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Patent US20050159840 - System for surface finishing a workpiece - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign inAdvanced Patent SearchPatentsA system is provided for finishing a surface of a workpiece, for instance by abrading a brazed area or welded area to remove excess brazed or weld material during the refurbishment of the turbine blade. A real-time control system has a controlled material removal rate strategy where a computer controls...http://www.google.com/patents/US20050159840?utm_source=gb-gplus-sharePatent US20050159840 - System for surface finishing a workpieceAdvanced Patent SearchPublication numberUS20050159840 A1Publication typeApplicationApplication numberUS 10/758,949Publication dateJul 21, 2005Filing dateJan 16, 2004Priority dateJan 16, 2004Publication number10758949, 758949, US 2005/0159840 A1, US 2005/159840 A1, US 20050159840 A1, US 20050159840A1, US 2005159840 A1, US 2005159840A1, US-A1-20050159840, US-A1-2005159840, US2005/0159840A1, US2005/159840A1, US20050159840 A1, US20050159840A1, US2005159840 A1, US2005159840A1InventorsWen-Jong Lin, Xiao Chen, Zhiming GongOriginal AssigneeWen-Jong Lin, Chen Xiao Q., Zhiming GongExport CitationBiBTeX, EndNote, RefManReferenced by (37), Classifications (11), Legal Events (1) External Links: USPTO, USPTO Assignment, EspacenetSystem for surface finishing a workpiece
FIELD OF THE INVENTION The invention relates to an apparatus and method for finishing a surface of a workpiece, and more particularly to a system to control an industrial robot and a precision module for finishing the surface of a workpiece. BACKGROUND In finishing surfaces of workpieces having synthetic or free-form curves, such as, for example, car bodies, ship hulls, aeroplane wings, propeller blades or turbine blades, precision rendering is required. In the case of the refurbishment of used turbine blades, the process of refurbishing may be more complex than the process for manufacturing a new turbine blade. The complexity rises due to the distortion of a used turbine blade resulting from wear and tear. Specifically, the contour and angle of the used turbine blades are typically distorted relative to those of a new blade after operating in a high-temperature and high-pressure environment. Additionally, each used turbine blade is unique and different from all other used turbine blades. Typical damage to a turbine blade includes damage to the turbine tip, such as cracks and chips, and such damage may be refurbishable or repairable. The damaged portion of the turbine tip is typically cut out, and a new material or braze material, for example Inconel materials, super alloys, cobalt, chromium, nickel, etc., or combinations thereof, is welded along the turbine tip to fill the gap formed by the cutting out of the damaged portion. As long as the used turbine blade meets certain requirements within specific agreed limits, such as uniformity of the blade pitch or that cracks do not extend into the toe of the blade, the used turbine blade may be refurbished in this way. Since the braze material is typically difficult to machine sand, belt blending is usually the preferred and most common process for turbine blade overhaul. The braze area of braze material is finished by a process such as sanding, cutting or the like to become flush with the original surface. The refurbished turbine blade is traditionally finished by hand. To meet requirements and guidelines, a refurbished turbine blade typically has to be formed within a tolerance of 30 μm (microns). This is obtainable from a high skilled worker or teams of workers. Each worker usually requires a considerable period of training before becoming skilled in the process and the success of the refurbishment depends entirely on the high skill of the manual operator. Additionally, such a workspace where this operation is conducted is considered a health hazard-working environment, since many fine particles and powder are created during the finishing processes, such as the grinding process, which may be harmful to a worker's health. To avoid a health-hazard working environment, a robot may be used to perform the job of refurbishing. For workpieces having synthetic or free-form curves, analytical curves are not sufficient to meet the geometry design requirements mathematically. The problem with using a low precision robot is meeting in the 30 μm (microns) tolerance requirement of mathematically curve-fitting to the desired surface of the workpiece, and in particular constructing smooth curves and surfaces on the workpiece. The position precision of a low precision robot, such as a legacy 6-axis robot, is measured in multiples of 0.1 mm. Therefore the use of such low precision robots does not meet the 30 μm (microns) tolerance requirements. Using high precision robots (with an accuracy <30 μm (microns)), the 30 μm (microns) tolerance requirement can be met. However, the cost of a high precision robot is usually high. To achieve the desired finishing profile and surfaces, the contact force and the compliance between the tool and blade must be maintained, since the surface of the turbine blade with braze material is irregular after brazing. For example, U.S. Pat. No. 4,894,597, issued on 16 Jan. 1990 to Ohtomi, describes a deburring robot. A laser beam sensor is mounted on the grip of the robot, to which grip the grinder is also mounted. The robot is moved relative to a stationery workpiece. The laser beam sensor radiates the workpiece with a laser beam to detect the difference in distance between the laser beam sensor and the workpiece relative to the grinder. However, the accuracy of the robotic system is hampered since the robotic system accumulates all position errors from the structure of the robot and the sensor, which prevents a high accuracy or an error, or fault tolerance within 30 μm (microns). Hence, the robotic system described in U.S. Pat. No. 4,894,597 is not of compensating for a grinding error due to wear and tear on the grinding wheel. U.S. Pat. No. 5,241,792, issued on 7 Sep. 1993 to Naka et al., describes a method and apparatus for surface furnishing, where the robot applies a substantially constant polishing force. This uses a fluid actuator during the finishing process to compensate the wear and tear of the polishing tool. The system of U.S. Pat. No. 5,241,792 is not capable of compensating for the discrepancies in the surface of a workpiece due to wear and tear since response time of the fluid actuator is far below an electrical actuator, such that the fault tolerance of 30 μm (microns) is not achievable. A robotic system developed by Singapore Institute of Manufacturing Technology, includes two polishing machines so that the automation system can continue a blending process uninterruptedly when one polishing machine is not in use, for example when a worn-out abrasive belt is being replaced. The system uses a linear variable differential transducer (LVDT) contact probe to measure ten points on the surface of a turbine vane, and performs a profile fitting with design data to generate the actual robot path. During polishing, the system tries to maintain a constant contact force between the workpiece and the polishing machine, while the control approach is a passive contact force control employing a stiff spring. However, the control system does not actively control the contact force so that the grinding accuracy fully depends on the accuracy of the robot. A robotic grinding system developed by ZENON has a 6-axis robot, a coordinate measurement machine (CMM), a belt grinding machine, and a host controller. The system uses the CMM machine to measure the used blade before grinding, without any in-situ measurement method. The system utilizes a process to simulate a manual operation, that is a belt grinding machine, with the addition of a robotic arm holding the blade, and a motion mechanism to maintain the contact force between the workpiece and the tool at a constant level. However, the system does not apply different contact forces at different grinding points with different thickness of excessive braze material. Therefore, a need exists for a system that integrates a lower precision industrial robot to achieve higher accuracy than that of the specification of the industrial robot. There is another need, for improving the efficiency and the cycle time of finishing surfaces of workpieces, such as in the refurbishment of used turbine blades with the use of a robot. Another need exists to remove manual workers from exposure of health-hazardous working environments by replacing manual workers with robots, and yet achieving the same or better quality of finished workpieces that have synthetic or free-form curves. Another need exists to reduce the cycle time and to minimize the time taken by co-ordinate measuring machines (CMM) to finish surfaces of workpieces, such as in the repair of turbine compressor blades to reuse them instead of discarding and replacing them with new components. SUMMARY According to an aspect of the invention there is provided a system for treating a workpiece. The system comprises: a robot having a holder, a treatment device, a contact force measurement device, a position measurement device and a controller. The holder holds the workpiece and traversing the workpiece along a predetermined path. The treatment device performs a treatment on the workpiece, the treatment device having a treatment tool for contacting the workpiece at at least one point along the path. The contact force measurement device provides information on the actual contact force between the treatment tool and the workpiece. The position measurement device provides information on the actual position of the treatment tool. The controller is in communication with the robot and the treatment device and controls the system in accordance with predetermined position data and predetermined contact force data, based on the predetermined path of the workpiece. The controller is responsive to the actual contact force information and the actual position information, the controller receiving the actual contact force information from the contact force measurement device and the actual position information from the position measurement device. According to another aspect of the invention there is provided a method of treating a workpiece. The method comprises: holding and traversing the workpiece along a predetermined path; performing a treatment on the workpiece by way of a treatment tool at at least one point along the path; determining the actual contact force between the treatment tool and the workpiece; determining the actual position of the treatment tool; and controlling the system. The system is controlled in accordance with predetermined position data and predetermined contact force data, based on the predetermined path of the workpiece, in response to the determined actual contact force and the determined actual position information. According to again another aspect of the invention there is provided a workpiece which has been treated according to the above method.
BRIEF DESCRIPTION OF THE DRAWINGS These and other features, objects, and advantages of embodiments of the invention will be better understood and readily apparent to one of ordinary skill in the art from the following description, in conjunction with the drawings, in which: FIG. 1 is a schematic diagram of a system in accordance with an embodiment of the invention; FIG. 2 is a block diagram of a control system in accordance with an embodiment of the invention; FIG. 3 is a graph of data sensed by a laser scanner from a workpiece in accordance with an embodiment of the invention; FIG. 4 is another view of a laser sensor and laser path incident on a workpiece in accordance with an embodiment of the invention; FIG. 5 is a front elevational view of a robot and finishing device with coordinate frames in accordance with an embodiment of the invention; FIG. 6 is a graph of finishing path generation in accordance with an embodiment of the invention; FIG. 7 is a schematic diagram of the robot gripper holding tool in accordance with an embodiment of the invention; and FIG. 8 is a schematic diagram of an adaptive tool head of the finishing device in accordance with an embodiment of the invention.
DETAILED DESCRIPTION A system is provided for finishing a surface of a workpiece, for instance by abrading a brazed area or welded area to remove excess brazed or weld material during the refurbishment of the turbine blade. A real-time control system has a controlled material removal rate strategy where a computer controls the different contact or polishing forces in real-time to achieve high accuracy. FIG. 1 shows a treating system 10 having a precision motion mechanism for surface treating a workpiece, usually to finish it or to treat its finish, in accordance with an embodiment of the invention. The system 10 includes a computer 12, a robot 14 and a machining apparatus 16. The robot 14 has an end-effector holding tool, such as a gripper or holder 18, which, in use, holds a workpiece 20. The end-effector holding tool 18 is mounted at the end of a robot arm 22, which arm 22 is movably and controllably mounted relative to a robot base 24, to traverse the workpiece along a predetermined path. The computer 12 is in communication with and controls the robot 14 by a robot instructor 26. A communication link 28 between the computer 12 and the robot instructor 26 may be a serial link such as RS232, a bus or the like. The end-effector holding tool 18 includes a sensor, such as a contact force sensor, which feeds data back to the computer 12. The machining apparatus 16 has a treatment device 30, in-situ measurement equipment 32 and a machine apparatus body 34. The treatment device in this embodiment is a finishing device 30 and includes a treatment tool, which in this embodiment is a finishing tool 36, one or more sensory elements or devices, for instance position and force sensors and a micro-position control system with a decoupling mechanism. The measurement equipment 32 also includes one or more sensory elements or devices, for instance a distance sensor for profile scanning. The finishing device 30 feeds back data to the computer 12, such as micro-position feedback and control signals from the micro-position control system. The measurement equipment 32 also feeds back data to the computer 12, such as grinding result feedback signals from the one or more sensory elements or devices. The computer 12 communicates with and controls the finishing device 30. The robot 14 may be a lower precision robot, for example a legacy 6-axis robot having a precision position that is measured in multiples of 0.1 mm. An example of such a robot is the FANUC� robot S-10, manufactured by FANUC Robotics America, Inc., of Rochester Hills, Mich., USA. The embodied system 10 provides finer precision than the capabilities of the robot alone, to enable the lower precision robot to be used in finer precision applications, for example 30 μm (microns) fault tolerance, as may be required in the refurbishment of particular workpieces 20, such as turbine blades. However, it will be appreciated that the embodied system 10 may be implemented on higher precision machines as well. In this embodiment, the workpiece 20 to be worked on is a turbine blade, but the system may be used with other types of workpieces. The robot 14 holds the turbine blade 20 with the holder 18 to execute a blending motion route program, under computer control via the robot instructor 26. The precision motion mechanism of the treating system 10 includes the sensory elements or devices within the robot end-effector holding tool 18, the finishing device 30 and the in-situ measurement equipment 32. The system 10 is able to achieve accuracy that may exceed the accuracy of the robot 14. The computer 12, for example a personal computer or a more dedicated computer may have an I/O interface (not shown) to communicate with the various components and devices, a central processing unit (not shown) and a memory (not shown), such as a read only memory (ROM) and/or a random access memory (RAM). The CPU and memories allow such a computer 