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halfway between
Telephone: 304-291-0015
On Our Farm
3/22/2017 - This Saturday looks to be good weather and warm temperatures so let's schedule a pruning workshop for Saturday, March 25 at 11:00 AM. Once you get through the gate to the farm, make a left and park just before you get to the woods. If possible, bring a pruning shear and/or a lopper, but not necessary.
Last week we had a low temperature of 8 degrees. We were quite concerned that the fruit buds that had begun to swell might be hurt at the at temperature, but a check yesterday found no damage. I'll do more extensive looking, but for now it appears there will be a crop. Of course, we have to get through April yet.
3/10/2017 - We got about 2 inches of snow today and the weather is supposed to be very cold for Saturday. So I think it best to wait for a better time for the pruning demo.
That week of warm weather at the end of February may be our undoing for 2017. The fruit buds began to swell which takes them out of dormancy and makes them susceptible to freezing from very cold weather. We will just have to keep an eye on them for the next month or so.
Cicada damage from last summer carried over into this year's crop. From the looks of things now, I don't expect much more crop than last summer. The current forecast for an extended warm spell is troubling. Our most devastating losses have come from just such a set-up in late February. The warm temperatures cause the fruit buds to lose dormancy and start to swell. Then a week or two later we have a sharp temperature drop well below freezing which then kills the prematurely growing flower buds resulting in a complete crop loss. We'll just have to wait and see. Fortunately, these situations don't arrive often.
My presentations at the Small Farm Conference this past week went well. If anyone reading this post was in attendance or is otherwise interested in commercial blueberries, contact me, we will try to do some networking.
Several people asked me if I would put on a blueberry pruning workshop this winter. Since I have started pruning, it is time to try to put the workshop together. If you are interested, please contact me at email@example.com We will try to get it organized for a sunny, warm day before winter really sets in. Alternatively, we usually get some nice weather in March. I'm sure there will still be plenty of plants that still need pruning then.
The reason we need to sell the farm is that we are getting older and can no longer keep up with all the work necessary to provide a good picking experience. I don't think it will be possible for me to get all the pruning done before bud-break in the spring. Unpruned plants will have poorer quality fruit so our picking areas will be reduced. There are also other tasks that need to be done in the spring where we will need help. If you are interested in helping, we will trade labor for berries. Few jobs are physically hard work. We are just unable to put in the long hours any more. Just a few extra hours of help will go a long way toward keeping the farm running. Helpers will get first dibs on picking times. Pruning is the major job through March. I'll be out pruning whenever the weather is fit and can work with you to show you how. Other than real cold weather, pruning is a task I rather enjoy. At the end of March other jobs ramp up quickly.
On another note, I will be giving a talk on growing blueberries at
the Small Farms Conference at the
We were honored by having an article about our farm in the September issue of the American Fruit Grower.
In October, Debby and I took the train from
We have closed down the majority of our fields but our new
planting of
This will be your final blueberry season as we have decided to retire from blueberry farming. We have loved having the farm and appreciate your support over the past many years. The farm is for sale by Vickie Jenkins Realty so now is your chance if you'd like to take over!
The cicadas really did a number on us. In some places loss is nearly 100%. Other places are not so bad. We've spent the past several days cleaning up the damage with more to be done. As a result, picking will be spotty with some places better than others, certainly not up to our standard. This is not how we wanted to end our blueberry career, but the cicadas are beyond our control.
Based on results from the last two years, we changed our pruning strategy. We removed a large number older canes to reduce crop load in an attempt to produce larger berries. We expect a somewhat reduced crop but the berries should be larger. The weather played many tricks on us during late winter and spring. Warm weather in March brought the plants out of deep dormancy causing the fruit buds to swell too early making them vulnerable to extreme cold. We had several cold nights in April culminating in 14 degrees. We thought the blueberries were goners, but miraculously, they survived with only spotty damage. Then during full bloom, we had another cold spell with the temperature down to 32 degrees with a very light frost, when it was predicted to go down to upper 20's. Dodged a bullet again. Since then it has rained almost every day making it difficult to get much done, but so far the crop is moving nicely. With the early bloom we expect to start picking a little earlier than usual, but the dates are weather dependent.
Our blackberry crop was damaged by the cold weather but it looks like there will be some blackberries. They are in bloom now, also a little early this year.
Late April we had a heavy rain that did a lot of damage to our roads and even washed out some of the sawdust mulch in the blueberries. The damage to the sawdust was messy but not serious. The roads are a different matter. A friend has brought in some heavier equipment and we are in the process of making repairs.
On a more positive note, I have been working in the
blackberries. I am cautiously optimistic
that we will have a blackberry crop next summer because I am seeing less
obvious cane blight as I prepare them for winter. Four years ago we had a very large crop of
blackberries and a smaller one the next year.
Then cane blight took over and we had virtually no crop the last two
years. Working with Dr. Raman at WVU we
have found a new fungicide that seems to control the blight. We will still have a berry mite problem that
can harm the quality of the berries, but it appears the mites can be controlled
with lime sulfur and oil sprays, both organic materials. Our major blackberry crop is Triple Crown, a
large berry and fairly winter hardy. As
the canes are upright and very stiff, we can no longer lay them down and cover
for the winter. They are hardy down to
-10 degrees, but the last two winters we got down to -15 and -13. The first caused severe winter damage, but
the second did less damage. We would
normally expect damage only
Debby and I started this blueberry operation with the first planting in 1980, 35 years ago and have steadily increased the plantings since. This past season was particularly trying, and since we are now in our mid-70s, we feel it is time to start cutting back. Ideally we would like to find someone to take over the farm but if that does not occur in the near future, we will start reducing the size of the operation.
Some people have commented that there are a lot of blueberries still on the bushes. In some places there are still berries, but they are quite small and of poor quality
We have started to take the netting down. This task takes some time but is not urgent like when the netting is put up. We still want to get it taken down fairly quickly as it's lifetime is limited by ultraviolet exposure. The task consists of taking down the sidewalls and putting them away for the winter. The top nets are pushed back to the middle of the field and covered to protect them from sun exposure until next June. Once the nets are taken care of we can get in to mow the rows and start getting the fields cleaned up. This process will probably take about two weeks. All the while, we will be taking care of a lot of minor maintenance tasks that were neglected during the picking season.
While we had a pretty good season this year, I was frustrated that we still have not reached the full potential from our plantation. In previous years, growth, and hence production, was limited by low pH in the soil. I finally diagnosed the problem and have been adding lime to raise the pH. Last year we finally saw adequate growth. However, I still pruned the bushes based on the earlier regime. This pruning left too many canes and branches so that the bushes were overloaded with fruit. In many plants the heavily loaded branches layered down on top of one another and were very difficult to pick causing many berries to go to waste. In other cases the bushes were so overloaded that they could not bring the berries up to size. I recognized the potential berry size problem in early spring so I put on a good helping of nitrogen fertilizer and ran the irrigation all through the dry weather in May and early June. Had I not gone to these measures, we probably would have been faced with even more small berries. With all the fertilizer and water we did get good growth for next year's crop. I will have to change the way I prune this winter and remove even more canes than I did last winter. Hopefully we can get closer to the optimum trade-off between berry size and number of berries.
Blueberries U-Pick by appointment: 304-291-0015
Recipes Blueberry recipes, health and
Apples Summer apples, mid July-early August
Apples are gone for this year
Plus Pollination supplies and services for Osmia
mason bees, a safe and super-pollinating
pollen bee for spring flowering fruit
Contact Us: Debby
McConnell , Bob McConnell

subset: commoncrawl


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The following editorial originally appeared in the Portland Press Herald (Maine) on Feb. 26.
