatinib together with chemotherapy may kill more cancer cells.
|Detailed Description
I. Estimate the disease-free survival (DFS) and overall survival (OS) profiles in newly diagnosed patients 18 years or older who have Philadelphia chromosome positive (Ph+) (BCR/(v-abl Abelson murine leukemia viral oncogene homolog [ABL]+) acute lymphoblastic leukemia (ALL) receiving sequential dasatinib followed by allogeneic or autologous hematopoietic cell transplant (HCT) or chemotherapy followed by dasatinib maintenance.
I. Compare the OS and DFS profiles for each of the three cohorts to those from similar populations from other studies.
II. Determine the ability of dasatinib to produce or maintain a BCR/ABL-negative status, as judged by quantitative-polymerase chain reaction (Q-PCR) following sequential dasatinib, chemotherapy, and HCT.
III. Determine the feasibility of collecting adequate peripheral blood stem cells for autologous HCT following dasatinib therapy and assess for residual Ph+ (BCR/ABL+) cells by Q-PCR.
IV. Study the safety and efficacy of autologous HCT following therapy with dasatinib.
V. Study the safety and efficacy of reduced-intensity preparatory regimen followed by an allogeneic HCT following induction therapy with dasatinib.
VI. Study the safety and efficacy of dasatinib maintenance administered after allogeneic or autologous HCT or chemotherapy.
VII. Correlate plasma and cerebrospinal fluid (CSF) levels of dasatinib when given orally during induction.
OUTLINE: As of 8/21/2014, no new patients may be enrolled on E3903.
REMISSION INDUCTION THERAPY (RIT): Patients receive dasatinib orally (PO) daily continuously and dexamethasone PO or intravenously (IV) on days 1-7.
EARLY INTENSIFICATION THERAPY: Patients with bone marrow =< 20% blasts are assigned to cohort A and patients with bone marrow > 20% blasts are assigned to cohort B.
COHORT A: Patients receive dasatinib and dexamethasone as in RIT.
COHORT B: Patients receive dasatinib and dexamethasone as in RIT, and vincristine sulfate IV and daunorubicin hydrochloride IV on days 1, 8, and 15. Patients who do NOT achieve a complete response (CR) or CR with incomplete hematologic recovery based on bone marrow continue on to second induction therapy; patients who achieve a hematologic and morphologic CR continue on to CNS prophylaxis therapy.
SECOND INDUCTION THERAPY: Patients receive dasatinib and dexamethasone as in RIT, cyclophosphamide IV on day 1, daunorubicin hydrochloride IV and vincristine sulfate IV on days 1 and 8, and filgrastim subcutaneously (SC) beginning on day 9 and continuing for >= 7 days or one dose of pegfilgrastim on day 9.
CNS PROPHYLAXIS THERAPY: Patients receive dasatinib PO daily continuously during CNS prophylaxis therapy; methotrexate intrathecally (IT), vincristine sulfate IV, and methotrexate IV over 3 hours on days 1, 15, and 29; methotrexate PO every 6 hours for a total of 4 doses each on days 1-2, 15-16, and 29-30; leucovorin calcium IV on days 2, 16, and 30; and leucovorin PO calcium every 6 hours for a total of 8 doses each on days 3-4, 17-18, and 31-32.
TRANSPLANTATION OR ALTERNATIVE CHEMOTHERAPY AND MAINTENANCE THERAPY: Patients aged 50-70 years with an HLA-matched related or unrelated donor are assigned to allogeneic transplantation, patients aged 50-70 years without an HLA-matched related or unrelated donor are assigned to autologous transplantation, and patients aged > 70 years or who are not transplantation candidates are assigned to alternative chemotherapy.
ALLOGENEIC TRANSPLANTATION: Patients receive fludarabine phosphate IV over 30 minutes and alemtuzumab IV over 30 minutes on days -7 through -3 and melphalan IV over 30 minutes on day -2. Patients undergo allogeneic peripheral blood stem cell transplantation (PBSCT) on day 0. Patients then receive filgrastim SC beginning on day 1 and continuing until count recovery and tacrolimus IV or PO beginning on day -2 and beginning to taper on day 100 (for matched related donors) or day 180 (for mismatched related or unrelated donors). Beginning on day 30, patients receive dasatinib PO daily as maintenance therapy. Treatment continues for >= 12 months in the absence of disease progression.