12 to process information such as a computer software program embodying a method of controlling the elements, such as the robot 14 and the sensors in the finishing process. The communication between various elements of the system 10 may be by wire or wireless means or the like. Aspects of the invention may be implemented as software or a computer program. For example, the software or computer program may be stored or recorded on a computer readable medium to provide a computer program product. FIG. 2 depicts a block diagram of a control system 40 of the treating system 10. The control system 40 is operated by the computer 12, based on data about the desired workpiece shape and blending process knowledge such as predetermined position data and predetermined contact force data (for instance stored on an external device such as a database 42) and data from the various sensors and measurement devices 44 (stored on internal memory during use). The various sensors and measurement devices 44 include: a contact force sensor 50, between the robot end-effector holding tool 18 and the robot arm 22, for sensing a force or moment, and shown in more detail in FIG. 7; a force gauge 52 on an arm of the finishing device 30 and shown in more detail in FIG. 8; a profile sensor 54 in the in-situ measurement equipment 32 and shown in more detail in FIG. 4; a displacement sensor 56 (contact or non-contact) also in the finishing device 30 and shown in more detail in FIG. 8; and an encoder 58 attached to an end of a motor 60, which may be a digital servo motor, and used to feedback a motor rotation angle. The contact force sensor 50 and the force gauge 52 together form a contact force measurement device for providing actual contact force information of the contact force between the finishing tool 36 and the workpiece. The force gauge 52 and the displacement sensor 56 of the finishing device 30 together form a position measurement device which is for providing actual position information of the finishing tool 36. The dotted lines from the finishing device 30 to various of the sensors and measurement devices 44 indicate that movement of the finishing device 30 can directly affect those specific sensors and measurement devices 44. Likewise the dotted line from the robot 14 to the force sensor 50 indicates that movement of the robot 14 can directly affect the force sensor 50 and the dotted line from the motor 60 to the encoder 58 indicates that movement of the motor 60 directly affects the encoder 58. The computer receives and processes sensed data from the various sensors and measurement devices 44, with the other downloaded data and data in the database 42 for optimal workpiece treatment such as profile fitting, path planning, position/force control, and maintaining the knowledge database 42. The computer 12 is programmed to control the motor 60 to rotate it by desired angles, which, in turn turns a drive cam mechanism 62 to adjust the finishing tool position of the finishing device 30. The programmed computer 12 also downloads a calculated motion program to the robot 14. The purpose of the computer is therefore as a controller of the finishing device 30 as well as to input data to control the robot instructor 26. Position and force data are monitored and taken from the components or elements of the various sensors and measurement devices 44 and fed back to the computer 12. For example, profile sensing data is fed back from the profile sensor 54 to the computer 12. Micro-position data of the finishing device 30 is fed back from the displacement contact probe 56 to the computer 12. Rotation feedback data is fed back from the encoder 58 to the computer 12. Similarly, force/moment data is fed back from the force sensor 50, to the computer 12. Force data and micro-position of the finishing device data is fed back from the force gauge 52, which may be based on the strain-stress principle, and the displacement contact probe 56, respectively, both located on the finishing tool 30, to the computer 12. Based on the data received at the computer 12 from the various sensors and measurement devices 44, the computer 12 controls the robot 14 via the robot instructor 26, and the motor 60 of the drive cam servo-motor of the cam mechanism 62 on the finishing device 30. The computer 12 downloads a determined motion program for a blending path of the robot end-effector holding tool 18 to follow in a blending sweep, based on the in-situ measurements to the robot instructor 26 to operate and control the robot 14. The workpiece 20 is machined in the controlled manner accordingly. The in-situ measurement provides on line data to the computer 12 for the next blending path in the next sweep of the workpiece on the finishing device 30. The various sensors and measurement devices 44 collect all the data after the blending process and feed the data back to the computer 12 to generate the contact force data for the path of the decoupling mechanism in the next blending sweep. The predetermined position data is used to control the robot 14, and the predetermined contact force data is used to control the decoupling mechanism. The treating system 10 is used on a brazed or welded area to remove excess braze or weld material during the refurbishment of the turbine blade. The real-time control system has a controlled material removal rate strategy, where the computer 12 controls the different contact or polishing forces from the decoupling mechanism in real-time to achieve higher accuracy than the limited accuracy of the robot 14. The quality requirements of turbine blade blending in this embodiment include a tolerance of less than 30 μm (microns) for overcutting, less than 30 μm (microns) for undercutting, no overcutting of the trailing edge, within �30 μm (microns) from the parent body having a smooth curvature, a wall thickness of greater than a minimum wall thickness of 0.762 mm, a surface roughness of less than 11.6 μm (microns) Ra, and no visible transition lines from brazed to non-brazed areas. The space curve that the robot end-effector holding tool 18 moves along from the initial location (position and orientation) to the final location in each sweep is referred to as its path. The path describes the desired robot end-effector motion as a sequence of points in space (position and orientation of the robot end-effector holding tool 18) through which it is desired that the robot end-effector holding tool 18 should pass, as well as the space curve that the end-effector holding tool 18 traverses. Points on the path are generated in one set of coordinates, for example Cartesian coordinates, rather than another set of coordinates, for example joint coordinates, for easier visualization. Using Euler angle computation and coordinate system transformation, the robot end-effector location (position and orientation) in global Cartesian coordinates may be computed from the local coordinates of blending points in the robot end-effector's coordinate system. Each path knot point for the robot end-effector holding tool 18 is described by six robot coordinates, for example (X,Y,Z,w,p,r), where coordinates (X,Y,Z) specify the robot end-effector position while coordinates (w,p,r) specify the robot end-effector orientation. For the space curve between any two points, the robot automatically moves using, for example, the cubic spline motion. Thus, the robot coordinates (X,Y,Z,w,p,r) of the points which the robot end-effector is to traverse, in the global Cartesian coordinate system, are derived. The finishing process is typically a blending process, which is a material removal process to achieve a desired finishing profile with a required finishing surface roughness, for applications such as removal of the excess materials on surfaces of new jet engine parts or the overhaul of turbine blades. The blending process includes rough grinding as a step to remove the bulk of the excess material, with profile generation as the primary aim, and fine polishing as a step to achieve the desired surface roughness. It will be appreciated that blending is interchangeable with grinding, polishing, or other similar workpiece treatments. Before the finishing process, the profile sensor 54 is used to scan the surface of the turbine blade 20. The computer 12 uses the scanned data to conduct optimal profile fitting, to reconstruct the prior-to braze tip profile and to generate the robot finishing path. During finishing, the profile sensor 54 in-situ detects the thickness of excess braze material at a current blending point and the computer 12 determines the respective required or desired contact force in accordance with data from the blending process knowledge database 42 and data of the turbine blade profile data. The data of the turbine blade profile is used to provide the commands to control the robot following a predefined motion path. Data from the database 42 may be data of the controlled material removal rate, to provide a relationship between the thrust force (Newtons) and material removal rate (mm3/S). Both the force sensor 50 at the end-effector holding tool 18 of the robot 14 and the force gauge 52, at the finishing device 30, collaboratively provide force feedback of the actual contact force exerted between the workpiece 20 and the finishing tool 36 at the end of the blending device 30. The displacement contact probe 56 is used to measure the position of the finishing tool 36. With the desired and actual data of the contact force and the blending wheel position, the computer 12 controls the motor 60 to drive the cam 62 forward or backward, as required, to maintain the desired force and compliance at the current blending point between the workpiece 20 and the finishing tool 36. For the profile sensor 54 for profile scanning of the workpiece 20, the sensor may be a contact or non-contact sensor. For example the profile sensor 54 may be a linear variable differential transducer (LVDT) or a coordinate measuring machine (CMM), with a contact probe for contact applications. For non-contact applications, an optical sensor may be used to measure the three dimensional profile of the workpiece 20. With optical sensors, for some workpieces 20 with shiny surfaces such as turbine blades, the shiny surface may disturb the scan using a laser beam. By controlling the laser beam incidence direction, such that the laser incidence direction is near the normal direction at the scanning point of the object surface, the scanning quality is maintained. In the preferred embodiment, the profile sensor 54 is a laser sensor 54. FIG. 3 is a graph of the laser scanning sensing data for the turbine blade 20, for use in reconstructing the profile data. Significant portions of the graph include the turbine blade slope 64 on the parent materials, the welded turbine blade tip height (H) 66, the scanning start pulse 68 and the turbine blade tip or the leading edge of the workpiece 20. The welded turbine blade tip height H is the distance from the turbine blade tip to the turbine blade parent body. The turbine blade tip height H is a parameter that is controlled and maintained during the blending process, such that the height H meets strict requirements, for example that the tip height H is no more than 30 μm (microns) along the blade tip. The laser sensor 54 monitors the tip height H in real time during the blending process. FIG. 4 shows the laser sensor 54 for sensing and monitoring a turbine blade profile 80. The laser sensor 54 has a laser sensor coordinate system S, and the profile data of the turbine blade 20 has a workpiece natural coordinate system or robot end-effector coordinate system B. A world flame coordinate system A is used as a reference coordinate system. Reconstruction of the turbine blade tip profile data prior to brazing involves, for example, a non-contact mode with the laser sensor 54. For this embodiment, a turbine blade profile template is used and its tip divided into a number of reference layers for scanning. Each reference layer m is divided into five profile portions Sm,n (1≦n≦5), as shown in FIG. 4. The profile portions with smaller curvature ratios have larger curve lengths, so that each profile portion can be scanned with the same number of data points. For each profile portion the laser sensor 54 is positioned in a direction that is normal to the curve at a central point Em,n (1≦n≦5) (along the length of the profile portion) of the respective profile portion, to monitor the profile portion and to record the coordinates of the points of each profile portion with respect to the sensor coordinate system S. The points of each profile portion are then transformed from the sensor coordinate system S into the workpiece natural coordinate system B. With certain orders, such as a 15th order of polynomial interpolation, a collection of analytical formulae is generated to approximate the layer of profile data, within a tolerated error allowance. This procedure is done for each layer m, for any number of layers at the tip of the blade. Each layer is a different distance from the root plane portion of the turbine blade. The information derived from the scans is stored in the database 42. Other ways of reconstructing the turbine blade tip profile may be envisaged, including using contact or other non-contact applications. Different profile reconstruction techniques may be employed, for example after the profiles have been sensed and calculated in the robot end-effector frame B, each layer profile can be divided into N (e.g. N=1000) sections respectively by N points. To reconstruct the blade tip layer prior to braze the profile, methods may be employed such as the �Method for Determining Shape Data� as described in a U.S. patent application Ser. No. 10/715,877 filed by the same applicants on 17 Nov. 2003 and incorporated herein by reference. FIG. 5 shows the robot 14 with the robot end-effector holding tool 18, holding the workpiece 20 in relation to the finishing tool 36, in operation, for finishing the edge or tip 82 of the workpiece. The path that the robot end-effector holding tool 18 moves along from its initial location to its final location is discussed earlier. Each path knot point of the robot end-effector holding tool 18 is described by the six robot coordinates (X,Y,Z,w,p,r). A 13�3 rotation matrix is defined as a transformation matrix to describe and represent the rotational operations of the robot end-effector coordinate system with respect to the global coordinate system, which is established at the base 24 of the robot 14 as the reference coordinate frame. The blending or robot path, that is the sequence of points the robot end-effector holding tool 18 follows to blend the surface of the workpiece, described in terms of robot coordinates (X,Y,Z,w,p,r) as set forth above, is recognized by the robot instructor 26. FIG. 6 shows three layers of a turbine blade tip profile 80. Using the three dimensional profile data of the turbine blade provided by online profiling, assuming the depth of the tip 82 is comparatively small, for example 5 mm, the turbine blade tip profile is divided into only three layers, a central layer P and two neighboring layers R and T. N points along the profile of each layer divide each layer into N sections, starting from the trailing edge (tail) 84 of the blade to the leading edge (head) 86 of the blade. To achieve a smooth blending path, the number of points chosen is quite large, for example N=1000. For blending, a part coordinate system D is created for each point. The part coordinate system D has its origin at the nth point of layer P, that is point Pn, with the x axis lying in the direction from point Pn to point Pn-1, the z axis lying in the direction from point Pn to point Rn and the y axis lying in the normal direction of the blade surface at point Pn and pointing inwards. The tool coordinate system C is formed at the finishing tool 36, and has an origin at the contact point on the surface of the finishing tool 36, the z axis lying in the axis direction of the finishing tool 36, the y axis lying in the direction of the global z axis and the x axis formed by the rule of the right-handed coordinate system. The tool coordinate system C is known with reference to the