Just when you thought the useless and wasteful drug-war philosophy of the past was slowly receding in the rear view mirror, the Trump administration is pulling a U-turn.
Maybe my greying mustache and my already-greyed hair make me look more presentable to personnel with the Transportation Safety Administration at major U.S. and foreign airports. I say "maybe" because it seems I was hassled less than ever before on this go-round, a trip to Iceland.
By Beth Urech
Remember that childhood saying, "Men may work from sun to sun; women's work is never done." Let's amend that to read: "Women's work has now begun."
In the last few weeks, I have been struck by the women I'm meeting and the work they are doing. Please men, don't stop reading. You know I like men, especially my male readers, but for now let me tell you about women whose passion for social justice is making a difference in New Mexico.
Editor's note: The following editorial excerpt is from the Dallas Morning News, published March 1.
President Donald Trump's speech to Congress Tuesday was one of his better moments since his election. It marked a welcome change of tone since his inauguration just weeks ago, when he painted such a dark, insular picture of America and its role in the world.
It was a chilly October day in Las Vegas, and I had just driven into town for an interview.
I parked, and as I was walking to the imposing blue building at 614 Lincoln Avenue, the shimmering gold trees at Lincoln Park caught my eye.
By Arthur Ray Gallegos
I fail to understand why the City of Las Vegas does not thrive. We have a mild seasonal climate, a major interstate highway, Amtrak Station, two postgraduate institutions, several radio stations, golf course, major hospital/dental services, endless real-estate opportunities, an airport to accommodate small jets, diverse recreational opportunities, low crime and what I consider a kind, quaint and friendly atmosphere.
Copyright © 2017
The Las Vegas Optic is your source for local news, sports, events, and information in San Miguel County and Las Vegas, NM, and the surrounding area.


text:
Review: The Death of Robin Hood – Angus Donald
A dearth of Robin Hood
A dearth of Robin Hood
If you know your Clash, you'll know…
In touch with the ground
If you buy all these, you'll be as poor as me. But happy. Though that generally doesn't wash with the bank man. Trust me, I've tried it.
An earthy: 5 out of 5 stars My version: Paperback Historical Fiction, Medieval England. Self published 2013 Bought from The Book Depository England 1321 AD After viciously assaulting a corrupt but powerful clergyman, Robin Hood flees the only home he has ever known in Wakefield, Yorkshire. Becoming a member of a notorious band of outlaws, Hood and his new companions […]
If ever there needed to be a TV series made of books, it's these
Not a mullet in sight.


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Reloading traction...
Of course I found out after most of the inventory was gone. I am leaning towards a Hornady LNL AP at the moment for a progressive, and they were on sale for something like $385 plus shipping - usually around the $440 mark. Missed that boat. Oh well.
Anyways, I did pick up a set of dies, calipers and a couple other bits. Earlier today bought up a Lyman reloading manual, tumbler and media from Amazon. On my lunch break, I scored a new in box RCBS 505 scale for a pretty steep discount off Fleabay.
So, getting set up, minus the press. The progressive may wait and a single stage may come around for a while. Simple, less (a lot less) to break, go wrong and fiddle with. Not a bad kind of thing to have around.
Looks like it will be a weekend or two before I can get everything out and use it...several years worth of range brass pickups that need polishing. Kind of excited to get that filthy stuff cleaned up and shiny.
Note on the tumbler: Yes, I'm well aware of the shiny potential of polishing with stainless media and water. Wanted to do it the 'old fashioned' way to start out.
6 comments :
Don't worry about using the stainless media, I've been doing it the old fashioned way forever and no matter how clean or burnt looking the brass is, it still shoots the same. That's all anyone really cares about, right? I usually bring new loaders to my place and give them a lesson on the ins and outs of reloading before they go it alone. I had someone do the same for me, and then I went on by myself to learn the rest. You have my Email if you need to ask me anything, just email me and I'll give you my number. Some things people stress about are no big deal, and others are asking for trouble.ReplyDelete
- AnonymousApril 01, 2014
The stainless steel thing is silly. The old school walnut and/or corncob works just fine. I've been using a Lee Pro100 and a 3-hole for MANY years w/o any issues.ReplyDelete
- AnonymousApril 07, 2014
+1 on the Lock n Load. I've got one and really like it - I load 9mm, 45 acp, 38sp/357, and 223. May start getting into 30-06 depending...ReplyDelete
I have never acquired a progressive loader. My reloading has used an old rcbs single stage press purchased in the early 1980's to reload for my deer rifle and I have used it and some newer lee single stage presses over the decades to load rifle loads and LOTS of pistol loads.ReplyDelete
I have for most of that time had more time than money so I did a lot of handloading. I even loaded a HUGE amount of pistol ammo in 9mm and .45acp for use in some machine gun shooting back in the 1990's.(I knew the man who owned the shop and sold Class 3 stuff, the shoots were invitation only back then) All with single stage presses. It takes time and progressive machines are much better now than then based on my research.
I concur on the stainless media being silly, I have used walnut/corncob for decades and it works just fine. I even used it on some lake city 7.62 nato brass that was really grimy and dirty and corroded. it took some time but that stuff cleaned up just as pretty as commercial brass.ReplyDelete
This is a repost of my comment on the earlier thread on progressive loaders, I just want to make sure the gang sees the post and my information to share.ReplyDelete
As I posted on the other thread about progressives, I never used a progressive press, only a single stage press my entire reloading career. I would do up big batches of cases ready to load. I use a lyman powder measure and for pistol loads, I would use the scale and the adjustments to set the measure to throw the desired charge then fill a 50 round case block with resized, primed expanded cases and throw charges into the entire block of cases.(these loads were checked against the scale to see that they were plus or minus about .3 grains, example 5.0grains plus or minus 0.3grains)(I would weigh every tenth charge to make sure the adjustment had not slipped) I would then LOOK at each case to see if the powder level was consistent. I never double charged a case this way and never missed an empty case this way. I have had as many as 6 trays of 50 cases on the bench charged with powder on the bench and would then put bullets in the case mouth and run them into the seater die.
I would do a batch of .45s then switch to 9mm. These loads were considered by me to be "plinking" or "blasting" grade, usable for machine gun shooting or practice.(the charges were selected to be midrange loads for safety) I did load some jhp and jsp loads and was a bit more careful to check the weight of each load but never really noticed much difference on the range on paper targets. .38 spl/ .357 mag cast bullets, the same way.
Now rifle loads are an entirely different matter. I did make up a bunch of .223 "blasting grade" reloads for use at machine gun shoots.(again, very far below maximum loads, intended to function the actions only) They were thrown from the powder measure and were going to be at least plus or minus 0.5 grains or worse. They were also not trimmed and crimped properly so there were lots of jams due to bullets being pushed into the case mouth during feeding.
Proper rifle loads need to have each charge weighed on the scale and may need the use of a "powder trickler " to bring the charge up exactly to the desired weight.
I have found that many ball powders and fine grain stick powders will measure really accurately through a good powder measure and if you take your time and fiddle the adjustments you can get REALLY consistent throw weights. The rcbs and lyman powder measures are by far the better and the lee disk measure is not nearly as good.
My .308 win load uses IMR 4895 and somewhere years back I found a load that the match shooters use that is supposed to exactly duplicate the nato 7.62 150 gr ball load.(the exact load is in my reloading notebook) I have been slowly working up a couple of 5 gal buckets of .223 brass and trimming and deburring and removing primer crimps over the last several years. This brass came from the machine gun shoots before 2000 when I was tasked with cleaning up the old quarry where they were held. the owner wanted no sign we had been there as part of the deal so I policed up ALL the brass.
