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Orange Cooking Tips CookBook on Delicious Orange Recipes - Probably no citrus fruit is used so extensively as oranges... by CookBook101 | NOOK Book (eBook) | Barnes & Noble® Books by Author Books by Series Collectible Editions Coming Soon by Date Coming Soon by Subject New Releases NY Times Bestsellers Signed Books Top Books of the Month
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One Punch Man Logo Fcg Black White Red Chrome One Punch Man 5 Web Belt - Free Shipping On Orders Over $45 - Overstock - 23536137
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NVP to invest $200 mn more in India | india | Hindustan Times
NVP to invest $200 mn more in India
Updated: Jan 19, 2007 19:03 IST	Prerna K Mishra None
An emerging trend and culture of innovation in the country has encouraged cash carriers like global private equity firm Norwest Venture Partners (NVP) to up their stakes in the Indian business landscape.
The Silicon Valley-based firm that manages $2.5 billion in venture capital plans to hire two partners in India and increase its exposure in the country by another $200 million in the next two to three years. The VC's current exposure in India, which includes businesses focused on India and 22 cross-border ventures, is about $300 million.
"We have been successful in closing five India-specific deals even without having a direct presence in the country. With the two partners in India, we expect to close at least 20 deals in the next 2-3 years. The average size of the deals is expected to be between $12 million and $15 million," Norwest Venture Partner Managing Partner Promod Haque told the Hindustan Times.
Haque, considered among the top five in venture capital, is an alumnus of the Delhi College of Engineering.
This week, an NVP-led investment group invested $20 million in Adventity, a knowledge process outsourcing company based in Mumbai with 2,000 employees globally. This is an addition to existing investments in Sulekha.com, Persistent Systems and Yatra in India.
In fact, the conducive investment climate and the changes in the business landscape has made VCs discover the opportunity in mid-sized companies with sizeable revenues in place.
"So far we were concentrating on hybrid investments where the company was incorporated in the US and the product development happened in India as that gave the venture the strength of having a market to validate and shoot holes in the product. But, with competition from foreign companies hotting up, there is enough pressure on Indian companies to be early adopters of technology.
That is good news for Indian product companies and will also encourage venture capital flow on the product side," Haque said.
And it is not just technology companies, Haque's firm is now looking at the entire spectrum of investments - beginning form providing seed capital for new ideas right up to providing growth capital to mid-sized companies. In fact, that will bring it quite close to playing in the lower end of the private equity market.
Also there are no hard and fast rules on technology being the safest bet anymore. "Even though we have been focused on the technology space for the past seven years, we would be open to funding later stage expansion plans of ventures operating in any other 'game changing' spaces. In fact, before the tech focus, we had been funding ventures in areas as varied as healthcare, daycare centres, waste management, media, entertainment, restaurants etc" he added.
For four years now, the company that raised a $650 million fund last year and will float a new one in 2009, has opted for exits through acquisitions.
But things seem to be changing there too with NVP expecting major exits for its investments through initial public offers (IPOs).
"Indian bourses are very healthy and we would encourage our clients to list on the domestic markets when it's the right time. Incidentally, the listing here looks even more favourable when seen in the light of the compliance costs that companies trying to list on the US bourses have to face under Sarbanes Oxley's Act," Haque said.

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Patent US7174474 - Distributed autonomous control system for multi-axis motion control - Google PatentsSearch Images Maps Play YouTube News Gmail Drive More »Sign in<nobr>Advanced Patent Search</nobr>PatentsA distributed multi-axis motion control system comprises a multicast communications network having several node components. Each of the node components includes a clock and an actuator. The actuators are part of a motor system and a pattern profile table of the motor system is generated. The pattern...http://www.google.com/patents/US7174474?utm_source=gb-gplus-sharePatent US7174474 - Distributed autonomous control system for multi-axis motion controlAdvanced Patent SearchPublication numberUS7174474 B1Publication typeGrantApplication numberUS 11/248,855Publication dateFeb 6, 2007Filing dateOct 12, 2005Priority dateOct 12, 2005Fee statusPaidPublication number11248855, 248855, US 7174474 B1, US 7174474B1, US-B1-7174474, US7174474 B1, US7174474B1InventorsMoon Leong LowOriginal AssigneeAvago Technologies Ecbu Ip (Singapore) Pte. Ltd.Export CitationBiBTeX, EndNote, RefManPatent Citations (17), Referenced by (5), Classifications (20), Legal Events (6) External Links: USPTO, USPTO Assignment, EspacenetDistributed autonomous control system for multi-axis motion controlUS 7174474 B1Abstract A distributed multi-axis motion control system comprises a multicast communications network having several node components. Each of the node components includes a clock and an actuator. The actuators are part of a motor system and a pattern profile table of the motor system is generated. The pattern profile table is translated into a separate single-direction-of-motion pattern table to separately direct the motion of each of the actuators of the node components. A grandmaster clock generates synchronization signals which are transmitted through the network at a sync interval and which synchronize the clocks. Time-bombs are generated at an interval which is a whole number multiple of the sync interval. The time-bombs cause concurrent execution of the first and subsequent steps from the single-direction-of-motion pattern tables to produce synchronized multi-axis motion of the motor system.