global coordinate system A once the blending machine is installed. During a blending process, the workpiece 20 is held at the desired blending position, where the two coordinate systems C and D are coincident with each other. Based on this, the position of the robot end-effector's coordinate system B is determined by a co-ordinated system homogeneous transformation and the robot coordinates (X,Y,Z,w,p,r). Computing the robot coordinates (X,Y,Z,w,p,r) of a blending point involves five steps: 1) compute the blending points in robot end-effector coordinate system B; 2) construct a part coordinate system D for a blending point; 3) based on the part coordinate system D being coincident with the tool coordinate system C when blending, compute the position and orientation of the robot end-effector coordinate system B, with reference to global coordinate system A, using the coordinate system homogeneous transformation; 4) from the position and orientation of the robot end-effector in the global coordinate system A, derive the robot coordinates (X,Y,Z,w,p,r); and 5) repeat steps 12) to 14) to obtain a series of the robot coordinates (X,Y,Z,w,p,r). With the above steps, a series of robot coordinates (X,Y,Z,w,p,r) is developed for desired blending positions, which form the robot blending path. For removing material in an automatic system and making the brazed area flush with the rest of the workpiece surface, the process parameters involved may differ for different workpieces such as in different used turbine blades. Some process parameters include: grit size, type of grit bonding, tension of an abrasive belt; wheel material, diameter, construction, stiffness, hardness, and contact angle of the wheel; contact wheel deformation; belt speed, vibration, and wear; tool head vibration; approach angle; feed rate; contact force; and removal rate. Among the process parameters, the contact force is the prime factor to consider for removal of excess braze material. In a traditional machining process, the contact force is kept at a constant level regardless of the different blending conditions at the particular blending point, for example, regardless of the thickness of excess braze material, profile curvature, etc. In the system 10 of the present embodiment, the contact force exerted on the workpiece 20 changes at different blending points in consideration of the current blending conditions or process parameters at any particular time during the process. For example, a greater controlled contact force is exerted on a blending point with a sensed thickness of excess braze material that is larger than normal, whereas a smaller controlled contact force is applied to a blending point with a sensed thickness of excess braze material that is less than normal. Relevant information may be provided by a look-up table in the database 42, with information such as the optimum contact force versus thickness of excess braze material or profile curvature. Accordingly, material removal rate is increased and production is more efficient over traditional machining without sacrificing the finish accuracy. FIG. 7 shows the robot end-effector holding tool 18 and the forces resulting from processing with active force control. Traditionally, passive force control was used to maintain a constant compliant force between the holding tool 18 and the workpiece 20. The robot end-effector holding tool 18 of the present embodiment allows the robot 14 to react to the current or present state in real time, which allows the system 10 to avoid or prevent overcutting or undercutting and to achieve the desired final finished profile. In the robot end-effector holding tool 18, the blending environment is modeled as a mass-spring-damper system. The force sensor 50 is mechanically attached to the end-effector holding tool 18 modeled as a spring-damper model, where ks and cs are the stiffness and the damping coefficients of the sensor, respectively. The parameter me is the mass of the robotic end-effector holding tool 18, ke and ce are the stiffness and damping coefficients of the contact environment, respectively, and fs and fn are the sensing force and vertical contact force, respectively. FIG. 8 shows a finishing device 30 for blending the workpiece 20, with a decoupling mechanism control system. The finishing device 30 includes the finishing tool 36, in this embodiment the finishing tool 36 has a blending wheel 90 mounted at the end of a bent arm 92, which pivots about a pivot point 94. The other end of the bent arm 92 is held by a pre-loaded spring 96, such that a force F on the blending wheel 90 is opposed by a force J from the pre-loaded spring 96. A closed loop long abrasive belt 98 runs around a drive wheel 102 and several passive wheels including the blending wheel 90, a tension wheel 104, and three idler wheels 106. The abrasive belt 98 runs around the outer surface of the blending wheel 90 and is abrades the turbine blade surface. Therefore the thickness of the belt 98 is taken into account when determining the position of the workpiece 20, relative to that of the blending wheel 90. The decoupling mechanism control system includes the displacement probe 56 (which measures the displacement of the bent arm 92), the force gauge 52 mechanically attached to the bent arm 92, the pre-loaded spring 96, and the servo-driven cam system with the cam 62 and the motor 60 or other actuator. The force gauge 52 may be a strain gauge type of force sensor, which measures the strain in the bent arm 92. An additional element used to control the decoupling mechanism control system is the force sensor 50 on the robot end-effector holding tool 18. The decoupling mechanism moves the head of the finishing tool 36, that is the blending wheel 90, precisely to touch the workpiece 20 and keep different contact (polishing or thrust) forces to remove welded excess metal during the overhauling process. The contact force and feedback system are real-time controlled by the computer 12 based on a controlled material removal rate strategy. During use the blending wheel 90 tends to �sink� when the contact force is high, but �float� in the case of a lower contact force. During blending, the laser sensor 54 detects, in-situ, the turbine blade tip height H at the current blending point and the computer 12 determines the respective required contact force in accordance with its blending process knowledge database 42. Both the force moment sensor 50, at the robot end-effector holding tool 18, and the force gauge 52, in the finishing device 30, provide force feedback information, generally simultaneously, on the actual value of the contact force exerted between the workpiece 20 and the blending wheel 90. After calculating the difference between the desired value of the contact force, the computer 12 controls the digital servo motor 60 to drive the cam 62 to extend or contract the pre-loaded spring 102 so as to maintain the desired contact force at the current blending point between the workpiece 20 and the blending wheel 90. Positional information of the blending wheel 90 provided by displacement probe 56 and by the servo motor encoder 58, are used by the treating system 10 to maintain the blending wheel 90 at a desired position for the current blending point. The resolution analysis and accuracy of motion resolution for the encoder 58 may be represented, for example, by [10 mm/(encoder resolution)*(harmonic gear ratio)]*Dt/Df, where Dt is the distance from the arm pivot point 94 to the center of the blending wheel 90 and Df is the distance from the arm pivot point 94 to the point of action of the spring 96 and the arm 92. Thus for Dt=150 mm, Df=87 mm, encoder resolution=1000 and harmonic gear ratio=50, the accuracy of motion resolution=0.000345 mm (=345 μm [microns]). The desired contact force is primarily maintained by the servo-controlled cam mechanism 62, 60 while the robot 14, under the control of the computer 12 via the robot instructor 26, focuses on following the desired blending path. When the contact force increases or decreases, before the cam 62 is rotated to provide an appropriate response, the spring 96 automatically generates a bigger or smaller force, respectively, to oppose the contact force, through corresponding contraction or expansion, as the bent arm 92 moves. With this active compliant approach, better mechanical advantage for force control is achieved, resulting in greater dexterity with a faster response, since the cam mechanism 62 is directly linked to the motor 60 instead of to other types of mechanical linkage. The cam mechanism 62, instead of controlling robot 14, may drive the system for the fine grinding. The industrial robot 14 may act as the rough positioner (for example a �left hand�, following the predefined profile path) and the grinding/cam mechanism may act as the fine positioner (for example a �right hand�, controlled by the force gauge 52 and the laser sensor 54). The laser sensor 54 acts as an �eye� to monitor the difference between the added materials and the parent materials. With respect to the global frame, the blending wheel is kept to a relative static location, which enables the laser sensor 54 to perform better measurements, as the deviation in the distance between the turbine blade 20 and the laser sensor 54 remains in a relatively narrow range. Additionally, the spring 96 acts as a compliant device; when the contact force exceeds the desired value by a large amount, the spring 96 provides a certain range of compliance to avoid causing damage to the robot 14, the workpiece 20, or the blending machine 30. When an abnormally large increase in the contact force, beyond a specified limit, is detected by the computer 12, the computer 12 issues a command to the robot 14, via the robot instructor 26, to stop operation. The spring compliance and the computer monitoring process, together with other safety measures such as a laser curtain, helps to ensure that the treating system 10 is operating under safe conditions. In this embodiment the finishing tool 36 is a blending wheel 90, with an abrasive belt 98 around it. In other embodiments, other treatment tools are provided, such as a grinding or sanding wheel, which contacts the workpiece directly, rather than through a belt. Such a grinding or sanding wheel may be driven by a belt, as in the illustrated embodiment. When the Z-axis displacement in FIG. 8 is less than a critical displacement Zc, the pre-loaded spring 96 does not contract any further, and the tool head 90 acts as a fixed tool head. Beyond the critical Z-axis displacement, the Z-axis movement causes the blending wheel to �sink�. Given the geometry of the workpiece 20, a desirable force level can be achieved by associating the turbine blade tip height with the respective blending point. Once blending conditions, including pre-load, spring stiffness, blending wheel hardness and construction are known, the desirable force level can be determined. Sensitivity of the contact force to brazed layer variation can be adjusted to the required level by changing the spring stiffness and the pre-load of the pre-loaded spring 96. Such a control scheme works well to compensate for both global variations mainly due to part distortions and local variations such as variable braze thickness and transitional lines from non-brazing area to brazing area. The process knowledge is encapsulated so that optimum process parameters can be inferred according to individual part conditions. It will be appreciated that while only a few specific embodiments of the invention have been described herein for the purposes of illustration, various changes or modifications may be made without departing from the scope and spirit of the invention. Referenced byCiting PatentFiling datePublication dateApplicantTitleUS7396086Apr 3, 2007Jul 8, 2008Hall David RPress-fit pickUS7410221Nov 10, 2006Aug 12, 2008Hall David RRetainer sleeve in a degradation assemblyUS7413258Oct 12, 2007Aug 19, 2008Hall David RHollow pick shankUS7469972Jun 16, 2006Dec 30, 2008Hall David RWear resistant toolUS7797828Apr 28, 2006Sep 21, 2010Honeywell International Inc.Adaptive machining and weld repair processUS7832808Oct 30, 2007Nov 16, 2010Hall David RTool holder sleeveUS8070555Nov 3, 2008Dec 6, 2011General Electric CompanyVisual feedback for airfoil polishingUS8123302Jan 28, 2008Feb 28, 2012Schlumberger Technology CorporationImpact toolUS8155781 *Dec 27, 2002Apr 10, 2012Siemens AktiengesellschaftAutomation system and method for movement control of at least one moveable machine elementUS8261471Jun 30, 2010Sep 11, 2012Hall David RContinuously adjusting resultant force in an excavating assemblyUS8442665Aug 19, 2010May 14, 2013Rolls-Royce CorporationSystem, method, and apparatus for repairing objectsUS8449039Aug 16, 2010May 28, 2013David R. HallPick assembly with integrated pistonUS8597073Sep 23, 2011Dec 3, 2013SnecmaMethod and device for machining the leading edge of a turbine engine bladeUS8626464Mar 28, 2011Jan 7, 2014Airbus Operations S.L.Dimensional inspection method for a composite partUS8700191Nov 26, 2007Apr 15, 2014The Boeing CompanyControlled application of external forces to a structure for precision leveling and securingUS8770312 *May 14, 2010Jul 8, 2014Honda Motor Co., Ltd.Cam driving device and processing methodUS8774971 *Feb 1, 2010Jul 8, 2014The Boeing CompanySystems and methods for structure contour controlUS8777629 *Jun 3, 2009Jul 15, 2014Fronius International GmbhDevice and method for simulating a welding processUS8820203Feb 11, 2009Sep 2, 2014Fanuc Robotics America, Inc.Method of controlling a robot for small shape generationUS8915740Jul 10, 2009Dec 23, 2014Lincoln Global, Inc.Virtual reality pipe welding simulatorUS20090125142 *Apr 26, 2007May 14, 2009Siemens AktiengesellschaftNumerically controlled grinding machine and process for controlling sameUS20100094461 *Oct 9, 2009Apr 15, 2010Abb AgMethod for teaching an industrial robot, and a correspondingly equipped industrial robotUS20100300713 *May 14, 2010Dec 2, 2010Honda Motor Co., Ltd.Cam driving device and processing methodUS20110091846 *Jun 3, 2009Apr 21, 2011Fronius International GmbhDevice and method for simulating a welding processUS20110190941 *Feb 1, 2010Aug 4, 2011Bobby Joe MarshSystems and Methods for Structure Contour ControlUS20120283875 *Dec 8, 2010Nov 8, 2012Kuka Laboratories GmbhMethod and device for controlling a manipulatorUS20130134238 *Nov 21, 2012May 30, 2013Minebea Co., Ltd.Cutting fluid ejection apparatusUS20130173043 *Jan 4, 2012Jul 4, 2013General Electric CompanyRobotic machining apparatus method and system for turbine bucketsUS20130180107 *Jan 15, 2012Jul 18, 2013Steven Charles WoodsMethod for refurbishing a turbo-machine componentUS20140131426 *Oct 4, 2013May 15, 2014Rolls-Royce PlcFriction weldingEP2181803A1 *Oct 27, 2009May 5, 2010General Electric CompanyVisual feedback for airfoil polishingEP2599587A2 *Jul 10, 2008Jun 5, 2013Lufthansa Technik AGAssembly, method and device for maintaining gas turbine bladesEP2741156A2 *Nov 28, 2013Jun 11, 2014Rolls-Royce plcMachining methodWO2009102767A2 *Feb 11, 2009Aug 20, 2009Fanuc Robotics America IncMethod of controlling a robot for small shape generationWO2009105221A2 *Feb 19, 2009Aug 27, 2009Rolls-Royce CorporationSystem, method, and apparatus for repairing objectsWO2010149720A1 *Jun 23, 2010Dec 29, 2010SnecmaMethod for manufacturing a forged part with adaptive polishingWO2012056075A1 *Oct 24, 2011May 3, 2012Airbus Operations S.L.Profile measurement for a composite part* Cited by examinerClassifications U.S. Classification700/245International ClassificationG06F19/00, G05B19/416Cooperative ClassificationG05B2219/39322, G05B19/4163, G05B2219/42092, B23P6/002, G05B2219/37355, G05B2219/45151European ClassificationB23P6/00A, G05B19/416ALegal EventsDateCodeEventDescriptionJun 14, 2004ASAssignmentOwner name: AGENCY FOR SCIENCE, TECHNOLOGY AND RESEARCH, SINGAFree format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:LIN, WEN-JONG;CHEN, XIAO QI;GONG, ZHIMING;REEL/FRAME:015466/0468Effective date: 20040226RotateOriginal ImageGoogle Home - Sitemap - USPTO Bulk Downloads - Privacy Policy - Terms of Service - About Google Patents - Send FeedbackData provided by IFI CLAIMS Patent Services