Most of the 223 was boxer and reloadable but the 308 was mostly berdan surplus from Europe and was sold as scrap. The machine gun owners would buy surplus ammo in case lots back then and none of them were into reloading.


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|Sheet from Ms. Miller's Munchkins
So, think of how this would help a student to focus on thinking about the main idea and the author's purpose.
1. What is the topic of this book?
2. Why did the author write this?
3. What are the main question words answered about the topic?
____(author's name)_____ wrote ___(title)_____ to (inform/persuade/entertain)___ us about _____(subject)___ and how/why/what/___
For example, here are some samples that my students wrote or shared orally.
"Dr. Seuss wrote The Cat in the Hat to entertain us about a cat who did not like to try strange foods."
"E.G. White wrote Charlotte's Web to persuade us that friendship is important, even if your friends are very different from you."
"Ashlee wrote her paragraph about what she did on the weekend because she wanted to inform us about her gymnastic class."
As students in our school district often have questions on main idea and summary, I taught them to read and think about the passage, find the main idea question through this method and then use the same answer to start their summary. We kept a poster up in the classroom, that had the model answers.
This method allowed students to become familiar with author's purpose. In tying the topic to a what/when/who/how/why question, the child has to think more deeply about what he or she has read.
Remember, some kids will get the main idea quickly, and without this explicit teaching or in using a formula. But, this certainly helps those kids understand their own thought process, or metacognition. And for our students with special needs, having an entry point to this difficult concept leads to success.
What a great way to sum up a program you are watching with your child!


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|Publication number
|Publication type
|Application number
|Publication date
|Dec 6, 2005
|Filing date
|Dec 31, 2003
|Priority date
|Apr 25, 2001
|Fee status
|Also published as
|Publication number
|J. Gilbert Tisue
|Original Assignee
|Tisue J Gilbert
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (8), Referenced by (6), Classifications (29), Legal Events (3)
|External Links: USPTO, USPTO Assignment, Espacenet
This application is a divisional application of U.S. application Ser. No. 09/840,726 filed Apr. 25, 2001 now U.S. Pat. No. 6,697,683 and entitled "An Accurate Positioner Suitable for Sequential Agile Tuning of Pulse Burst and CW Lasers". Priority is claimed thereto.
1. Field of the Invention
The present invention relates generally to techniques for sensing and adjusting the position of a movable element, and more particularly of a pivoted armature reflector for steering optical beams at high speed and with high precision through sequences of positions including dwell intervals of constant position.
2. Description of Prior Art
There are many applications for steering an optical beam with high speed and precision between angular directions in either a random or a predetermined sequence. Agile beam steering in two dimensions permits successively illuminating targets in a number of locations to reflect the beam for subsequent detection by an optical receiver.
Agile tuning of lasers require sensors with a high speed-accuracy product. High accuracy is achievable with charge-coupled-devices (CCDs) and interpolation but readout is slow. On the other hand, position sensitive detectors (PSDs) and capacitive position sensors easily achieve the speeds required of the fastest pulse lasers but suffer long term accuracy and stability. Since tuning accuracy requirements are absolute ones, system configurations must be selected to achieve the tuning accuracy in spite of the slow speed sensors.
Tunable lasers typically include an intracavity diffraction grating and a rotatable mirror. The wavelength of such lasers is tuned by adjusting the angle of incidence of the laser cavity beam against the diffraction grating. Such intracavity tuning requires very high accuracy and stability. Tuned CO2 lasers, for instance, require an angular range of typically 0.2 radians and an accuracy of 10 μradians. This represents a range to accuracy ratio of 20,000. In some cases, and at lower accuracy, an optical parametric oscillator (OPO) material (usually a crystal with highly non-linear optical properties) is used.
In the crudest implementations, grating reflection angles have conventionally been adjusted by grating alignment micrometer screws. Manual micrometer adjustment is slow and severely restricts beam steering agility. Automated micrometer adjustment by stepper motor is hindered by the angular momentum of the diffraction grating, backlash, screw friction, and other forces.
Laser radar (LIDAR) systems can be used to transmit different wavelengths of light into airborne suspensions (such as smog or poison gasses) which have differing reflectivities or absorption to different wavelengths. The reflected light intensity is then measured for remote spectrographic analysis of suspension samples. In remote spectroscopy LIDAR applications it is advantageous to maximize the stability and repeatability of the output at each different wavelength. On the other hand, it is very advantageous to minimize intervals between transmitting wavelengths in order to reduce measurement interference by relative motion between the LIDAR unit, the intervening atmosphere and the suspension sample. Maximum accuracy is achieved by successively transmitting different wavelengths at the laser's maximum cyclic rate.
LIDAR system laser formats can consist of single wavelength high power pulses in a sequentially repeating pattern of wavelengths. Another class of applications require a pulse burst of multiple pulses at a given wavelength, periodically repositioning to the next wavelength for another pulse burst. Alternately the tuning/positioning requirement is for a dwell time of a CW (continuous wave) laser periodically repositioning for repeating dwell times of CW operation at other wavelengths. Thus, several types of laser formats have been used to sequentially transmit multiple wavelengths; single pulse, single wavelength pulse burst and CW. The latter two require a dwell or hold time at each wavelength.
The related U.S. Pat. No. 5,450,202, in a second and faster pulsed burst/CW mode, has sequential wavelength tuning with dwell intervals shown by
Conventional optical element positioning systems have been unable to perform accurate high rate optical beam tuning for sequentially addressed CW or pulse burst lasers requiring optical elements in the cavity to be stationary during the active dwell time and then to jump quickly and precisely to the next position in a sequence.
In accordance with the present invention, an agile positioner comprises a load position sensor, a load driving actuator and a drive sequencer means for driving the load rapidly and accurately to a desired position by isolating, in time, the sensing and drive functions.
Objects and Advantages
It is a primary objective of the present invention to rapidly position an actuator for dwell periods with high precision suitable for CW lasers and for pulse lasers requiring bursts of pulses at a constant wavelength.
It is another objective to enable an adaptive resonant positioner to track dwell times more closely.
It is another objective to provide improved positioning speed while utilizing accurate but slow speed position sensors.
It is another objective to allow the combination of high accuracy feedback loop, high transition speed and slow speed sensor.
It is another objective to further improve positioning speed and accuracy by utilizing adaptive algorithms when wavelengths repeat in patterns.
It is another objective to better utilize the torque of an actuator.
It is another objective to control the shape of the transitions.
It is another objective to position non-linear optical crystals.
It is another objective to successively reposition an optical reflector to steer a light beam in desired directions.
It is another objective to provide an improved laser tuner.
For a given technology, cost and complexity, sensors follow a law similar to the Heisenberg uncertainty principle of atomic physics. For sensors, the more accurately the position is measured, the less may be known about where it is at the end of the measurement. In dynamic closed loop operations, long sensor delays cause instabilities which must be dealt with in either the frequency or time domains, invariably by slowing down the overall acquisition speed. The effect gets worse as the required accuracy increases because the loop gain must increase. In a sense the problem stems from trying to coordinate the delayed position information with the need to drive the actuator efficiently without really knowing where it is. The typical result is a severe reduction in drive as the target position is approached so that periods of overshoot or undershoot can be reduced or prevented. The present invention, isolates the sensing delay from the drive execution by performing them separately with sensing occurring at a time when the velocity is substantially zero. In addition, motion of the actuator, once started, occurs in pure open loop fashion without regard to sensor output. This type of operation is made more effective by the highly predictable nature of some actuators such as galvanometers in low friction environments. Galvanometers can have repeatabilities below 1 μradian and high torque predictabilities.