1. A method for distributed multi-axis motion control comprising the steps of:
generating a pattern table of a motor system comprising a first node component and a second node component of a multicast communications network, the first node component comprising a first clock and a first actuator and the second node component comprising a second clock and a second actuator;
translating the pattern table into first and second single-direction-of-motion pattern tables each controlling a separate actuator direction of motion in the motor system;
transmitting the first single-direction-of-motion pattern table over the network to the first node component and the second single-direction-of-motion pattern table over the network to the second node component;
synchronizing the first and second clocks with synchronization signals transmitted through the network at a sync interval;
generating time bombs at an interval which is a whole number multiple of the sync interval;
concurrently executing the first step in the sequence of motions defined in the first and second single-direction-of-motion pattern tables for each of the actuators in response to a time-bomb to begin motion of the actuators to produce multi-axis motion of the motor system; and
continuing execution of subsequent steps in the sequence of motions defined in the first and second single-direction-of-motion pattern tables in response to subsequent time-bombs to produce synchronized multi-axis motion of the motor system.
2. The method of claim 1, wherein the multicast communications network further comprises additional node components each having an additional actuator and an additional clock;
translating the pattern table into additional single-direction-of-motion pattern tables each controlling a separate one of the additional actuators;
transmitting the additional single-direction-of-motion pattern tables over the network to corresponding ones of the additional node components;
synchronizing the additional clocks with the synchronization signals;
concurrently executing the first step in the sequence of motions defined in the first, second and additional single-direction-of-motion pattern tables for each of the actuators in response to a time-bomb to begin motion of the actuators to produce multi-axis motion of the motor system; and
continuing execution of subsequent steps in the sequence of motions defined in the first, second and additional single-direction-of-motion pattern tables in response to subsequent time-bombs to produce synchronized multi-axis motion of the motor system.
3. The method of claim 1, wherein the multicast communications network is Ethernet.
4. The method of claim 1, further comprising the step of synchronizing the clocks using the IEEE 1588 standard.
5. The method of claim 1, further comprising the step of generating an I/O from the second node component causing the second node component to stop considering further inputs and suspending further outputs.
6. The method of claim 1, further comprising the step of generating an I/O from the second node component causing the first node component to stop considering further inputs and suspending further outputs.
7. A distributed multi-axis motion control system comprising:
a multicast communications network having:
a first node component comprising a first clock and a first actuator and
a second node component comprising a second clock and a second actuator;
a motor system comprising the first node component and the second node component;
a pattern profile table of the motor system;
a first single-direction-of-motion pattern profile table translated from the pattern profile table, the first single-direction-of-motion pattern table transmitted over the network to the first node component for controlling the first actuator;
a second single-direction-of-motion pattern profile table translated from the pattern table, the second single-direction-of-motion pattern table transmitted over the network to the second node component for controlling the second actuator;
a grandmaster clock generating synchronization signals transmitted through the network at a sync interval for synchronizing the first and second clocks;
a processor for generating time-bombs at an interval which is a whole number multiple of the sync interval;
a time-bomb, from the generated time-bombs, received by the first and second node components and causing concurrent execution of the first step in the sequence of motions defined in the first and second single-direction-of-motion pattern tables for each of the actuators to begin motion of the actuators to produce multi-axis motion of the motor system; and
subsequent time-bombs, from the generated time-bombs, received by the first and second node components and causing continuing execution of subsequent steps in the sequence of motions defined in the first and second single-direction-of-motion pattern tables to produce synchronized multi-axis motion of the motor system.
additional node components each having an additional actuator and an additional clock, each additional clock also synchronized by the synchronization signals generated by the grandmaster clock, and wherein the pattern profile table also includes the additional node components;
additional single-direction-of-motion pattern profile tables translated from the pattern profile table, the additional single-direction-of-motion pattern profile tables transmitted over the network to the additional node components and each controlling a separate one of the additional actuators;
the time-bomb, from the generated time-bombs, is also received by the additional node components, causing concurrent execution of the first step in the sequence of motions defined in the first, second and additional single-direction-of-motion pattern tables for each of the actuators to begin motion of the actuators to produce multi-axis motion of the motor system; and
the subsequent time-bombs, from the generated time-bombs, are also received by the additional node components and causing continuing execution of subsequent steps in the sequence of motions defined in the first, second and additional single-direction-of-motion pattern tables to produce synchronized multi-axis motion of the motor system.
9. The system of claim 7, wherein the multicast communications network is Ethernet.
10. The system of claim 7, wherein the clocks are synchronized using the IEEE 1588 standard.
11. The system of claim 7, further comprising an I/O generated from the second node component causing the second node component to stop considering further inputs and suspending further outputs.
12. The system of claim 7, further comprising an I/O generated from the second node component causing the first node component to stop considering further inputs and suspending further outputs.
13. The system of claim 7, further comprising sub-time-bombs for I/O control information distribution through the network, thereby giving early IO control information to the node components for consideration in their operation at the time of a next following time-bomb.
FIELD OF THE INVENTION The invention relates to the field of motion control systems.
BACKGROUND OF THE INVENTION Distributed measurement and control systems are often very complex involving multiple sensors and actuators (actuators convert electrical energy into mechanical motion) interacting with the system. A multistand printing press provides an example of such a system with multiple sensors and actuators. There are numerous motors, sensors, and controllers involved in adjusting the rotational speeds of the rollers for proper functioning of the press. The timing of such a system is critical to successful operation. Events or operations in each of the components must be time coordinated to achieve the desired synchronized motion for successful operation.