MOBILIZATION: Patients receive etoposide phosphate IV continuously on days 1-4, high-dose cytarabine IV over 2 hours every 12 hours for a total of 8 doses on days 1-4, and filgrastim SC once or twice daily beginning on day 14 and continuing until peripheral blood stem cell collection is complete or WBC > 50,000/μL.
LEUKAPHERESIS: Patients undergo leukapheresis beginning when WBC > 10,000/μL for a target collection of >= 5 x 10^6 CD34+ cells/kg. After completion of stem cell collection, patients receive dasatinib PO twice daily until 3 days before transplantation.
TRANSPLANTATION: Beginning >= 4 weeks after recovery from toxicity related to previous treatment, patients receive melphalan IV over 30 minutes on days -2 and -1. Patients undergo autologous PBSCT on day 0. Patients then receive filgrastim SC beginning on day 0 and continuing until count recovery.
MAINTENANCE THERAPY: Beginning on day 30, patients receive dasatinib PO once daily. Treatment continues for >= 12 months in the absence of disease progression.
ALTERNATIVE CHEMOTHERAPY: Beginning 3-10 days after completion of CNS prophylaxis therapy, patients receive etoposide phosphate IV continuously on days 1-4, high-dose cytarabine IV over 2 hours every 12 hours for a total of 8 doses on days 1-4, and filgrastim SC once or twice daily beginning on day 14 and continuing until count recovery.
MAINTENANCE THERAPY: Patients receive dasatinib PO once daily beginning on day 30. Patients also receive vincristine sulfate IV every 4 weeks, dexamethasone for 5 days every 4 weeks, mercaptopurine PO once daily, and methotrexate PO once weekly. Treatment continues for >= 12 months in the absence of disease progression.
NOTE: Patients with CNS leukemia or testicular disease may receive additional treatment.
After completion of study treatment, patients are followed up every month for 1 year, every 3 months for 2 years, every 6 months for 2 years, and every year for 5 years.
|Study Type ICMJE
|Study Phase
|Phase 2
|Study Design ICMJE
|Intervention Model: Single Group Assignment
Masking: None (Open Label)
Primary Purpose: Treatment
|Condition ICMJE
|Intervention ICMJE
|Study Arms
|Experimental: Treatment (chemotherapy, transplant)
See Detailed Description
|Publications *
|Not Provided
* Includes publications given by the data provider as well as publications identified by ClinicalTrials.gov Identifier (NCT Number) in Medline.
|Recruitment Information
|Recruitment Status ICMJE
|Active, not recruiting
|Actual Enrollment ICMJE
|Original Estimated Enrollment ICMJE
|Same as current
|Study Completion Date
|Not Provided
|Actual Primary Completion Date
|November 14, 2017 (Final data collection date for primary outcome measure)
|Eligibility Criteria ICMJE
Inclusion Criteria:
|18 Years and older (Adult, Older Adult)
|Accepts Healthy Volunteers
|Contacts ICMJE
|Contact information is only displayed when the study is recruiting subjects
|Listed Location Countries ICMJE
|United States
|Removed Location Countries
|Administrative Information
|NCT Number ICMJE
|Other Study ID Numbers ICMJE
NCI-2011-02621 ( Registry Identifier: CTRP (Clinical Trial Reporting Program) )
CALGB-10701 ( Other Identifier: Alliance for Clinical Trials in Oncology )
CALGB-10701 ( Other Identifier: CTEP )
U10CA180821 ( U.S. NIH Grant/Contract )
U10CA031946 ( U.S. NIH Grant/Contract )
|Has Data Monitoring Committee
|U.S. FDA-regulated Product
|Not Provided
|IPD Sharing Statement
|Not Provided
|Responsible Party
|National Cancer Institute (NCI)
|Study Sponsor ICMJE
|National Cancer Institute (NCI)
|Collaborators ICMJE
|Not Provided
|Investigators ICMJE
|PRS Account
|National Cancer Institute (NCI)
|Verification Date
|May 2018


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Vegetarians often substitute beans, tofu, or seitan for meat in comfort food recipes, but these can often strike the wrong note. When I recall my mother's chicken and dumplings, I remember a light broth with a simple stew and a shredded texture. Summer squash gives the texture and light flavor to this version.