Preferred embodiments of a positioning system according to the present invention includes sensor means, drive sequencer means and actuator means. Actual positions of an optical element or a mirror are sensed and resolved by sensor means preferably including lighting means for emitting light to be reflected by the mirror, optical detector means for detecting the intensity distribution of the reflected light and producing an intensity sample waveform and interpolating means for resolving sample waveform values to provide interpolated actual position values. The actual position values, measured when actuator means is substantially stopped, are fed to a drive sequencer means preferably including memory means for storing desired position information including possible dwell intervals of constant position and for storing drive control information, error determining means for determining differences between the desired and actual mirror positions at given times and open loop sequence computing means for modifying and storing adaptive and non-adaptive drive control sequences for later use to control an actuator to reposition the mirror closer to the desired positions. Open loop sequences as used in this specification are torque or force functions of time, meeting boundary conditions of position and velocity, varying in amplitude, timing and/or polarity but not affected by position measurements once started.
In a first preferred embodiment, a drive sequencer means is used to modify the actuator drive of an adaptive resonant positioner as disclosed in related U.S. Pat. No. 5,450,202 or an equivalent positioner. The adaptive resonant positioner, operative on a resonant load, provides a sensor and drive control capable of positioning an actuator including low accuracy dwell intervals of constant position as described in the prior art of
In a second preferred embodiment, a non-resonant actuator is sensed by a position sensor to provide actual position signals. A drive sequencer receives real time desired position data or data in the form of a pattern to be repeated and compares actual position data with desired position data. It computes open loop sequences of drive for positioning during transition and dwell times of the input pattern. Open loop sequences are computed based on position errors and an accurate model of the actuator and load. Loop stability at high speed is achieved by performing position sensing when the actuator and load are substantially stopped, maintaining an accurate model of the actuator and load and functionally ignoring the sensor output while moving the actuator in its open loop moves. Open loop sequences are applied to a non-resonant actuator which preferably has the characteristics of high repeatability, low friction and predictable torque characteristics for stability and rapid positioning. Operation generally proceeds in positioner cycles consisting of a position measurement followed by an open loop sequence move. Boundary conditions on the open loop sequence moves are that position change equal the position error and final velocity equal zero.
A third preferred embodiment has the basic form of the second embodiment except that the desired position data is always in the form of a fixed or slowly changing pattern to be repeated and one or more of the positioner cycles within a position of the pattern is adaptively modified for more rapid transition between positions of the pattern. Adaptive open loop sequences are computed based on the drive just used, current position error and an accurate model of the actuator and load. Adaptive sequences are executed on the next pattern. Boundary conditions are the same as for the second embodiment.
Among the advantages of the invention is that accurate but slow speed sensors, such as CCDs, can be used to determine fast open loop moves for a tight loop without introducing loop instabilities. Interpolated CCD sensors, for instance, can have pulsed illumination resulting in equivalent sensing aperture bandwidths in the MHz range, but when used in conventional feedback systems, readout delays cause closed loop bandwidths in the kHz range. The invention also has utility in less accurate positioning applications which require extremely high repositioning rates. Another advantage is that open loop moves allow for setting actuator transition rates and shapes independent of stability. Once locked onto a repeating pattern of relatively unchanging desired positions, the invention can successively reposition and stop the armature at actual positions including dwell times of constant position within, for example, 1 part in 20,000 of the desired positions. These and other objects of the present invention will become apparent to those skilled in the art upon reading the following detailed disclosure of the preferred embodiments as shown in the several views of the drawing.
In the drawing:
Referring to
Actuator means 56 is preferably a galvanometric actuator of a low friction type whose torque and load characteristics are well defined. Actuator means 56 is rigidly attached to a load, such as a mirror, and is typically used along with a grating as an intracavity agile tuner.
Actuator means 56 is positionally monitored by sensor means 52. Sensor means 52 preferably utilizes a CCD as a multielement photodetector responding to a preferably pulsed illumination source as it is redirected by an optical element attached to the actuator 56. CCD sensors in this application have the characteristics of low smear, short aperture time and high accuracy and perform the sensing function while the actuator is substantially stopped.
Drive sequencer means 47 compares actual position information 88 from sensor 52 with desired position data 148 and uses an actuator/load model to compute and execute open loop sequences 153 applied to actuator 56.
In operation, positioning system 51 executes cycle pairs of actual position measurement and open loop sequence executions. At positions of substantially zero velocity, sensor means 52 is triggered to perform a position measurement and begin readout. When actual position information has been read, drive sequencer means 47 compares desired position data 148 with appropriate actual position data 88 and generates a position difference. Then, using the position difference and a model of the actuator and load, computes an open loop drive sequence move designed to rapidly move the actuator nominally to the desired position, terminating in zero velocity. In some embodiments, adaptive operation uses the drive just executed and the position difference to modify stored open loop sequences. In all embodiments, isolation between sensor operation and actuator motion, a necessary condition for stability without compensation, is achieved by using appropriately narrow aperture position sensing when the actuator is substantially stopped.
Referring to
Adaptive resonant positioner 50 preferably and substantially comprises the positioner disclosed in related U.S. Pat. No. 5,450,202. As disclosed, desired resonant position data included in signal 198 supplies pattern information defining actuator positions to be resonantly and periodically visited. Actuator drive 90 as disclosed, is directly connected to actuator 56, shown as lines 90, 90 a and 90 b. For this embodiment, drive adder 106 having a first input 90 and a second input 153 is connected to supply drive to actuator 56 on output line 90 b. The first adder 106 input is connected to resonant drive signal 90, the output of drive control 54, and the second adder input is connected to correction drive 153, the drive sequencer 47 a output. Drive control 54 output connection to actuator input 56 is physically disconnected by removing connection segment 90 a. In this way, adaptive resonant positioner 50 is connected as disclosed but with a small modification of actuator 56 drive 90 for accuracy improvement by drive sequencer 47 a output 153. Sensor 52 output 88 of adaptive resonant positioner 50 is connected to supply actual position information to drive sequencer 47 a and to provide additional actual position measurements as required. Drive sequencer 47 a receives desired position data 198, actual position data 88 and outputs corrected drive 153 for modification of adaptive resonant positioner 50 actuator drive 90.