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Fox News Poll: 73 percent say Obama doesn’t have a clear strategy to defeat ISIS | Fox News
Fox News Poll: Obama has no clear strategy to defeat ISIS
73 percent of voters cast doubt on White House
American voters think their government is doing a bad job reducing the threat from Islamic extremists -- and want President Obama to be tougher on them. A Fox News poll released Wednesday also finds voters doubt the White House has a clear strategy for dealing with ISIS, and a majority calls its emphasis on diplomacy a “halfhearted” attempt to deal with the problem.
It turns out that Sen. John McCain, R-Ariz., voiced the concerns of most Americans during last Wednesday’s confirmation hearing of Ashton Carter to be defense secretary when he said, “We still do not have a viable strategy to counter ISIL, and if you are not winning in war, you are losing.”
The poll shows that 73 percent of voters say the White House doesn’t have a clear strategy for defeating ISIS. That’s up from 64 percent who felt that way less than five months ago (September 28-30, 2014).
Now even 54 percent of Democrats don’t think Obama has a clear plan, up from 44 percent.
Last September, soon after the U.S. air campaign began against ISIS, 26 percent said Obama had a clear plan for beating ISIS. Just 19 percent of voters believe so now.
Obama sent his request to Congress for authority to use force against ISIS Wednesday.
By more than two-to-one voters rate the federal government negatively on reducing the threat from Islamic extremists: 31 percent say it’s doing an excellent or good job, while 67 percent rate it as only fair or poor.
Voters are seven times as likely to say the government is doing a “poor” job (28 percent) reducing the ISIS threat as to say “excellent” job (4 percent).
Obama’s rating on terrorism also remains negative, as 42 percent of voters approve of the job he’s doing, while 53 percent disapprove. Last month, it was 39-53 percent (January 2015).
On foreign policy overall, 39 percent approve of Obama, while 53 percent disapprove.
Improved perceptions on the economy, however, have helped the president’s overall job performance rating -- and for the first time since August, less than half of voters disapprove. Obama’s rating stands at 45 percent approval vs. 49 percent disapproval. That’s up from 42-52 percent a month ago (January 11-13, 2015).
Voters view the administration’s current strategy that has so far emphasized diplomacy rather than decisive military force as “halfhearted,” and want the president to be tougher on Islamic extremists.
More than two-thirds -- 68 percent -- think Obama should be tougher on Islamic extremists. Only 26 percent say he is being tough enough.
And by a 61-32 percent margin, voters call the administration’s current prioritization of diplomacy over military force a “halfhearted” attempt to respond to Islamic extremists rather than a “serious” one.
Half of Democrats (50 percent) think Obama should be tougher on Islamic extremists and 41 percent describe the administration’s efforts in the Middle East as halfhearted.
Meanwhile, 23 percent of voters think airstrikes alone will defeat ISIS, but more than twice that many -- 60 percent -- think it will require a significant number of U.S. ground troops.
In addition, 69 percent favor the United States immediately giving Jordan the military supplies it needs to fight ISIS. That includes 65 percent of Democrats, 68 percent of independents and 75 percent of Republicans. The Islamic extremist group recently burned to death a captured Jordanian pilot.
Dealing with terrorist kidnappers
How should the U.S. respond when an American is kidnapped by Islamic extremists? Most voters are against the idea of paying ransom (82 percent oppose) and trading the American for a terrorist who is in U.S. custody (76 percent oppose). On the other hand, there’s large support for attempting a rescue by U.S. Special Forces (89 percent favor).
Views are split over refusing to negotiate with the terrorists: 48 percent favor vs. 48 percent oppose.
In an interview Tuesday the president talked about the death of Kayla Mueller, an American aid worker who had been held by ISIS since August 2013. Obama said it is U.S. policy not to pay ransom. The Pentagon did swap five Taliban prisoners for Army Sgt. Bowe Bergdahl in May 2014.
Mueller was the fourth American hostage killed by ISIS.
Men (55 percent) are 14 percentage points more likely than women (41 percent) to refuse to negotiate. The other issue where there is a gender gap is on paying ransom, as women (20 percent) are twice as likely as men (10 percent) to favor that.
Majorities of Republicans (54 percent) and independents (52 percent) say don’t talk with terrorists, while a majority of Democrats would not rule out negotiation (55 percent).
Veterans and those currently serving in the military oppose both paying ransom (90 percent) and trading for a terrorist (77 percent). Almost all favor attempting a rescue (93 percent). Fifty-five percent of veterans would refuse to negotiate with Islamic extremists, while 42 percent would negotiate.