Similar timing requirements can be found in manufacturing systems, process control, robotics, and other industrial applications, such as paper converting and high-speed packaging machines.
Pure measurement applications often have precise timing requirements to enable successful correlation of the data. When there are many sensors involved, such as large-scale arrays for particle detection, vibration studies, and fault detection in telecommunications or power systems, timing requirements can be quite difficult to meet.
System architectures for meeting timing requirements may be divided into three categories: message based, cycle based and time based.
For message-based systems, timing is based on the time of receipt of a command or data message. FIG. 1 illustrates a typical prior-art measurement system with a central controller managing several sensors. For message-based systems, timing is based on the time of receipt
In many industrial applications, the direct communication to the sensors is managed by a programmable logic controller (PLC), with the resulting data communicated to a supervisory controller or an operator workstation. In machine control applications, such as robotics, packaging, etc., the sensors are often tied directly into the system controller without an intervening PLC. Similarly, in laboratory environments, communication is directed to the host processor, which typically is a personal computer (PC) running some sort of real-time operating system.
Returning to the specific prior-art example of FIG. 1, two sensors are shown communicating to a PLC via a bus, such as one of the controlled-area network (CAN) based buses and two other sensors are directly wired into the PLC, one directly to an input-output (I/O) module and the other via a serial link. In a laboratory or data acquisition configuration, sensor data communication is often directed to the PC with no intervening PLC. This is typically via a direct link, such as RS-232 or a bus such as IEEE-488.
In message-based systems, the controller typically polls each of the sensors by sending a command or message to the sensor. In a polled system, sensor timing is based on the time of receipt of this message from the controller. Thus, the temporal properties of the program executing in the PLC or PC, the communication latency in the I/O links to the sensor, and any latency in the sensor itself establish the time of sensing.
Message-based systems work very well when the required timing accuracy is not extreme, the timing schedule is simple, and intersample intervals are easy to meet given other application requirements. Timing accuracy is limited by fluctuations in the communication link, the operating system, the sensor, and the accuracy to which the latency can be measured. Such systems limit flexibility because closely spaced measurements are either difficult or impossible, depending on the characteristics of the computing environment, communication links, and the particular application. Simultaneous sensing is impossible in a pure message-based polling system unless some sort of global execution trigger is provided, for example, the group trigger function of IEEE-488.
For cycle-based systems, sensor and actuator timings are based on a periodic schedule typically established either as part of the communication link or the architecture of the controller application. For example, FIG. 2 illustrates a measurement system with a central controller managing several sensors and using a cyclic bus such as ControlNet or IEEE-1394.
Motion control applications often use cyclic control based on the serial real-time control system (SERCOS) bus, as illustrated in FIG. 3. In this case, the PLC communicates update values to the servo-drives via the SERCOS bus.
Cyclic systems are not a good match for applications in which the sampling intervals must be changed during operation in a way not commensurate with the original interval. Once established, the cycles can be very repeatable and accurate, but the process of changing cycle period and definition during normal operation is not trivial. Also, the amount of data sent during the interval is limited by the duration of the interval. And most cyclic networks like SERCOS support only the grandmaster-slave type of communication, while many modem control applications require support of peer-to-peer communication.
For time-based systems, sensor sampling, actuator timing, and initiation of critical control code are based on triggering the specified actions referenced to the time of a real-time clock rather than on message receipt, interrupts, or as a consequence of the speed of execution of control code. The highest accuracy is achieved if the real-time clock is local to the device implementing a specific trigger (FIG. 4).
Weak coupling between system timing and message generation/delivery in time-based systems provides system designers additional freedom in meeting system requirements. The general computing environment based on a common sense of time established using the network time protocol (NTP) exploits this weak coupling. NTP targets large distributed computing systems with millisecond synchronization requirements. The protocol proposed in this standard specifically addresses the needs of measurement and control systems: spatially localized, microsecond to submicrosecond accuracy, administration free, and accessible for both high-end devices and low-cost, low-end devices.
Correct operation of such a system depends on the real-time clocks being synchronized to their peers with sufficient accuracy to meet the application requirements. In this system, the timing accuracy of the various events in the system is a function of the accuracy to which the local real-time clocks are synchronized, as opposed to the determinism of the communication links and application program execution as in the other timing methods. Application program execution in the controller and communication latency is still an issue but only insofar as the specification of the event or the time-stamped data arrives before it is needed. That is, arrival time must precede the actual time of execution. This is a much looser requirement than requiring that the arrival time be coincident with the time of execution.
In a distributed system, the local clocks may be synchronized via a protocol, such as IEEE 1588.
IEEE 1588 specifies a protocol for synchronizing real-time clocks in networked systems of distributed components characterized by: relatively compact systems of perhaps a few subnets; minimal use of network bandwidth, node computing, and memory resources devoted to clock synchronization; low administration overhead; and low-end and low-cost devices.
The protocol uses networks supporting multicast communications including but not limited to Ethernet. Because of the increased use of Ethernet in measurement and control environments, Annex D of IEEE 1588 specifies the mapping to User Datagram Protocol/Internet Protocol (UDP/IP) on Ethernet.
FIG. 5 illustrates typical components and topology for an Ethernet-based distributed system. Each leaf or node component, such as a sensor, actuator, or controller, includes a clock synchronized through the IEEE 1588 protocol. Attached to a router are subnets A and B. Each of the subnets consists of a switch or repeater connected to several of the clocks. The router also includes a boundary clock defined in the IEEE 1588 specification.