Actuator means 56 is preferably a galvanometric actuator including a resonantly moveable armature with attached optical element 66 typically a mirror. Intentional and controlled resonance of actuator 56 is typically achieved via return spring or flexure. The position of typical intracavity mirror 66, by means of its rigid connection to actuator 56, is preferably sensed by sensor means 52 operative to cause emitted light beam 84 to be reflected off sensor mirror 66 and to return as reflected light beam 86. With timing set by illumination timing signal 80, sensor means 52 detects the position of reflected beam 86 and responsively produces an actual position signal on line 88. The actual position signal is used as a feedback signal by drive control means 54 along with input line 198, containing desired position information initially or dynamically received defining a selected sequence of one to any practical number of positions to which a resonantly movable load is desired to move and pause. Drive control means 54 thereby executing algorithms to generate a first drive output on line 90. A second drive 153 is outputted by drive sequencer 47 a for correcting positional anomalies in the dwell intervals represented by the difference between lines 40 g and 40 h in
Alternate Sensor
Sensor means 52 a of
Referring to
Referring also to
In operation, interpolating means 114 c receives the light intensity sampled waveform 112 of
Threshold logic means 123 produces two binary envelope waveforms operative as count enable signals 118 a and 118 b used to locate the center of the filtered intensity waveform 113. First count enable signal 118 a is shown as
First and second count enables 118 a and 118 b control counting means including first counter 124 a and second counter 124 b in
Drive Sequencer
Referring to
Pattern memory 101 receives through input line 198, desired correction position data defining a pattern of correction positions preferably including one or more positions matching the dwell positions of the adaptive resonant positioner. The pattern is related to that supplied to adaptive resonant positioner 50. Pattern memory means 101 stores the pattern and sequentially supplies a current desired correction position as output 148 a to error determining means 100. Error determining means 100 receives desired correction position 148 a and actual position data 88 and supplies position error 151 to open loop sequence computation 102 a. Open loop sequence computation 102 a inputs actuator/load model information 150 from actuator/load model 104 a, position error 151 from error determining means 100 and current correction drive 149 from pattern drive memory 103 and outputs modified correction drive 147 to pattern drive memory 103. Pattern drive memory 103 inputs modified correction drive 147 and outputs current correction drive 149 to open loop sequence computation 102 a and current pattern drive 152 as modified and stored in a previous pattern to drive means 105. Drive means 105 output 153 provides the correction drive to adder 106.
In operation, the resonant agile CW positioner 51 a of
Drive controllers according to said related patent disclosure use delayed feedback corrections and take advantage of relatively unchanging patterns of desired resonant positions to operate as essentially separate but overlapped feedback loops. This technique regulates resonant operation of an actuator/load and ensures positioning repeatability while optimizing actuator position transition speed. It locks feedback loops to drive an actuator/load to stop at each of the desired resonant positions at resonant instants of half-periods of the actuator/load's resonant frequency. Such a positioner when programmed for two or more identical adjacent positions, creates dwell intervals in the time domain since the tuned adjacent positions are, in theory, separated by half sinusoids of zero amplitude. An examination of harmonics in the frequency domain shows departure from the ideal. The drive techniques desirably modulate the in-phase frequency content at the resonant frequency. However, harmonics are generated by the periodic drive function, especially for large drive steps, because of various factors such as torque nonlinearities, hysteresis, parameter thermal variations, damping uncertainties and resonance frequency errors. The on-frequency components are handleable by the adaptive resonant positioner. Second and higher harmonics appear as departures from the ideal in the interval between lock points as discussed relative to
The resonant agile CW positioner 51 a of
Drive sequencer 47 a is operative to receive desired correction position information included in signal 198 in the form of patterns and to receive actual position information 88 and then to adaptively provide a correction output 153 for improving the positional trace of actuator 56 at correction instants in between lock points of adaptive resonant positioner 50 without substantially affecting lock performance of positioner 50.
In summary, pattern memory means 101 initially or dynamically receives and stores information defining a pattern of one to any practical number of resonant positions to which a resonantly movable load (preferably rotary actuator 56, or alternately a linear armature) is desired to move and pause. For CW/pulse burst operation the pattern includes groups of two or more adjacent identical positions such that the moveable load would remain substantially stationary for a dwell duration of the identical positions in the pattern. Desired correction positions fall in between the desired resonant positions and define the position and instants for which drive sequencer 47 a must lock, in order to correct the positioner trace in between resonant positions. In sequence with the execution of the pattern resonant positioning, pattern memory means 101 provides correlated current desired correction position data 148 a to error determining means 100. Actual position signals are received on input line 88 by error determining means 100. Error determining means 100 calculates the error or difference between the actual and desired positions of the actuator 56 at the predetermined correction instants, and outputs a position error signal on line 151 to open loop sequence computation 102 a.
Open loop sequence computation 102 a also receives, on line 149 from pattern drive memory 103, the corresponding open loop drive sequence attributable to the current pattern, which was used when the load positioned within that dwell interval. It then uses the position error and open loop sequence signal 149 to modify the open loop sequence for later moving the load during the dwell interval. This information is not used to refine the position of the actuator in the current pass through a given dwell interval. Open loop sequence computation 102 a writes the modified open loop sequence through line 147 to pattern drive memory 103 for use during the cycle of movements through a subsequent pattern of positions and dwells defining a set of drives to drive the load closer to its desired correction positions.
The magnitude of the position error is a measure of the amount of drive change that should take place. One simple method of modifying the drive sent back to pattern drive memory 103 on line 147 is to increment or decrement the drive by a small amount depending on the polarity of the error. This preferable technique is stable but in some cases may be slow in "learning" the correct value because it increments or decrements only once per pattern. A computation from the error using the model of the actuator/load, the previous drive from line 149 and the form of the closed loop sequence is more complex but can "learn" much faster.
Open loop sequence drive algorithm shapes to satisfy the requirements of the error shown in
For times up to 190 in
Since errors due to the second harmonic are likely to be much larger than those due to the third or forth, the preferable timing location for the feedback loop correction instants is in the center between the resonant positioner lock points shown as time 161 and 163 in
Pattern drive memory 103 stores modified open loop sequence information for output during a subsequent pattern as a correction drive signal 152 and amplification by drive means 105 to produce a correction drive 153. Drive 153 is added in drive current adder 106 to the adaptive resonant positioner 50 resonant drive 90 to produce actuator drive 90 b on an output line for actuator 56. The error 155 at time 161 in pattern N of waveform 156 a is reduced in pattern N+1 waveform 156 b at time 163.
The flowchart of
The techniques of this and other embodiments of this invention depend to a high degree on the motion predictability of the actuator/load in the open loop sequences, and therefore must preferably exhibit tight actuator/load coupling, accurate torque predictability, high repeatability and low friction, backlash, and hysteresis. Resonant actuators such as actuator 56 preferably use flexures or springs in place of bearings for axis definition and therefore have the highest possible repeatability, no backlash, small but predictable losses and consistent resonant frequency.
Referring to
Alternate Sensor
Sensor 52 a, disclosed under the first preferred embodiment, receives illumination timing signal 80 a and is operative to freeze optical reflector means 66 position and output interpolated actual position on 88 a. In a typical system, timing of sensor 52 a operation is synchronized with drive sequencer 47 b position measuring requirements. Actual position signals are preferably provided by sensor means 52 a, but could alternately be provided by resistive, capacitive, inductive, or other types of optical or non-optical sensors.
Drive Sequencer
Referring to
In operation, the non-resonant agile CW positioner 51 b of
Drive sequencer 47 b is operative to receive desired position information 198, defining a position to be visited by optical reflector 66 and actual position data 88 a and supplies position error 151 to open loop sequence computation 102 b reflecting the difference between desired and actual positions of the load. Within each positioner cycle sensor 52 a is operative via system timing 80 a, while optical reflector 66 is substantially stopped, to freeze, read out and compute its position 88 a at the moment of system timing 80 a. Error determining means 100 subtracts or otherwise computes the positional error valid at the time of system timing 80 a, not however substantially different from the post processing moment when actual position signal 88 a is available since reflector 66 was substantially stopped. Using preferably predictable characteristics of the actuator and reflector load from model 104 b on line 150, an open loop sequence move ideally correcting for the computed error is computed. Said move executed via line 147, drive means 105 line 153 and actuator 56 a. Boundary conditions for the open loop sequence move are that the actuator substantially begins and ends with zero velocity and is designed to produce a net positional change equal to the computed error 151. During this move, sensor 52 a and error determining means 100 are not active to preserve the independence necessary for stability without compensation.