type: global

value: This website is an American multinational conservative cable news television channel based in New York City. It is owned by Fox News Media, which itself is owned by the Fox Corporation.


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Amazon.com: Grasshoppers and Crickets (Collins New Naturalist Library, Book 120) eBook: Ted Benton: Kindle Store
Grasshoppers and Crickets (Collins New Naturalist Library, Book 120) [Kindle Edition]
400 pages Optimized for larger screens
'[...] Ted Benton's entomological opus Grasshoppers & Crickets led me into the weird world of British orthoptera, with their edible nuptial gifts, "mate-guarding", harems and extraordinarily complex songs. No field or meadow will seem or sound the same again.' Robert Macfarlane, 'Books of the Year 2012', Guardian 'An outstanding contribution [...] The DVD a groundbreaking achievement.' British Wildlife Praise for the New Naturalist series: 'The series is an amazing achievement.' The Times Literary Supplement 'The books are glorious to own.' Independent
Publisher: Collins; Har/DVD edition (July 5, 2012)
Amazon Best Sellers Rank: #2,163,237 Paid in Kindle Store (See Top 100 Paid in Kindle Store)
Kindle Store > Kindle eBooks > Science & Math > Biological Sciences > Animals > Insects & Spiders

value: This website is an American multinational technology company which focuses on e-commerce, cloud computing, digital streaming, and artificial intelligence.


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Best 15 Exterior Cleaners in Lake Ann, MI | Houzz
Exterior Cleaners near Lake Ann
Lake Ann, MI Exterior Cleaners
The power of curb appeal isn’t a myth — the exterior of your Lake Ann home is the very first thing visitors, neighbors and prospective buyers see, and people assume that if the outside of your home is not in great shape, neither is the interior. This can drastically affect your property value as well as incur the irritation of your neighbors, so if your house facade is looking like it could use some attention, consider hiring an exterior cleaner in Lake Ann, MI. More
What do Lake Ann, MI exterior cleaners do?
Exterior cleaning is exactly what it sounds like — cleaning a home’s outer structure. However, exterior maintenance professionals in Lake Ann, MI do a whole lot more than just wiping down some walls and cleaning a few windows; ultimately, residential exterior cleaners are responsible for restoring a home’s exterior back to stellar shape through a variety of services, including:
Find exterior cleaners in Lake Ann, MI on Houzz. Search the Professionals section for Lake Ann, MI exterior cleaners or browse photos of completed projects and look for the exterior maintenance professional’s contact information.

value: This website is an American website, online community and software for architecture; interior design and decorating; landscape design and home improvement. It was founded in 2009 and is based in Palo Alto, California.