The protocol defines a grandmaster-slave hierarchy of synchronization. The protocol will automatically select one clock in each subnet to be the subnet grandmaster, and one clock in the system to be the system grandmaster, termed the grandmaster. Selection is based on properties of each clock, such as stability and accuracy on the topology of the network.
In motion control systems it is also well known to determine patterns of the motions of motor systems using graphic software. The patterns are then used for controlling the motor systems. However, such patterns have not been effectively applied to distributed time synchronized systems.
It would be desirable to use pattern s with distributed autonomous control systems for multi-axis motion control.
SUMMARY OF THE INVENTION The present invention applies patterns tables to distributed autonomous control systems for multi-axis motion control.
More particularly, an embodiment of the present invention provides a distributed multi-axis motion control system comprises a multicast communications network having several node components. Each of the node components includes a clock and an actuator. The actuators are part of a motor system and a pattern profile table of the motor system is generated. The pattern profile table is translated into a separate single-direction-of-motion pattern table to separately direct the motion of each of the actuators of the node components. A grandmaster clock generates synchronization signals which are transmitted through the network at a sync interval and which synchronize the clocks. Time-bombs are generated at an interval which is a whole number multiple of the sync interval. The time-bombs cause concurrent execution of the first and subsequent steps from the single-direction-of-motion pattern tables to produce synchronized multi-axis motion of the motor system.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 illustrates a prior-art measurement system with a central controller managing several sensors.
FIG. 2 illustrates another prior-art measurement system with a central controller managing several sensors and using a cyclic bus such as ControlNet or IEEE-1394.
FIG. 3 illustrates a prior-art cyclic control system based on the serial real-time control system (SERCOS) bus.
FIG. 4 illustrates a time-based control system of the prior art.
FIG. 5 illustrates typical components and topology for a prior-art Ethernet-based distributed system.
FIG. 6 shows an one embodiment of the autonomous control system for multi-axis motion control of the present invention.
FIG. 7 shows a more detailed view of a node component.
DETAILED DESCRIPTION The present invention provides a distributed autonomous control system for multi-axis motion control by distributing pattern profile tables to node components having clocks synchronized using a method, such as the IEEE 1588 protocol, for achieving a common sense of time for the network.
FIG. 6 shows an exemplary autonomous control system for multi-axis motion control 600 of the present invention. Multiple node or leaf components 601 are connected to a host processor 603 through an Ethernet switch 605. The node components 601 control the various axes of motion of various motors of a motor system and can include sensors for reporting back position information to the host processor 603. The node components 601 can be controlled remotely by a device, such as a mobile telephone 607 wirelessly communicating with the processor 603.
The node components 601 include a clocks synchronized through the IEEE 1588 protocol, as known in the art, and the clocks can be arranged as in the multi-subnet system of FIG. 5.
FIG. 7 shows a node component 701 which is a more detailed view of any one of the node components 601. The node component 701 includes an actuator 715 for moving the load in a servomotor along an axis, a sensor 713 for determining the position of the load, and a driver 711 for the sensor 713 and actuator 715.
The node component 701 is controlled by a Distributed Autonomous Control System (DACS) 703 including a front-end communication chip 705 for handling all communication between the separate node components and between the node component and the host processor 603. The chip 705 also includes a IEEE 1588 synchronized clock which can be one of the IEEE 1588 clocks indicated in FIG. 7.
A IEEE 1588 grandmaster clock generates synchronization signals transmitted through the network at a sync interval. These signals synchronize the clocks in the node components 601.
The node component 701 also includes a motor controller board 707 which can control any type of motor and a process I/O board 709 which performs digital and analog I/O interfacing with the sensor 713 and actuator 715.
The invention is now described with respect to three different cases:
Case 1: Motor Systems
First, the host processor 603 creates a pattern for the motor system using a graphic software for analyzing 3-D motion, as is known in the art. In the present example, it is assumed that in FIG. 6 the node components 601 include a node component 601 a for causing and sensing X-axis motion, a node component 601 b for causing and sensing Y-axis motion, and a node component 601 c for causing and sensing Z-axis motion. The pattern is then converted to a numerical format pattern profile table as shown in TABLE 1. It should be noted that in other embodiments different axes can be used by the software and the node components can cause and sense motion along other coordinate systems such as cylindrical or spherical coordinate systems and the following examples would be modified appropriately.
3-D Pattern Profile Table
The pattern of TABLE 1 is then pre-processed and translated by a Pattern Profiler of each node axis into separate pre-processed pattern tables for the X-axis (see TABLE 2a), Y-axis (see TABLE 2b) and Z-axis (see TABLE 2c). These tables can also be called �single-direction-of-motion pattern profile tables� because each one represents the motion to be created by a single actuator. The values in the XYZ columns represent displacement in normalized units and can be scaled as needed to change the size of the pattern proportionately.
The pre-processed pattern tables TABLE 2a, TABLE 2b, and TABLE 2c are then transmitted from the host processor 603 to the process I/O boards 709 of the corresponding node components 601 a, 601 b and 601 c, respectively. The process I/O boards 709 further interpret the TABLES 2a, 2b,2c into the post processed TABLES 3a, 3b and 3c which contain the actual commands to the motor controller boards 707. The TABLES 3a, 3b and 3c provide exemplary values in the form of actual command values for position, velocity and acceleration.