Open loop sequence drive algorithms to satisfy the requirements of the error in
Open loop sequence computation proceeds from position error 151 and the actuator/load model. The actuator/load model 104 b preferably includes torque constants and actuator/load moment of inertia but for increased transition speed may include other factors such as torque versus position function, friction and hysteresis. The constants in the open loop sequence computation also depend on driver (torque) rise time limited in practical implementations because of actuator inductance or capacitance and driver voltage capability. The specific open loop sequence drive format such as those in
A 0 =K 1*position—error
where K1 is a constant involving system and pulse characteristics as discussed.
Faster transitions can be achieved with the second preferred embodiment by using an algorithmic positioner cycle interval as opposed to the fixed cycle above. Following a step in the desired position data, the first positioner cycle reduces the error to substantially zero because of the high accuracy of the model. The second positioner cycle can use a shorter open loop sequence interval resulting in both a higher speed transition and better torque utilization since the required torque increases as the square of this reduction for a given positional transition.
A 2 =M 2 K 2*position—error
where K2 is a constant involving system and pulse characteristics as discussed.
Other timing variations, for instance open loop sequence intervals each related to its error or pulse width modulation, would fall under the scope of this invention.
Actuator/load modeling imperfections can result in non-zero velocity as well as position error at the end of one positioner cycle.
A 3 =M 2 K 3*(position—error−velocity*K 4 /M)−velocity*K 5 *M
A 4 =M 2 K 3*(position—error−velocity*K 4 /M)+velocity*K 5 *M
where K3, K4 and K5 are constants involving system and pulse characteristics as discussed.
In these examples, position error was shown as always positive resulting in closed loop undershoot, obviously the same concepts hold for negative position error and closed loop overshoot.
The techniques of this and other embodiments of this invention depend to a high degree on the motion predictability of the actuator/load in the open loop sequences, and therefore must preferably exhibit tight actuator/load coupling, accurate torque predictability, high repeatability and low friction, backlash, and hysteresis. Non-resonant actuators cannot use return springs or flexures to define the rotational axis and thus typically must use bearings with attendant increased friction plus other degrading characteristics, resulting in somewhat reduced performance even for high quality bearings.
Referring to
Alternate Sensor
Sensor 52 a, disclosed under the first preferred embodiment, receives illumination timing signal 80 a and is operative to freeze optical reflector means 66 position and output interpolated actual position on 88 a. In a typical system, timing of sensor 52 a operation is synchronized with drive sequencer 47 c position measuring requirements. Actual position signals are preferably provided by sensor means 52 a, but could alternately be provided by resistive, capacitive, inductive, or other types of optical or non-optical sensors.
Drive Sequencer
Referring to
Pattern memory means 101 receives desired position data 198 defining a pattern of positions to be visited by the actuator. Pattern memory means 101 stores said pattern and supplies a current desired position as output 148 a to error determining means 100. Error determining means 100 receives desired position data 148 a and actual position data 88 a and supplies position error 151 to open loop sequence computation 102 c. Open loop sequence computation 102 c inputs actuator/load model information 150 from actuator/load model means 104 b, position error 151 from error determining means 100, current pattern adaptive open loop sequences 149 from pattern drive memory 103 and outputs next pattern modified adaptive open loop sequences 147 a to pattern drive memory 103 and non-adaptive drive 147 b to drive means 105 a. Pattern drive memory 103 inputs next pattern modified adaptive open loop sequences 147 a and outputs current pattern adaptive open loop sequences 149 to open loop sequence computation 102 c and outputs previously stored adaptive open loop sequences 152 to drive means 105 a. Drive means 105 a inputs non-adaptive drive 147 b from open loop sequence computation 102 c, previously stored adaptive open loop sequences 152 from pattern drive memory 103 and outputs actuator drive 153 to actuator 56 a.
In operation, the adaptive non-resonant agile CW positioner 51 c of
Pattern memory means 101 initially or dynamically receives and stores information defining a pattern of one to any practical number of positions to which a movable load (preferably rotary actuator 56, or alternately a linear armature) is desired to move and pause. In sequence with the execution of the positions within the pattern, pattern memory means 101 provides correlated current desired position data 148 a to error determining means 100. Actual position signals are received on input line 88 a by error determining means 100. Error determining means 100 calculates the error or difference between the actual and desired positions of the actuator 56 a at predetermined measurement instants within each positioner cycle, and outputs a position error signal on line 151 to open loop sequence computation 102 c. Open loop sequence computation means 102 c also receives, on line 149 from pattern drive memory 103, the corresponding adaptive open loop sequence which was used when the load positioned in the current adaptive positioner cycle.
In an adaptive positioner cycle, computation means 102 c uses the position error 151, actuator/load model 104 b on line 150 and the adaptive open loop sequence 149 to calculate a modified open loop sequence drive 147 a. The magnitude and polarity of the position error is a measure of the amount of drive change that should take place. This information is stored and not used to refine the actual position of the actuator in the current pass through the current pattern. Open loop sequence computation means 102 c writes the modified adaptive open loop sequence drive through line 147 a to pattern drive memory 103 for use during the same cycle of the next pattern to drive the load closer to its desired position.
As a result of this error, the drive represented by A0 and −A0, used to arrive at the error 224 at time 227 a is read from pattern drive memory on line 149. It is modified and written back into pattern drive memory 103 on line 147 a. Modification can take several forms. The simplest, most stable and accurate form is to increment or decrement the drives, as appropriate, with a small value designed to be marginally operative in reducing the error to zero. This method is slow to "learn" the correct drive, requiring many patterns to approach zero error. Also its ability to follow slowly varying patterns is impaired. Another more preferable technique is to compute the change (or part of the change) in A0 and −A0 from the error 151 using the model of the actuator/load 104 b on line 150, the current drive used from line 149 and the form of the closed loop sequence. These and intermediate variations and their effect on particular applications would be obvious to one skilled in the art. Since for preferably linear torque/drive actuators, the relationship between position transition and drive magnitude A0 is linear, the correction Δ, for the next cycle can be computed by simple addition using a version of a previously identified formula:
correction Δ=K 1*position—error
where K1 is a constant involving system and pulse characteristics as discussed.
Drive modification for the cases of algorithmic positioner cycle interval and velocity correction follow in a similarly predictable manor from the equations for the second preferred embodiment. The open loop sequence formats of
The resulting pattern N+1 with this nominal correction is shown as waveform 220 b with reduced error at time 227 b. Adaptive error correction in other than the first open loop cycle, in multiple cycles within the same dwell position or less often than once per pattern can be useful and would fall within the spirit and scope of this invention. As an example of a double correction, one adaptive correction could apply between time 225 a and 226 a in cycle 1 and another between time 226 a and 228 a in cycle 2. Patterns consisting of only one positioner cycle per position visited, useful for instance in high speed pulse laser applications, would similarly fall within the scope of this invention. Pattern drive memory 103 stores adapted open loop sequence information for output on line 152 and use by drive means 105 a to produce an open loop correction drive 153 for actuator 56 a.
In a non-adaptive cycle, open loop sequence computation 102 c computes a non-adaptive open loop sequence on line 147 b to drive means 105 a as described for the non-adaptive non-resonant CW positioner of
The flowchart of
The techniques of this and other embodiments of this invention depend to a high degree on the motion predictability of the actuator/load in the open loop sequences, and therefore must preferably exhibit tight actuator/load coupling, accurate torque predictability, high repeatability and low friction, backlash, and hysteresis. Non-resonant actuators cannot use return springs or flexures to define the rotational axis and thus typically must use bearings with attendant increased friction plus other degrading characteristics, resulting in somewhat reduced performance even for high quality bearings.