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Fall Practice Video: WR, Brandon Kinnie - Nebraska - Scout
Fall Practice Video: WR, Brandon KinnieSteve Ryan08/07/2010You could say that this little competition between Brandon Kinnie and Niles Paul, has made them both a bit better. Each says it has. Kinnie can't wait to take that competition back to the field. That's just one of the things he's jacked up about when it comes to the 2010 year. He's amped up about almost everything.
Fall Practice Video: Junior WR, Brandon Kinnie
NU Football Away Game Packages!! Share on Facebook Share on TwitterTrending on ScoutBullpen Implosion, Miscues Spell End for Cal5 Takeaways From Week 1 Of Broncos OTAsThomas Has Ties to the Mountain State2017 Nebraska Profile: Chris JonesThe Opening Finals 2017 Official RosterShare & EmbedSEC Attention Meaningful For 2019 TE Rae Full StoryBig Red Report Top Stories2017 Nebraska Profile: Chris JonesA look at Nebraska senior corner Chris Jones enter the 2017 season.by Mike WheelerBig Red ReportThursday at 8:28 AMNebraska visit likelySacramento (Calif.) Inderkum four-star receiver Isaah Crocker plans to trim his list in the summer...by Brandon HuffmanScout FootballWednesday at 4:00 PMGoodrich already recruitingNebraska's newest commit is already working the peer-to-peer recruiting.by Josh HarveyBig Red ReportTuesday at 9:55 PMHuskers up to No. 7Nebraska is now No. 7 in the latest Scout.com national team recruiting rankings.by Josh HarveyBig Red ReportTuesday at 9:24 PMSEC Attention Meaningful For 2019 TE RaeANAHEIM, Calif. -- Scout.com caught up with 2019 tight end Ethan Rae to break down his latest SEC offers, an upcoming visit to Big Ten country and plans to camp with a local school…by Blair AnguloScout FootballTuesday at 8:52 PMHuskers make cut for Missouri DLNebraska has made the cut for a Missouri prep defensive lineman.by Mike WheelerBig Red ReportTuesday at 8:17 PMQB Dukart Turning Attention to FootballLake Oswego (Ore.) quarterback Jake Dukart has turned his attention to football and the one-time Pac-12 baseball commit is seeing a surge in his recruitment...by Brandon HuffmanScout FootballTuesday at 6:00 PMGoodrich goes NNebraska has landed Missouri prep defensive back Mario Goodrich.by Josh HarveyBig Red ReportTuesday at 4:52 PMHuskers in St. LouisMultiple Nebraska coaches hit St. Louis.by Josh HarveyBig Red ReportTuesday at 7:43 AMWR Massey adds Big Ten offer, has camp plansSaint Charles (Mo.) Francis Howell North wide receiver Maurice Massey is a high-level 2019 prospect. He talks about his latest offer and camp plans here.by Allen TrieuScout FootballTuesday at 4:45 AMThe Opening Finals 2017 Official RosterThe official 2017 roster of the Nike+ Football The Opening Finals featuring the participants selected from The Opening Regional camp stops...by Greg PowersScout FootballThursday at 7:00 AM12 released - includes NebraskaMissouri prep Ronnie Perkins has released a top 12 and the Huskers made the cut.by Mike WheelerBig Red ReportWednesday at 12:12 PMLoad More

value: This website is an integrated sports publishing company that produces Internet content covering hundreds of professional and college teams across America. The company was founded in 2001 and was acquired by Fox Sports in 2005.


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value: This website is a Singaporean online travel agency and metasearch engine for hotels, vacation rentals, flights, and airport transfer. It is owned by Agoda Company Pte.


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Reagan Joins in Passing Out Sandbags In Surprise Visit to Flooded Ind. City - The Washington Post
Reagan Joins in Passing Out Sandbags In Surprise Visit to Flooded Ind. City
For about 10 minutes this afternoon on the muddy banks of the overflowing St. Mary's River here, there was the following spectacle:
The president of the United States, clad in white shirt, crisp black suit and low-cut, rubber boots borrowed from a farmer, standing in a line of people to help pass sandbags up to the river's edge as throngs of onlookers, reporters and cameras watched.
President Reagan had decided on the spur of the moment to stop briefly in this flooded industrial city on his return to Washington from a two-day southern visit. Reagan acted after seeing morning television reports that northern Indiana's worst flooding in nearly 70 years had washed away crops, inundated houses and businesses and left more than 7,000 people homeless, including 4,000 evacuated late tonight.
Reagan's stop generated far more excitement than any of those in his two-day swing through the South where he had promoted his economic program and "New Federalism" proposal in speeches to the legislatures of Alabama, Tennessee and Oklahoma.
For the tired residents of this economically depressed city, who have been laboring since Saturday against flood waters, Reagan's unexpected visit seemed to provide a brief moment of psychic relief.
Drawn by radio reports and the flashing lights of the presidential motorcade, they tumbled out of houses, taverns and schools. Small boys climbed trees, and adults sat on rooftops to catch a glimpse of Reagan as he stopped first at the river bank and then at a Red Cross station where homeless families crowded around him to get autographs.
The president said that the silver lining of the disaster lay in the spirit of neighborliness it generated as hundreds of volunteers gathered to help fight the flood and help its victims.
Standing on a table inside a temporary Red Cross center at a church, Reagan told evacuees: "I think you'd all be very proud to see those youngsters up there pitching those sandbags. I did it for a couple of minutes, then stepped in some sticky mud and lost a boot."
He told them that the volunteerism exhibited here "makes me realize we haven't got anything to be afraid of in this country."
Although President Carter frequently traveled to disaster sites, today's unscheduled stop was the first such visit for Reagan. It came at a time when critics are attacking him for appearing uncaring and for seeming to show a lack of compassion for the poor and unemployed.
Such criticism clearly concerns Reagan and his aides.
In his southern trip, Reagan was unbending toward critics urging him to revise his economic recovery program, but he made a point of saying that he understands the problems of the jobless laborer searching for work in a tight market, the young couple unable to buy a home because of high interest rates, the elderly pinched by inflation and disadvantaged youths who may feel that government has turned its back on them.
"We are determined to change things for the better, to make America work again," Reagan had told the Tennessee legislature. "But we can't do that through more spending and taxing. That's how we got into this mess to begin with."
While he was received with warmth and politeness by members of the three legislatures, his visits drew only sparse crowds of friendly supporters and some demonstrators protesting budget cuts, Central American policy, government treatment of Indians and assorted other concerns.
The Reagan entourage moved into high gear this morning for the Fort Wayne visit. En route here after addressing the Oklahoma legislature, Reagan had Air Force One detour over Bartlesville, Okla., where a tornado Monday night left one dead, more than 35 injured and caused widespread damage.
Photographers on the plane were permitted to enter the cockpit to photograph Reagan as he inspected the damage.
Both Air Force One and the charter flight carrying the White House press corps were instructed to fly low on the approach to Fort Wayne so the president and reporters could see the flooding that had caused an estimated $16.3 million in damage after beginning Saturday when heavy snows melted in a sudden thaw.
Reagan's visit was so spontaneous that Bruce Hetrick, an aide to Fort Wayne Mayor Winfield Moses (D), said Moses' office had not been aware of it until calls came from news organizations.
The city had been trying since the weekend to get Indiana Gov. Robert D. Orr (R) to ask the administration to declare Fort Wayne a federal disaster area so farmers and businessmen would be eligible for low-interest government loans. Orr submitted the request Monday, according to a White House aide, and Reagan today promised speedy action on it.

value: This website is an American daily newspaper published in Washington, D.C. It is the most-widely circulated newspaper within the Washington metropolitan area, and has a large national audience. Daily broadsheet editions are printed for D.C., Maryland, and Virginia.