Included in the Tables 3a, 3b, 3c is a relative start time �0�. Once all the tables are set, a time-bomb (TB) is sent to the node components 601 to begin the actuator motions. A time-bomb produces an internal or external effect at a high-precision time. The first step of the sequences for the X, Y and Z axis motion are performed simultaneously at the same absolute time in response to the time-bomb because the clocks of the front-end communication chips 705 of the node components 601 are all synchronized in the IEEE 1588 system.
The time-bombs are whole number multiples of the IEEE 1588 time sync resolution or sync interval. So if the time sync resolution is 25 nanoseconds, then the time-bombs occur every 25�N nanoseconds, where N is an integer. If N is 300 in a particular system, then the time-bombs will occur every 7.5 microseconds.
At the start time, �0�, sequence 1 is triggered and the three axes operate simultaneously as follows:
the X axis sends: 1, 50, 4;
the Y axis sends: 5, 0.4, 2; and
the Z axis sends 1, 0.6, 9.
Next, at time �T1�, the IEEE 1588 chip again bombs the pattern r and the three axes simultaneously send the sequence 2:
the X axis sends: 3, 10, 1;
the Y axis sends: 6, 10, 7; and
the Z axis sends 3, 5, 10.
The sequence continues until sequence 5, the end of the sequence. The entire sequence can then be repeated if the IEEE 1588 chip repeats the entire time-bombing sequence.
Case 2: Motor Systems and Process O/O's Within a Node Component
The motion control between nodes uses I/O points, in addition to the motor control, to allow for such interruptions as emergencies or essential control information. An emergency, for example, can be when an actuator reaches the limit of it's motion. TABLES 4a and 4b provide an example of an extension of TABLE 1 to include I/O's generated by the node components 601 and sent to the controller of the particular node component 601 that generates the output.
3.45�3.6
K axis
2 U
In the tables the symbols are defined as follows: Z (float output or input), X (�don't care� and it can be a high or low signal), U (unchanged from previous output), S (suspend operation) and N (no time-bomb). TABLES 4a, 4b are processed and translated by a Pattern r of each node axis into separate pre-processed pattern tables for the X-axis, Y-axis and Z-axis similar to TABLE 1 above. This structure intertwines motion and I/O to form coherent performance. Motion is dependent both on I/O's (digital and/or analog) and time-bombing conditions. It is possible to have a range as the input for the analog inputs, thereby allowing for built in tolerances.
The I/O's can come from within the node or from other nodes. The sequence OUTPUTS are executed only when the INPUT conditions are met. Otherwise the system waits until the INPUT condition is met. If the INPUT conditions are not met, then there is a timeout which is an emergency situation and all the other nodes will be informed.
By default, an emergency sequence is applied to each node that indicates an �EMERGENCY� condition whereby further inputs are not considered and all outputs are suspended. In TABLE 4b the �emergency� suspension of outputs is represented by �S�.
In the above tables, the time-bombs occur in relative time, except for the first time bomb which occurs at an absolute time. The reference for the relative times is dynamic and is triggered to start from the completion of the previous sequence. When the value of the time-bomb is �N� (i.e. no time-bomb), as it is at the 4th sequence in TABLE 4a, the input conditions are solely dependent on analogue and digital events.
Case 3: Motor Systems and Process I/O's Between Node Components
I/O's generated by any of the node components 601 can also be broadcast to other node components 601 through the network connections. In this case, each of the nodes will have similar tables and Inputs to those of TABLES 4a, 4b, except that the INPUTS of each table can come from other node components 601. Also, the OUTPUTS of tables can be INPUTS to another table of another node component 601. Thus, the system can be expanded to be a very complex web allowing a huge variety of possible actions.
The use of the network for distributing IO information is augmented by the fact that IEEE 1588 has very high and stable resolution which is many orders lower than the actual timing requirements of the physical system as dictated by the TB duration. Hence, the IO information distribution through the net could be at a much faster rate by the use of sub�TB (i.e., sub�TimeBombs or a fraction of a TB). This means that information transfer time from node to node is much faster than the physical activity time, which is exactly what real-time systems require.
The system of the present invention is therefore a complex web of interconnected time-bombs, analogue inputs and digital inputs crisscrossing multiple node components 601.
There are many advantages to this invention:
1. All motion axes can be synchronized by time, analogue events and digital events in a large variety of combinations.
2. Gear and cam trains no longer need to be used for timing purposes.
3. Less wiring is required.
4. There is no need for any kind of bus other than the Ethernet.
5. The time-bombs provide precise timing for the distributed control.
6. The sub-timebombs provide early IO control information via the network.
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Tommy Hilfiger Wool Blend Jumpers & Cardigans for Men | eBay
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SPARKLER for Maelstrom Book2 of Rifters Trilogy_by_Peter Watts
Welcome to Scribd, the world's digital library. Read, publish, and share books and documents. See more ➡DownloadStandard viewFull view of .Add noteSave to My LibrarySync to mobileLook up keyword or sectionLike thisShare on social networks2Activity×There was a problem sending you an sms. Check your phone number or try again later.To get Scribd mobile enter your number and we'll send you a link to the Scribd app for iPhone & Android.We've sent a link to the Scribd app. If you didn't receive it, try again.Text meWe'll never share your phone number.iTunes App Store | Google Play Store×Share to your social networks.TweetEmbedTable Of ContentsPRELUDE: MESSIAHVOLVOXMERMAIDFABLES OF THE RECONSTRUCTIONDEATHBED94 MEGABYTES: BREEDERCASCADEBACKFLASHMAPS AND LEGENDSCORPSEBANGSTICKMANAN INVITATION TO DANCEPIXELPALTHIRD-PERSON LIMITEDREMORAFIREBUGAFTERBURNSTOCKPILEICARUSJAILBREAKTHE NEXT BEST THINGBEACHHEADDRUGSTORESOURCE CODEGROUNDSWELL128 MEGABYTES: HITCHHIKERANIMAL CONTROLGHOSTBLIPWOMBECLIPSEMONSTERWARHORSEPHYSALIAZEUSJIMINY CRICKETFOOTPRINTSAN ARCHETYPE OF DISLOCATION400 MEGABYTES: PUNCTUATED EQUILIBRIUMMICROSTARMATCHMAKERHEAT DEATHBLIND DATENECROSISSNARECOMPLICITYVISION QUESTTHE ALGEBRA OF GUILTSTARFUCKERMASKSCALPELBY A THOUSAND CUTS500 MEGABYTES: THE GENERALSSPARKLERDECOYSCRUCIFIXION, WITH SPIDERSANTHOPLEURAMUG SHOTANEMONEBEHIND THE LINESSPARTACUSTURSIPOPSTERRARIUMSOUL MATEAWOLSCHEHEREZADEADAPTIVE SHATTERA NICHEEPILOG: SLEEPING BY FIRELIGHTAcknowledgementsNotes and ReferencesCreative Commons Licensing Information0 of .Results for: No results containing your search query{{& result_text }}
P. 1Maelstrom Book2 of Rifters Trilogy_by_Peter WattsMaelstrom Book2 of Rifters Trilogy_by_Peter WattsRatings: 4.0 (1)|Views: 2,569|Likes: 0Published by A RoyMore info:Published by: A Roy on Sep 01, 2008Copyright:Attribution Non-commercialAvailability:Read on Scribd mobile: iPhone, iPad and Android.download as PDF, TXT or read online from ScribdFlag for inappropriate content|Add to collectionSee MoreSee lesshttp://www.scribd.com/doc/5376501/Maelstrom-Book2-of-Rifters-TrilogybyPeter-Watts10/15/2011pdftextoriginal Originally published by Tor BooksOctober 2001ISBN: 0312878060www.rifters.comSome Right ReservedFor least wasteful (and most aesthetic) hardcopy results, ensureyour printer is set to 2 pages/sheet
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Amazon.com: The Little Book of Being: Practices and Guidance for Uncovering Your Natural Awareness (9781683642176): Diana Winston: Books
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The Little Book of Being: Practices and Guidance for Uncovering Your Natural Awareness Paperback – March 5, 2019
Diana Winston (Author)
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A practical guide to experiencing natural awareness―an effortless and spacious state of resting in the depth or our being.
Known and revered in many traditions as a complement to focused mindfulness training, natural awareness transcends even these wondrous childhood moments. Some describe it as a profound "awareness of awareness"―an effortless, boundless state of resting in the depth of our being.
For those new to meditation and experienced meditators alike, these 72 "mini-chapters" guide you on an in-depth odyssey into natural awareness, illuminated by many simple and enjoyable insights and exercises. The Little Book of Being invites you to explore: The spectrum of awareness practices, from focused mindfulness to flexible mindfulness to natural awareness
• How classical mindfulness and effortless natural awareness enrich and shape each other, and how to practice both
• Three ways to move into natural awareness―relaxing effort, broadening awareness, and dropping objects
• A treasury of "glimpse practices" to spark natural awareness anytime, in just a few moments
• How to bring this way of "simply being" into your daily life, into your connection with others, and into the world
"At first natural awareness may seem far away, just a whisper, but then it will begin to grow and expand and permeate aspects of living. Over time we may feel more peace, more connection to ourselves. We may find ourselves taking life a bit more lightly. We may feel a sense of relaxed ‘beingness’ throughout the day, and when we do get caught in our dramas, we may find ourselves moving out of them quicker than we imagined we could." ―Diana Winston
This item:The Little Book of Being: Practices and Guidance for Uncovering Your Natural Awareness by Diana Winston Paperback $11.56
Fully Present: The Science, Art, and Practice of Mindfulness by Susan L. Smalley Paperback $14.40
Bodyfulness: Somatic Practices for Presence, Empowerment, and Waking Up in This Life
The World Could Be Otherwise: Imagination and the Bodhisattva Path
The Way of Effortless Mindfulness: A Revolutionary Guide for Living an Awakened Life
“Winston’s concise, easy-to-follow examples of how to cultivate a more self-compassionate meditation practice will appeal to meditators of all levels.” ―Publishers Weekly
“A slim and simple guide to slowing down, savoring the simple, and indulging in a little mindfulness...perfect for both new and seasoned practitioners of meditation.” ―Bustle
“Winston shows how to adopt...simple practices that allow one to gradually move from a more effortful approach to mindfulness to one that doesn’t consume so much energy, that has faith and conviction that we’re already aware and don’t need to be fixed.” ―Mindful