Conclusion, Ramifications and Scope of the Invention
As has been disclosed, this invention derives its advantages by isolating the position sensing function from the driving function. It improves operating speeds for applications where very high accuracy sensors normally result in greatly reduced system speed for stability. Rapid switching to accuracies of a few μradians suitable for intracavity tuning of lasers is accomplished including significant dwell or hold times at each position. The invention also has utility in lower accuracy system when even higher speeds are required. While the invention is aimed at maintaining the isolation between sensor and actuator motion, switching to a slower compensated servo technique after actuator settling, would fall within the scope of this invention.
Tradeoffs regarding preferred system organization and specific selection of hardware would be obvious to one skilled in the art after reading this specification. In some cases, this specification uses less compact and precise organization for ease and clarity of disclosure but should not be construed as a limitation of the invention. Some examples for instance:
It is understood that the invention is not confined to the particular embodiments set forth herein as illustrated, but embraces such modified forms thereof as come within the scope of the following claims as would be obvious to those skilled in the art to which the present invention pertains. Simplified equations have been disclosed for correction techniques, but simulations, improved equations or equations accommodating additional actuator anomalies would fall within the scope of this invention. It is also anticipated that adaptive versions of this invention would not necessarily modify drive values on every pattern.
Although this specification is discussed to a high degree as it pertains to intracavity mirror laser tuners, it should be noted that many other types of applications exist and the claims are not limited to laser tuning. Particularly, positions of a laser output beam steering mirror can be controlled by using one of the embodiments. A piezoelectric type actuator driving a mirror, whose position is sensed, can change the angle of impingement of a laser. Read write head positioning and pyramidal facet error correction of polygons are other uses of this invention. The invention is also useful in many positioner applications not utilizing or requiring a mirror. An OPO crystal used in agile tuning applications can be rotated by one of the embodiments. Alternatively, a diffraction grating can tune a cavity directly without the need for a separate beam steering cavity mirror.
The invention is limited only by the scope of the following claims.
|Cited Patent
|Filing date
|Publication date
|Nov 25, 1974
|Nov 4, 1975
|Cincinnati Milacron Inc
|Method and apparatus for adaptively positioning a machine element
|Jan 7, 1982
|Sep 18, 1984
|Olympus Optical Co. Ltd.
|Apparatus for driving objective lens
|Nov 18, 1986
|Mar 28, 1989
|General Scanning, Inc.
|Planar surface scanning system
|Feb 20, 1990
|Nov 17, 1992
|Micron Instrument Inc.
|Positioning system
|Aug 18, 1993
|Sep 12, 1995
|Tisue; James G.
|Adaptive resonant positioner having random access capability
|Sep 28, 1998
|Oct 10, 2000
|Canon Kabushiki Kaisha
|Positioning method and apparatus
|Feb 10, 1999
|Jan 9, 2001
|Electro Scientific Industries, Inc.
|Laser processing power output stabilization apparatus and method employing processing position feedback
|Sep 10, 1999
|Aug 13, 2002
|New Focus, Inc.
|Open loop wavelength control system for a tunable laser
|Citing Patent
|Filing date
|Publication date
|Jun 8, 2006
|Aug 19, 2008
|Dr. Johannes Heidenhain Gmbh
|Position measuring arrangement and method for controlling scanning signals of the position measuring arrangement
|Dec 14, 2006
|Sep 22, 2009
|The Boeing Company
|Apparatus and methods for measuring workpieces
|Jun 8, 2006
|Dec 28, 2006
|Dr. Johannes Heidenhain Gmbh
|Position measuring arrangement and method for controlling scanning signals of the position measuring arrangement
|Dec 14, 2006
|Jun 19, 2008
|The Boeing Company
|Apparatus and methods for measuring workpieces
|Dec 5, 2008
|Oct 28, 2010
|Laser Pointing System
|Dec 10, 2010
|Jun 23, 2011
|Pantec Biosolutions Ag
|Apparatus and method for the deflection of electromagnetic radiation, in particular of a laser beam
|U.S. Classification
|700/56, 700/63, 356/614, 700/60, 356/4.1, 342/134, 700/58, 700/61, 356/3, 342/132, 356/138, 356/4.06, 700/59, 700/62, 356/155, 372/9, 372/20, 700/57, 356/22
|International Classification
|Cooperative Classification
|European Classification
|Jun 15, 2009
|Maintenance fee reminder mailed
|Dec 6, 2009
|Lapse for failure to pay maintenance fees
|Jan 26, 2010
|Expired due to failure to pay maintenance fee
Effective date: 20091206


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Compare Immigration attorneys near you. Read reviews, see Avvo Ratings, and contact them directly.
5.0 stars 4 reviews
Avvo Rating: 10
Review: "I found Steven online a year ago. Best attorney for my tax case. Process was long (about a year) and Steven was patiently handled my case from start to finish. In the end, I got what I wanted. Highly recommend Steven! :)"
Practice areas & skills: Immigration, Tax, Business
Fixed-fee services: Application review: US citizenship - $149, Apply for US citizenship - $595, and more
5.0 stars 1 review
Avvo Rating: 8.8
Christina Bateman received a Bachelor of Science degree in Business Administration in 1992 from UC Riverside where she was on the dean's list. Ms. Bateman attended Western State University College of Law, where she was also on the dean's list, wa...
Practice areas & skills: Immigration, Criminal Defense, Family, Personal Injury
4.5 stars 19 reviews
Avvo Rating: 8.8
He is a member of the Bar for the state of California . During law school Attorney Sethi worked for several immigration law firms and as a result has over ten years of experience in complex immigration matters. Mr. Sethi's knowledge of immigratio...
Practice areas & skills: Immigration, Personal Injury, Chapter 7 Bankruptcy, Criminal Defense
5.0 stars 6 reviews
Avvo Rating: 8.1
A Family law firm dedicated to our clients success. Call for free consultation.
Practice areas & skills: Immigration, Divorce & Separation, Business, Estate Planning
Fixed-fee services: Apply for US citizenship - $595, Application review: Family green card - $149, and more
5.0 stars 2 reviews
Avvo Rating: 6.7
Review: "Attorney Flores-Medrano assisted my husband and I with his immigration matter. Not only did she obtain a favorable outcome she kept us apprised of the status and updates. She was clear and concise as to the possible out...
Practice areas & skills: Immigration, Family, Criminal Defense
5.0 stars 1 review
Avvo Rating: 6.8
Review: "Attorney Aggie Dolinska recently represented us for a immigration hearing for Adjustment of Status to Permanent Residence for my Wife. She did an excellent job, our hearing was delayed for several hours and she took that ...
Practice areas & skills: Immigration
5.0 stars 17 reviews
Avvo Rating: 6.5
At the Law Office of Charles Medina, we find the best strategy for your immigration concerns. We design solutions that fit your unique needs. We help you understand your immigration problems and guide you in choosing the best option. Things can g...
Practice areas & skills: Immigration
Fixed-fee services: Apply for a family green card - $2995, Apply for a family green card - $2995
If you're a US citizen, you can quickly and easily apply for a US passport. Here's how.
Form I-485 is used to adjust your status to permanent residency (green card holder), but you must meet eligibility requirements to apply in the United States.
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Immigration Attorney
Weston, FL
Immigration Attorney
Los Angeles, CA
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Immigration attorneys (sometimes called "green card lawyers") represent people who want to come to the United States, whether it be for schooling, work, or just a visit. Immigration lawyers can also help undocumented immigrants found living in the U.S. without permission. Immigration laws govern who can enter the U.S., how long they can stay, what they can do while they are here, and how they can become American citizens. If you are not a U.S. citizen and want to apply for a green card or other visa, or if you are already in the U.S. and have been threatened with deportation, an immigration lawyer can help you.