Ingredients for the soup:
2 tsp Olive oil
1 medium onion, chopped
16 oz summer squash (any kind, frozen or fresh is fine)
3 cups broth (veggie or clear chicken)
1 carrot, chopped
2 bay leaves
1 tsp marjoram, thyme, or sage (to your taste preference — any savory herb would do)
Ingredients for the dumplings:
2 cups all purpose flour
1/2 tsp baking powder
1 tsp salt
1 tsp fresh herbs (pick something accompany the herb that you chose for the soup)
scant 2 cups milk
1) Heat a tablespoon or two of olive oil in a pot over medium heat. When it is hot add a chopped onion and 16 ounces of summer squash (I used frozen).
2) Let the vegetables saute until they have browned slightly. Part of the point of this stage is to break down the squash. The more it browns, the sweeter it gets.
3) Add about three cups light vegetable broth or chicken broth along with a chopped carrot (if you like).
4) Then add 2 bay leaves and some chopped herbs. I added a tablespoon of fresh marjoram, but thyme or sage would also work. Let this simmer to break down the squash further and get it to shred … 20 to 30 minutes on medium to medium low heat.
5) As that simmers, mix 2 cups of all-purpose flour, 1/2 teaspoon baking powder, 1 teaspoon salt, and 1 teaspoon herbs (I used thyme).
6) Add 1 and ¾ to scant 2 cups milk. The batter should be thick like a drop biscuit.
7) Drop the dumplings by spoonfuls into simmering stew.
8) Cover and simmer about 15-20 minutes.
9) Serve with chopped parsley, salt and pepper.


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Friday, 3 June 2011
a quiet moment
the less time there seems to be, the more i need those quiet moments.
p.s.: who are your favourite photographers?
i hope you'll forgive my lack of commenting of late. i'm working so much it's not true.
6 comments:
- Kristin said...
Beautiful photo and colors.
My favorite photographer? Hmm difficult - there are a few. But the pictures of Joey L -http://www.joeyl.com/
fascinate me endlessly.
- 3 June 2011 at 10:56
- suzie said...
Hmm, interesting question. In terms of famous photographers I love Ernst Haas, William Eggleston and Sally Mann's b&w portraits are disturbing yet stunning. As for the internet, there does seem to be a bit of a photography hierachy that gets on my nerves a bit to be honest. There are many fantastic, inspiring film shooters on flickr and I also love Jack Radcliffe http://www.jackradcliffe.org/
Sandrine Bonnin http://www.sandrinebonnin.com/
and I am very much enjoying Dottie's journey as she learns and explores the medium of film http://dreamcamera.tumblr.com/
- 3 June 2011 at 10:57
- Marion said...
Richard Avedon, the exhibition in Berlin two years ago was so brilliant. Jeff Wall, I love his work when displayed, don't like on books. William Eggleston yes, I send postcards of his works to my friends ;-).
I really like Jurgen Teller, Martin Parr, Ernst Haas.
Elger Esser. I can spend hours in front on his photographs, superb work.
I'll stop for now.
- 3 June 2011 at 11:45
- inna karenina said...
how beautiful!
- 3 June 2011 at 13:29
- kitchu said...
this photo is so beautiful.
my greatest inspiration as a photographer (actually a photojournalist) is John Kaplan- he also did a documentary Not As I Pictured that was simply inspired, and very close to my heart on many levels (he is a cancer survivor and has adopted from China). he is world renowned, pulitzer prize winning and i happened to run into him at the local grocery last week and he is perhaps one of the most gracious and humble people i've ever met. and i was a completely star struck red faced fan girl.
for up and comings, i am in love with mary robinson- she is 17 and has been shooting film only for about a year and her work is disturbing, ground breaking, and haunting and beautiful. here is a link to her site: http://maryvrobinson.blogspot.com
and i would track back through all her photos, it's so worth it. talent this young with so little experience is going places :)
- 3 June 2011 at 15:43
- Denise | Chez Danisse said...