“The Little Book of Being offers new and experienced meditators reliable guidance on the practice of natural awareness, as well as classical mindfulness. Helpful, accessible, and humorous, it makes meditation an inviting adventure while also setting realistic expectations.” ―Guy Armstrong, author of Emptiness: A Practical Guide for Meditators; guiding teacher, Insight Meditation Society
“Without ever becoming precious or dogmatic, Diana Winston shows how natural, or non-dual, awareness emerges within the continuum of mindfulness practice and is an antidote to the trap of excessive striving. The book is a testament to her years of experience and is a treasure trove of elegant, accessible meditations. Highly recommended for anyone who wants to free their heart and mind.” ―Christopher Germer, PhD, author of The Mindful Path to Self-Compassion; co-developer of the Mindful Self-Compassion program
“In a clear and encouraging voice, Diana Winston points out how the shift from noting what is happening to the more spacious awareness that it is happening relaxes the mind and body into a state of okay-ness, bringing natural compassion and deep well-being.” ―Sylvia Boorstein, PhD, author of Happiness Is an Inside Job
“Breaking new ground, this wise and elegant book, The Little Book of Being, is a wonderful guide to the important next stage of mindfulness practice: natural awareness. These down-to-earth essays and short glimpse practices are wisdom bites that are just the right size to enjoy a delicious taste of natural awareness whenever you like. Highly recommended!” ―Loch Kelly, MDiv, LCSW, author of Shift into Freedom
“This is a phenomenal book about mindfulness―and self-acceptance, joy, love, and the natural wisdom and goodness inside each one of us. . . . Each page is full of loving wisdom, plus practical suggestions for living with ease in harmony with oneself and others. Diana Winston combines tremendous clarity with warm-hearted friendly support. Wow, really a gem!” ―Rick Hanson, PhD, author of Buddha's Brain
“Using tools from across the Buddhist traditions, Diana Winston defines a ‘spectrum of awareness’ in language that is simple and compelling. This teaching helps us recognize, generate, and rest in various states of peace and ease. Diana’s insights and clarity provide a clear path to natural awareness. The book is highly creative and innovative, and it will be a source of wellness for many.” ―Bonnie Duran, DrPH, professor, University of Washington School of Social Work; leadership team member of the Indigenous Wellness Research Institute
“Diana Winston lives and breathes the clean, clear air of mindful awareness and brings a great deal of experience and skill to the table. The practical, accessible, and doable tools and techniques, meditational tips and pointers, and plain ol’ wisdom here have helped me discover, recognize, and recover who and what I am―and what we all genuinely are at the level of our very best selves. I believe this will certainly help you, too, release the buoyant little buddha within and live the miraculous life you want and need.” ―Lama Surya Das, author of Awakening the Buddha Within: Eight Steps to Enlightenment; founder of the Dzogchen Center and Dzogchen Retreats
“Diana Winston’s wonderful new book, The Little Book of Being, combines the authority of her long and deep practice with her engaging conversational voice―for everyone from beginners to long-time meditators.” ―Susan Kaiser Greenland, author of Mindful Games and The Mindful Child
“A rare combination of deep, clear, and accessible wisdom, The Little Book of Being is a
gem filled with fantastic reflections, practices, and teachings that will nourish new and experienced meditators alike. Written with an engaging freshness, this book reminds us of what we know, love, and regularly forget―the natural awareness that is our very essence.” ―Tara Brach, PhD, author of Radical Acceptance and True Refuge
“The Little Book of Being is a lovely, simple, wise, and helpful book. It is filled with down-to-earth practical wisdom, wonderful tools to free the heart, and a perspective of self-kindness that we all need.” ―Jack Kornfield, author of A Path with Heart
“The Little Book of Being is more than little, and more than about simply being. Diana Winston offers us a big idea about . . . a state of mind we may sometimes call presence―or a ‘natural awareness,’ in her terms―that research suggests boosts our immunity, reduces inflammation, and can even slow the aging process. Even more, her wise and accessible teachings offer us practical tools for becoming more fully aware and cultivating the clarity and tranquility that arise when the mind accesses this open, receptive state. Take in these powerful ideas and bring more well-being, equanimity, and connection into your life!” ―Daniel J. Siegel, MD, clinical professor and founding co-director, UCLA Mindful Awareness Research Center; executive director, Mindsight Institute; author of Aware: The Science and Practice of Presence
“Crafted with kindness, The Little Book of Being offers a wonderful invitation to the realm of natural awareness. Weaving clear, concise instruction with encouragement and personal anecdotes, Diana Winston leads us in the direction of a meditation practice free from judgment and striving. Through exercises that point toward short glimpses of natural awareness, we can learn to experience relief from the patterns of our habitual mind.” ―Sharon Salzberg, author of Real Happiness and Real Love
Diana WinstonDiana Winston is the director of Mindfulness Education at UCLA Semel Institute’s Mindful Awareness Research Center (MARC) and the coauthor, with Dr. Susan Smalley, of Fully Present: The Science, Art, and Practice of Mindfulness (DaCapo, 2010). She is a well-known teacher and speaker who brings mindful awareness practices to the general public to promote health and well-being. Called by the LA Times "one of the nation’s best-known teachers of mindfulness," she has taught mindfulness since 1993 in a variety of settings, including hospitals, universities, corporations, nonprofits, schools in the US and Asia, and online. She developed the evidence-based Mindful Awareness Practices (MAPS) curriculum and the Training in Mindfulness Facilitation, which trains mindfulness teachers worldwide.