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Kailash by Helicopter is a time-saving option which avoids the long hours travelling by road to reach Kailash-Manasarovar; a combination of scheduled flights, charted helicopter and short walk across the Nepal-Tibet boarder makes this into a 11-day trip. (There is no direct flight to Kailsh-Manasarov.)
In the most northern region of the Himalayas, high on the remote western Tibetan plateau, sits the holy Mt. Kailash. A trip to Mt. Kailash is a spiritual journey for everyone. Even agnostics can't help but be inspired by the strangely mythical and religious atmosphere in this absolutely serene landscape. But for pilgrims of Hindu, Buddhist, Jain and Bonpo faiths, this Kailash Circuit is the ultimate pilgrimage.
Budhhist, Hindu and Jain pilgrims come to this magnificent mountain for the sole purpose of making the 53 km trek around the perimeter. As it is a holy mountain, no one considers climbing to the 6714m high peak.
Hindus believe that Lord Shiva, one of their three main gods, resides atop what they call Mount Meru the spiritual centre of their universe around which all else revolves. A single clockwise 'Parikrama', or circumambulation, around the base of Mount Kailash is believed erase the accumulated sins of a lifetime while 108 circumambulations will achieve Salvation.
The Tibetan people call this mountain Kang Rinpoche or snow jewel and refer to the circumambulation as a 'kora'. Both parikrama and kora mean the same thing: pilgrimage. Buddists make many circumambulations in order to achieve enlightenment.
Jains call this mountain Mt. Ashtapada. According to their religion, this is the place where the great sage Rishabhadeva, the founder of Jain religion, attained nirvana.
In the shadow of Kailash lie two beautiful lakes Manasarovar and Rakshas Tal, considered sacred to Hindus. Manasarovar, 4558 m, is said to be the highest freshwater lake in the world and the source of four mighty rivers the Brahmaputra, the Sutlej, Ganges and the Indus. Shaped like the sun, Manasarovar symbolizes light and represents the omnipotent mind of Brahma. Bathing in the lake and drinking in its water is a purifying ritual and a way to reach paradise. Just one drop of water from the serenely beautiful Manasarovar is said to set one free from the contaminations of the poisonous world. Rakshas Tal, in contrast, is a moon-shaped lake that is believed to possess dark and demonic forces.
Kailash Tibet Tour by Helicopter with Annapurna Foothills Treks
Our aim is to ensure your Simikot- Kailash-Mansorvar tour to Tibet is an enjoyable and memorable pilgrimage. Our experience has proven that the guide and the truck and jeep drivers play a big role in the success of this tour in Tibet. For this reason we arrange Tibetan guides and drivers for the Kailash-Tibet Tour, who are extremely helpful in matters related to culture, language and local knowledge.
Day 1 : Arrival in Kathmandu
Day 2 : Visit Temples in Kathmandu
Day 3 : Kathmandu to Nepalganj by Air
Day 4 : Nepalganj to Simikot, 2870m, by Air, Simikot to Hilsa by Chartered Helicopter, Hilsa to Sher by Foot, Sher to Taklakot by Road, 3700m
Day 5 : Taklakot to Chui Gompa and Mansarovar, 4560m by Road
Day 6 : Mansarovar Circuit, 4520m,
Day 7 : Drive to Tarboche, 13 km and trek to Dirapuk, 4860m
Day 8 : End of Kailash Parikrama and drive to Manasarovara:
Day 9 : Taklakot to Sher by Road, Sher to Hilsa by foot, Hilsa - Simikot - Nepalganj - Kathmandu by Air
Day 10 : Fly Back Home with Memories of Mount Kailash & Holy Lake Mansarovar
Carrying your luggage: If you wish to take help of a yak or horse, the cost will be approx US$ 70 for Yak and USD 110 for horse payable directly to the yak herder. (Your Nepali Guide will help you make the arrangement.)
Reminder: In Tibet, the altitude is high air is thinner, colder, drier and the ultraviolet rays from the sun are stronger. Visitors will need to acclimatize and should be prepared for the strong sunshine and varying temperatures with a hat, sunglasses, sunscreen and warm clothes. Remember to carry plenty of water.
For those who do not want to share a room during the trip, a single supplement fee of USD 350 can be paid to assure you a room to yourself.
Destination : Tibet
Duration : 10 Days
Price : US $3800 p/p
Trip Grade : Challenging
Single Supplement:$350
Group Size:2 - 12 Persons
Maximum Altitude:5650 m Dolma la pass.
Activities:Tour/ Heli Tour & Kailash Kora
Hotel in Kathmandu:3 Nights at 5 Star Hotel in Kathmandu on Twin sharing on BB Basis
Hotel in Nepalgunj:1 night on Twin Sharing on BB Basis
I did the above mentioned trip in December 2016. The trip was perfectly planned and everything went smoothly. The itinerary allowed for perfect acclimatisation, especially having two nights at Island Peak Base Camp. Tashi, the trekking guide for the trip picked me up at the airport and helped me through…Lukas
A friend and I worked with Annapurna Foothills Treks to be guided trekking on the Annapurna circuit from Besi Sahr over the Thorong La pass to Jomsom, with a guided climb of Chulu West on the way. Our trekking guide Dawa was outstanding all the way to Pisang, and provided…Craig
Our 14 day Poon Hill and Annapurna Base Camp trek, guided by Tashi was an outstanding experience. We enjoyed his local knowledge while making the trip a joy. From the trip's booking to departure from Nepal, all aspects of the trip were carefully organized and well executed-something we appreciated very…Kathy
Nepal, occupying 0.03% of the total landmass of the earth, is a home for more than 101 ethnic groups, each having their own unique culture…Read More
The pristine information of Chulu West peak. The fastest 30 days and biggest climbing adventure I've experienced are now part of my memory, thanks to…Read More


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text: 15 Aug Bell Sports - Evel Knievel - 1 (2005) 0:30 (USA) By claymore 2 Comments Commercials: SportsCountry: United Statesfacebooklinkedintwitterredditemailpocket Add new comment Comments (2) Dabitch reply Feels kinda sad now that Evil is dead. Dec 03, 2007 aiiobo reply Great ad. Dec 03, 2007 Leave a comment Your name E-mail The content of this field is kept private and will not be shown publicly. Comment * More information about text formatsPlain textNo HTML tags allowed.Lines and paragraphs break automatically. Home page


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a masculine name
Origin of ArnoldGerman ; from Old High German Aranold ; from Germanic an unverified form Arnwald, literally , strong as an eagle ; from an unverified form aran, eagle (from source Middle Low German arn: see erne) + an unverified form waltan, to rule (from source German walten: see wield) from source Medieval Latin Arnoldus, French Arnaud, Middle English Arnett
Proper noun
- A male given name brought to England by Normans.
- A patronymic surname.
- Any of a number of places in the English-speaking world.
French saint's name from Proto-Germanic *arô ("eagle") + *waldaz ("ruler") .


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Enable Advanced Navigation to display the best locations in your virtual tour through a single click. With TourDash, objects within the Street View Trusted can be linked to webpages, reservation lists, or other websites that are important to your business success. TourDash brings your business alive!
Harry L. Coomes Recreation Center
Harry L. Coomes Recreation Center
300 Stanley Street
Abingdon, VA 24210
(276) 623 – 5279