Photographers? Oh, I like so many. The first one who popped into my mind was Laura Letinsky. http://www.wipnyc.org/blog/laura-letinsky
- 3 June 2011 at 21:25


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What numbers are you at when you start to feel low?
Are everyone's numbers different? I'm still new at this diabetic thing. When I get to about 80-85 I can feel a low. Empty feeling in my stomach, light headed, and lethargic. I thought 80 was still within the normal range. My Dr. also told me that with being on Metformin, I would not feel lows. Also have had a 16# weight loss.
13 replies
I was on Metformin but the stinky flatulence was too much for me, I was only on about a week and had no lows. However with Glucotrol and now I am currently on glyburide 5mg I feel lows, so I took my sugar and discovered it was 70. I got like an anxiety attack-shaky, hungry, weak. Hope this helps.
It's great that you've lost 16#! Metformin doesn't typically cause a low blood sugar like some other medications. However, you are still going to feel differently as your blood sugar levels drop into a healthier range. Be sure to let your doctor know how you're feeling and ask for her recommendations. ~Lynn @Glucerna
60 lately
Howdy elwojcik
The lowest I ever remember recording was when I was working. I had taken my Met and had not eaten breakfast. I don't remember what got my attention but I had a feeling that I was low. My Blood Glucose (BG) level was 40. I didn't know much about diabetes at the time but I knew from my Certified Nurse (CNA) aide training that I was low, and I must have learned that I had to consume sugar to bring it up. Fortunately I had a can of regular soda in my trunk and I downed it quickly because I had to return to my duties as a CNA immediately. That seemed to be the only low I had experienced
God's best to you and yours!
James Baker
I don't feel low until I'm in the 60s or low 70s.
Sometimes when my levels are 100-120s I still feel low
Its entirely relative… under the wrong conditions, you won't feel much that sets off the normal alarms, bells and whistles. Under the right conditions, you'll get plenty of warning and give your lows the finger! And when that happens excellent.
The fundamental problem is two fold, the symptoms of lows do not cause you to break into a Rodgers & Hammerstein musical number at the top of your voice. Most are simple exhaustion, disorientation, giddiness, essentially a normal day entirely normal feelings, plus a nasty, extra surprise if it falls too low.
A meter showed I was 15 and was not (literally)… another meter showed I was 85 and could not stand at all. The meters are delayed readings, not real time ones. (Capillary, not veinous) They have all kinds of design flaws and are subject to ridiculous errors. Unfortunately they are the best we have—- sadly.
An 85 reading could easily be 68 instead according to the FDA's Gatherberg, MD meeting in 2010. They are not lab blood draws. But to answer your question directly… there are two(2) standards out there… one which says 60, another which says 70 as the "do something flare".
If you don't feel right, test some more. Better yet TREAT ultra conservatively, ultra gently but treat!!!! Lows will kill, given the opportunity. A little higher, once in a while… -shrug- no tangible problem,
Others will hold different views.
treatment of hypos should be conservative to be sure. One rule of thumb is to follow the rule of 15/15 for more see here ~ http://www.diabeticconnect.com/diabetes-discu...
God's best to y'all
Im almost a year after my dx. I remember feeling low and starving. Your bs has been probably high for awhile and your body got used to being high, now when you are in normal range, you will feel "low" and you aren't. Your body will adjust and wlil feel normal at 80 if u keep your numbers in line. I range between 80-110 on metformin and levimir and humalog.
Hope this helps. Good luck
80 definitely!
Next Discussion: Checking your blood sugar »


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FREEDownload : Wrapped in Color:: Stranded Knitting in the 21st-Century (EPUB)
Wrapped in Color:: Stranded Knitting in the 21st-Century by Deborah Tomasello
2013 | ISBN: 1491260343 | English | 90 pages | EPUB | 5 MB
So many knitterseven seasoned onessee colorwork as something complex and beyond their abilities. I was quite intimidated by the idea of stranding, and books that I looked at on the technique did not allay my fears. My book shows all knitters that stranded knitting is far easier than they might think, and that even very complicated-looking designs are simple to knit. My illustrations and easy-to-follow explanations give even the most hesitant knitters the confidence to create beautiful garments and accessories.


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