Her work has been mentioned or she has been quoted in the New York Times; O, The Oprah Magazine; Newsweek; the Los Angeles Times; Allure; Women’s Health; and in a variety of magazines, books, and journals. She is also the author of Wide Awake: A Buddhist Guide for Teens (Perigee Books, 2003) and the audio program Mindful Meditations, and has published numerous articles on mindfulness. Diana is a member of the Teacher's Council at Spirit Rock Meditation Center in Northern California. She has been practicing mindfulness meditation since 1989, including a year as a Buddhist nun in Burma. Currently, Diana’s most challenging and rewarding practice involves trying to mindfully parent an eight-year-old. She lives in Los Angeles.
For more information, visit dianawinston.com and marc.ucla.edu.
Publisher: Sounds True (March 5, 2019)
ISBN-10: 1683642171
ISBN-13: 978-1683642176
Product Dimensions: 5.5 x 0.7 x 8 inches
Amazon Best Sellers Rank: #27,388 in Books (See Top 100 in Books)
#100 in Spiritualism
#342 in Meditation (Books)
#1301 in Personal Transformation Self-Help
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William H. Conn
5.0 out of 5 starsMust-Read for anyone wishing to explore or deepen a mindfulness practice
There are many books on mindfulness. I have read over 40 of them and they have been valuable guides to my personal practice. Some books resonate more than others and there are a few that I return to over and over. The Little Book of Being joins those few and reads like it was written just for me. I suspect many others will have the same experience.
The book takes the reader through a guided and personal tour from ordinary awareness through focused awareness and ultimately to natural awareness with clear explanations and simple, readily accessible practices throughout. This journey invites the reader to make the practice her own and encourages creativity. If you, like many others, don’t think you can meditate or benefit from the practice, this book is for you. If you have a strong practice and are looking for fun and creative ways to take it further, this book is for you.
The Little Book of Being joins a short list of the most useful and impactful treatments of mindfulness I have seen and is highly recommended for anyone interested in this practice.
5.0 out of 5 starsDeepen and Widen Meditation
Meditation books tend to be either shallow, riding pop culture waves mindfulness, or narrow, focusing on one particular lineage, cultural tradition and set of practices. The latter is often too much, and the former is almost always too little. However, Winston's book manages to be both accessible to beginners and relevant to those with an established practice, who have already read numerous books on meditation. This balance is reflected in the author's personal experiences with meditation, finding a middle path between pop culture spiritualism and archaic Eastern traditions.
More specifically, Winston offers a banquet of little practices, habits, and suggestions for bringing deeper awareness into ordinary life. I read an advanced copy of the book, and as I started writing this review, I realized just how much of it I've incorporated it into my daily practice, and how many of her insights have helped me.
1. The Spectrum of Awareness - pretty much, my entire practice is now built around her chart on page 32. Moving between Focused, Flexible, and Natural awareness is PRECISELY the challenge I have had throughout my life.
2. Glimpses Practices. I started using these over the summer, and many of them have become automatic. Her River Analogy for example or the "Just this" glimpse are so simple, almost child-like, yet they are profound, especially after doing them over and over. They just continue to get deeper.
3. Building a Daily Meditation Practice. Along with a book on somatic meditation by Reginald Ray, her book has become the foundation for my daily meditation. Before I read it, I'd practice intermittently but not daily, and not with the kind ease I have now.
Lastly, it's the kind of book you can dip into repeatedly to try out yet another simple practice, unlike many books which end up in the "yard sale" box within a year. I recommend it highly to anyone who'd like a bit of specific, practical advice about how to stop and notice what hell is going on.
(Full disclosure: I know Diana, and I've heard her speak at UCLA.)
Ramsey Sadi
5.0 out of 5 starsA well written book explaining Natural Awareness, Classic Meditation and every thing in between!
A well written book explaining Natural Awareness, Classic Meditation and every thing in between. I especially like the short chapters and the glimpse practices. Natural Awareness is not an easy concept to understand, Diana does a masterful job of explaining it. The review of the different Mindfulness practices put them all in perspective. I have taken a number of on-line courses and seminars from UCLA MARC and Diana is a excellent meditation teacher
Paula Hamje
5.0 out of 5 starsConcise and clear guide to understanding what's happening during and after meditation practice
This little book is so helpful - it is like discussing with a friend what meditation practice really is all about. I cherish it and will keep it on my shelf as a reference. After many, many years of practice and reading, this book sums it up for the reader in a way that is accessible and provides invaluable "aha" moments. Gratitude to the author!
5.0 out of 5 starsWonderful! Mindfulness with ease
Wonderful book and practices! Thank you, Diana Winston, for your contributions to the practice of mindfulness!
4.0 out of 5 starsWays to center yourself
Approachable ~ Gentle ~ Useful
tl;dr: Ways to center yourself that seem doable
Meditation is often approached as a luxury and a rarified experience afforded the prvilieged few. This book presents mindfulness in an accessible manner. Winston points out that everyone has natural moments of clarity, often in nature. She creates a gentle tome, with short chapters, and concise activities to help people access this feel of mindlessness in a more conscious manner. Winston's tone is approachable. The book has been framed for the frazzled, busy reader, with bolded elements, short sentences, and simple directions. In other words, all onboarding challenges have been met. This book would be a great gift for that meditation cynic amongst your circle.
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