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Helmet Radio Fails, but Campbell Rallies Redskins in Home Debut
Jason Campbell's headset was emitting pure static into his ear, malfunctioning in the dying minutes of the fourth quarter while 85,450 fans awaited what would be the defining play of the game and 10 teammates looked to him in the huddle. In only his second NFL start, the Washington Redskins' 24-year-old quarterback had lost his lifeline to his coaches, facing third and eight from the 34-yard line, with Washington trailing Carolina by three points and needing a first down to stay alive.
With the play clock dwindling, Campbell quickly called for an intermediate crossing route -- barking out a play the team had refined all week in practice -- then executed it with precision, leading tight end Chris Cooley at midfield against a blitz, and watching him rumble into the end zone for the game-winning, 66-yard touchdown with less than five minutes to play.
The first defining moment of Jason Campbell's career had unfolded at FedEx Field, and after being outplayed for six straight weeks, Washington finally had something tangible to rally around, with a 17-13 victory punctuating an otherwise dreary season of discontent.
"His play, we couldn't have asked for a whole lot more," said Coach Joe Gibbs, who delivered a pointed address to his underachieving team last Wednesday. "He's gone up against two of the toughest defenses in Tampa and Carolina and that's good news for us. He's certainly stepped up so far."
Campbell has exuded poise and moxie throughout his brief NFL career (he was inactive for 27 straight games before starting at Tampa Bay), rallying the Redskins (4-7) in the second half of each game, seeming at ease in his surroundings. Yesterday, Campbell, the 25th overall draft pick in 2005, faced his greatest adversity yet, beyond his sputtering headgear, while his teammates showed a resolve missing in Campbell's previous start. The defense had its best game of the season, the rushing offense was solid (Ladell Betts ran 24 times for 104 yards) and special teams had a partially blocked punt.
But in the end, the game was settled by Campbell's strong right arm, after he nearly gave it away.
The Panthers (6-5) took the lead midway through the fourth quarter, on a 15-play drive, converting four straight third-down chances, including an acrobatic, sprawling touchdown catch by wide receiver Steve Smith on third and seven from the 8. Momentum was swinging away from the Redskins, and on Campbell's next play he flung a ball to Santana Moss in double coverage, underthrowing the receiver for an easy interception.
Back on the sideline, Campbell (11 for 23 with two touchdown passes) remained composed, teammates and coaches said, and the defense forced a punt. Washington (2-5 within the NFC) got the ball back and on third down, Campbell's headset gave out just after he heard the formation. He was left to decide the rest on his own.
"I was thinking of this play the whole time," Campbell said. "It was the first thing I thought of."
The Redskins had been waiting for it to transpire all season, "We've worked on that thing since the beginning of OTAs [organized team activities] in the spring," offensive coordinator Don Breaux said, "over and over and over regardless of the quarterback."
But veteran starter Mark Brunell rarely threw over the middle. Campbell is more willing to thread the ball through tight quarters, and connected with his secondary option in this instance.
The play requires the quarterback to read two routes from left to right, with wide receiver Brandon Lloyd stationed wide left in this case. With Lloyd covered and the pass rush gaining, Campbell strode forward and looked to Cooley, who darted off the right end of the line, gained a step on cornerback Chris Gamble at midfield, and caught the pass.
Cooley shrugged off a diving tackle by safety Mike Minter and ran untouched the final 45 yards down the sideline for his fifth touchdown in six games. Cooley has become a top option with Moss hampered by a hamstring injury and Lloyd (one catch for eight yards) adrift in this offense.
"We know what Cooley can do when he gets his hands on the ball, and this kid will go to him," Joe Bugel, assistant head coach-offense, said. "We tell him, 'Look at Cooley.' "
With the Redskins holding a slim lead, the defense came through when safety Sean Taylor, rejuvenated after weeks of erratic play, pummeled receiver Drew Carter on fourth down, two yards shy of the first down. Later, Taylor's first interception of the season sealed the outcome.
The entire offense started slowly yesterday, with Washington going three and out five times in the first half, and neither team topping 115 total yards. The Redskins' sagging run defense was revived -- DeAngelo Williams ran 17 times for just 63 yards for the game -- and Smith, perhaps the most dangerous offensive player in football, was limited to five catches for 34 yards. After allowing 385 yards per game over the past six contests, Washington held Carolina to 264 yards, and intercepted two passes after having three through 10 games.
"We controlled the line of scrimmage a lot more," middle linebacker Lemar Marshall said. "We played with intensity. We saw guys swarming to the ball. We saw guys having fun and the crowd was into it. It's a great feeling."
Despite all of that, Washington trailed 6-3 at the half, with high-priced safety Adam Archuleta, benched from the defense again, failing to hold his block on a punt, allowing Carolina linebacker Adam Seward to deflect the ball and setting up the Panthers' go-ahead field goal. Rookie linebacker Rocky McIntosh deflected a punt in the third quarter, however, giving Washington the ball at the Panthers 36. Campbell was cool around the goal line on that drive, waiting for Antwaan Randle El to get open on third down for a four-yard scoring pass, and the Redskins led 10-6.
Campbell's second touchdown throw was certainly more glorious, keeping the Redskins, mathematically if not realistically, eligible for the postseason. There is still a great climb, however, and after 43 games since his return to coaching, Gibbs is 20-23, a mark that is identical to the franchise's preceding 43 games, perhaps the best indicator of what remains to be accomplished.


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Top 10 Hotels in Saint-Valere, Quebec | Hotels.comEnglish (United States)Book online or call 800-246-8357This call is free. 24 hours a day; 7 days a week.HotelsHotel DealsPackages & FlightsGroupsGift CardsHelpWebsite feedbackSign in & AccountSign inCreate an accountYour bookingsReview a hotelHotels.com® RewardsYour bookingsHotelsHotels in CanadaHotels in QuebecSaint-Valere HotelsHotels in Saint-Valere, QuebecSearch & Compare Saint-Valere HotelsCity, landmark, hotel name, address or zip codeCheck inCheck out I don’t know my datesRooms123456789+Room 1:Adults12345678Aged 18+Children01230-17Age at check in:Child 1:-?-<11234567891011121314151617Show dealsGet Secret Prices on select hotelsThese prices aren’t available to everyone.Unlock nowTrending now in Saint-ValereHotels in Saint-ValereMost bookedQuality Inn & Suites VictoriavilleExcellent 4.5 / 5( 146 genuine reviews )Hotels.com® RewardsFor every 10 nights, get 1 free! 30 people looked at this hotel in the last hourMost recent review"Very nice hotel, comfortable and quiet. Central location to food and stores."A Traveller, Oct 2016, CAZ Plaza HôtelGood 3.7 / 5( 63 genuine reviews )Hotels.com® RewardsFor every 10 nights, get 1 free! 12 people looked at this hotel in the last hourMost recent review"Veer comfortable bed. Good for the money. I would recommend this hotel to friends and family. "A Traveller, Aug 2016, CAHôtel Le VictorinExcellent 4.1 / 5( 94 genuine reviews )Hotels.com® RewardsFor every 10 nights, get 1 free! 8 people looked at this hotel in the last hourMost recent review"The pool and hot tub were well kept. Staff was friendly. "s, Aug 2016, CAMotel Marie-DanGood 3.9 / 5( 7 genuine reviews )Hotels.com® RewardsFor every 10 nights, get 1 free! 7 people looked at this hotel in the last hourMost recent review"We chose this hotel for an overnight stop between Halifax and Montreal. It was right off the highway, and close to Trois Rivieres as well. The room was clean and a decent size."A Traveller, Sep 2016, CAMotel Auberge HélèneGood 3.7 / 5( 7 genuine reviews )Hotels.com® RewardsFor every 10 nights, get 1 free! 7 people looked at this hotel in the last hourMotel le VictoPoor 1.8 / 5( 5 genuine reviews )Hotels.com® RewardsFor every 10 nights, get 1 free! 5 people looked at this hotel in the last hourLa Maison des ÉboulisNo Guest Reviews yetHotels.com® RewardsFor every 10 nights, get 1 free! 5 people looked at this hotel in the last hourHotels within 15 miles of Saint-ValereComplexe Hôtelier Du PréExcellent 4.0 / 5( 1 genuine review )Hotels.com® RewardsFor every 10 nights, get 1 free! 7 people looked at this hotel in the last hourGîte Aux Plaisirs PartagésNo Guest Reviews yetHotels.com® RewardsFor every 10 nights, get 1 free! 7 people looked at this hotel in the last hourGîte du ChampayeurOutstanding 5.0 / 5( 2 genuine reviews )Hotels.com® RewardsFor every 10 nights, get 1 free! 5 people looked at this hotel in the last hourSee more hotels in Saint-Valere, QuebecRecently bookedHôtel-Motel Drummond3 starsfrom $54Motel Auberge Hélène2 starsfrom $51Best Western Plus Hotel Universel Drummondville3 starsfrom $72Hôtel & Suites Le Dauphin3 starsfrom $71Quality Suites Drummondville2.5 starsfrom $82Pay now or later on most roomsFree cancellation on most roomsPrice GuaranteeMap of Saint-Valere hotelsBest hotels in Saint-ValereWith hotels.com we help you find the best hotels in Saint-Valere, Quebec.
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Yellowstone Self Catering Lodging - Adults Only in West Yellowstone, MT | Expedia
Yellowstone Self Catering Lodging - Adults Only, West Yellowstone Yellowstone Self Catering Lodging - Adults Only, West Yellowstone
Photos of Studio, 2 Beds, Kitchen
More detailsStudio, 2 Beds, Kitchen
Photos of 2 Bedroom Modular Home
More details2 Bedroom Modular Home
Located in West Yellowstone, Yellowstone Self Catering Lodging - Adults Only is in a rural area. Playmill Theatre and Yellowstone Historic Center are cultural highlights, and some of the area's attractions include Grizzly and Wolf Discovery Center and Yellowstone Big Gun Fun.
Grizzly and Wolf Discovery Center - 18 min walk
Running Bear Pancake House - 4 min walk
Naughty Chile Taqueria - 10 min walk
Tour/ticket assistance, free self parking, and free WiFi in public areas are available at this smoke-free hotel. All rooms are individually decorated and offer free WiFi and ceiling fans. Guests will find kitchenettes with refrigerators, stovetops, and microwaves.
Yellowstone Self Catering Lodging - Adults Only offers 16 air-conditioned accommodations with coffee/tea makers and ceiling fans. Each accommodation is individually furnished and decorated. Kitchenettes offer refrigerators, stovetops, microwaves, and cookware/dishes/utensils. Bathrooms include showers.
How much is parking at Yellowstone Self Catering Lodging - Adults Only?
Situated in the mountains, this hotel is within 1 mi (2 km) of Gallatin National Forest and Grizzly and Wolf Discovery Center. Yellowstone Park West Entrance is 1.4 mi (2.3 km) away.
Overall score and ratings for Yellowstone Self Catering Lodging - Adults Only
Awesome host. Very helpful. Great place. Highly recommended.
The room was spacious with electric fireplace, stove, microwave, livingroom and bedroom. Staff was friendly and very helpful I would stay hete again
Bram, Turkmenistan
Close to Yellowstone's western gate and close enough to walk to shops. Had everything I needed already there and the staff I interacted with were friendly and helpful. I would easily book another stay here
Ugh, Where do I even start.... from an office guy yelling at me that I haven’t replied to his email for an hour while driving to lack of towels, clogged sink to pubic hair all over the shower. Worst experience ever. Will not be back for sure.

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Tobacco Reduction - Jackson, CA | Groupon
1001 Broadway, Jackson, CA 95642 1001 Broadway, Jackson Directions
+12092236638
You'll want to make an appointment with the experienced medical staff at Tobacco Reduction in Jackson. When you're seeking medical care, such as physicals and medical checkups, this medical facility is here for you.
Tobacco Reduction understands that getting sick can be a downer, and that's why the doctors offer kind and effective care to help you get back to feeling 100%.
Groupon has verified that the customer actually visited Tobacco Reduction.

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Rute Piedade on Scribd
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A Braveheart fiction Scots would regret for ever, by former trade minister Digby Jones | Daily Mail Online
A Braveheart fiction Scots would regret for ever, by former trade minister Digby Jones By
19:53 EST, 30 August 2014
20:55 EST, 30 August 2014
With just over a couple of weeks to go to an event where a small minority of a nation could well destroy my country without any participation from the majority (some exercise in democracy, that), I just want to address two things that still trouble me.Firstly, independence from what exactly?At the last General Election, the Scottish Conservative Party polled 17 per cent of the popular vote and the Scottish Nationalist Party polled 20 per cent – just three points more. Braveheart fiction: Former trade minister Digby Jones claims a small minority could destroy ScotlandSo just as those in the Yes Campaign say they want to be free of rule by the hated Tories of Westminster, what about those Scottish Conservatives and many more non-Tories who cannot abide Alex Salmond's snake oil?Why should they be enslaved by an ideology that means not just that they will have a government they have to tolerate for the next five years, but that they will become unwilling citizens for ever in a new country they didn't even want to exist?
DAILY MAIL COMMENT: Be positive... to save our British...
Is it independence to share the pound but have no influence in the decisions concerning interest rates? Digby Jones suggests it's arrogant of Alex Salmond to expect the Queen will carry on acting as a monarch for Scotland as wellIs it independence to be punished severely by the markets (with higher debt-service costs) for defaulting on Scotland's share of the deficit? Secondly: how will the rest of the UK respond if the tartan turkeys do indeed vote for Christmas on September 18? I do hope we will not roll over and give an independent Scotland the fuzzy partnership of allowing them to cherry-pick all the best bits of the old UK (including Her Majesty the Queen – how arrogant of Mr Salmond just to assume she will still be their Queen. Has anyone asked her?). We must not take the Nationalistic punch on the chin, letting it be 'business as usual'.So yes, let's have proper border controls. Given they won't be in the EU from the start (Spain will see to that, given they won't want a rampant Catalonia on their hands), let's make everyone north of the border apply for a visa. Until Scotland becomes part of the EU, someone resident in Scotland seeking to come and live in England should be treated just the same as someone resident in India.No they can't just decide unilaterally to share our currency... they wanted this divorce, not us. Mr Salmond is like the husband seeking a divorce against the will of his wife but saying he's keeping all the best bits of the matrimonial home.We will not build our warships in a foreign country so the Govan and Rosyth shipyards will close, for starters. Just explain that to the good men and women who have built our warships there for centuries but will now be looking for the enhanced welfare payments promised by the nationalists.How will independence pay for those? Increased taxes? Public-spending cuts? And most of all, when the oil price is cyclically against them, when the financial services community has left town, when the independent Scots are faced with cutting public services and putting up taxes, when the Scottish at last awake from their Braveheart dream and will take no more, I do so hope that the new, Independent Nation of England, Wales & Northern Ireland will not use my and others' taxes to bail out the new Independent Nation of Scotland. Get real: Mr Jones says 'every Braveheart voting with his or her heart will be stuck with it - it's about running a country, Mr Salmond, not taking part in a Mel Gibson fiction' (above, the actor in the 1995 film)No one gave us a say in this matter so it will not be our problem to solve.Independence is for ever; it isn't something you can change at the next Election if you don't like it.It isn't something you can call a day on. Every Braveheart voting with his or her heart will be stuck with it. It's about running a country, Mr Salmond, not taking part in a Mel Gibson fiction.Lord Jones is Business Ambassador at UK Trade & Investment.
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C-Terminal DxD-Containing Sequences within Paramyxovirus Nucleocapsid Proteins Determine Matrix Protein Compatibility and Can Direct Foreign Protei... - PubMed - NCBI
1 selected item: 26792745
J Virol. 2016 Jan 20;90(7):3650-60. doi: 10.1128/JVI.02673-15.
Ray G1, Schmitt PT1, Schmitt AP2.
Department of Veterinary and Biomedical Sciences, The Pennsylvania State University, University Park, Pennsylvania, USA Center for Molecular Immunology and Infectious Disease, The Pennsylvania State University, University Park, Pennsylvania, USA aps13@psu.edu.
Paramyxoviruses are responsible for a wide range of diseases that affect both humans and animals. Paramyxovirus pathogens include measles virus, mumps virus, human respiratory syncytial virus, and the zoonotic paramyxoviruses Nipah virus and Hendra virus. Infectivity of paramyxovirus particles depends on matrix-nucleocapsid protein interactions which enable efficient packaging of encapsidated viral RNA genomes into budding virions. In this study, we have defined regions near the C-terminal ends of paramyxovirus nucleocapsid proteins that are important for matrix protein interaction and that are sufficient to direct a foreign protein into budding particles. These results advance our basic understanding of paramyxovirus genome packaging interactions and also have implications for the potential use of virus-like particles as protein delivery tools.
26792745
PMC4794684
A total of 15 C-terminal residues of PIV5 NP protein are sufficient to trigger VLP production and to direct a foreign protein into budding particles. (A) (Top panel) C-terminal amino acid sequences of three paramyxovirus NP/N proteins. The DLD sequence critical for virus assembly functions of PIV5 NP protein is highlighted in bold. (Middle panel) Schematic illustration of Renilla luciferase, appended with residues derived from a paramyxovirus NP protein, being packaged into budding VLPs using the same interactions that would normally direct the packaging of vRNPs into virions. (Bottom panel) Illustration of Renilla luciferase proteins appended with residues derived from PIV5 NP protein. In the cases of RLuc-NP15 and RLuc-NP15Δ4, the NP-derived amino acid sequences are shown in full. (B) 293T cells were transfected to produce PIV5 M and HN proteins together with the indicated luciferase-NP fusions. Viral proteins from cell lysates and from sucrose gradient-purified VLPs were detected by immunoblotting. (C) Relative levels of efficiency of VLP production were calculated as the amount of M protein detected in VLPs divided by the amount of M protein detected in cell lysates, normalized to the value obtained with NP protein. Error bars indicate standard deviations (n = 3). **, P < 0.005. (D) 293T cells were transfected to produce PIV5 M and HN proteins together with either unmodified luciferase or RLuc-NP30. Cells were metabolically labeled with 35S, and sucrose-gradient purified VLPs were loaded directly onto SDS gels. VLP-derived proteins were detected using a phosphorimager. (E) VLPs were generated and purified as described for . Enzymatically active luciferase contained within VLP and cell lysate fractions was measured using a luminometer. Values were calculated as luciferase activity of VLPs divided by luciferase activity of cell lysate, normalized to the value obtained with RLuc-NP30 (n = 2). (F) 293T cells were transfected to produce PIV5 M and HN proteins together with the indicated RLuc-NP fusions. Viral proteins from cell lysates and from sucrose gradient-purified VLPs were detected by immunoblotting.
J Virol. 2016 Apr 1;90(7):3650-3660.
DLD and DWD sequences define compatibilities between PIV5 and mumps virus M/NP protein pairs. (A) 293T cells were transfected to produce mumps virus M and F proteins together with the indicated NP proteins for mumps VLP production. Viral proteins from cell lysates and from sucrose gradient-purified VLPs were detected by immunoblotting. (B) Relative levels of efficiency of VLP production calculated as described for . Error bars indicate standard deviations (n = 3). (C) Schematic illustrating chimeric NP proteins. Substitutions shown in bold progressively convert the C-terminal end of PIV5 NP to match the sequence of mumps virus NP. (D) 293T cells were transfected to produce mumps virus M and F proteins together with the indicated NP protein chimeras for mumps VLP production. Viral proteins from cell lysates and from sucrose gradient-purified VLPs were detected by immunoblotting. (E) Relative levels of efficiency of VLP production calculated as described for . Error bars indicate standard deviations (n = 3).
PIV5 NP L507W protein retains its compatibilities with PIV5 and Nipah virus M proteins. (A) The indicated pairs of M and NP proteins were expressed in 293T cells, and detergent-free lysates were fractionated on sucrose flotation gradients. Viral proteins were visualized by immunoblotting. (B) The fraction of membrane-associated NP was calculated as the amount of NP in the top two fractions divided by the total NP protein signal in all four fractions. Error bars indicate standard deviations (n = 3). (C) 293T cells were transfected to produce PIV5 M and HN proteins together with either PIV5 NP or PIV5 NP L507W. Viral proteins from cell lysates and from sucrose gradient-purified VLPs were detected by immunoblotting. (D) Relative levels of efficiency of VLP production calculated as described for . Error bars indicate standard deviations (n = 3). (E) 293T cells were transfected to produce Nipah virus M protein together with either PIV5 NP or PIV5 NP L507W. Viral proteins from cell lysates and from sucrose gradient-purified VLPs were detected by immunoblotting.
The DWD-containing C-terminal region of mumps virus NP protein is important for its VLP production function. (A) Schematic illustrating mutations made to mumps virus NP protein. (B) 293T cells were transfected to produce mumps virus M and F proteins together with the indicated NP protein mutants for VLP production. Viral proteins from cell lysates and from sucrose gradient-purified VLPs were detected by immunoblotting. (C) Relative levels of efficiency of VLP production calculated as described for . Error bars indicate standard deviations (n = 3). (D) The indicated pairs of M and NP proteins were expressed in 293T cells, and detergent-free lysates were fractionated on sucrose flotation gradients. Viral proteins were visualized by immunoblotting. (E) The fraction of membrane-associated NP was calculated as the amount of NP in the top two fractions divided by the total NP protein signal in all four fractions. Error bars indicate standard deviations (n = 3).

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