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—Entertainment Weekly --This text refers to the Paperback edition.
About the Author
Academy Award and the Golden Globe for Best Actress for her role in
Children of a Lesser God. She was nominated for Emmy Awards for
her performances in Seinfeld, Picket Fences, The
Practice, and Law & Order: SVU. Her film credits include
It's My Party and What the Bleep Do We Know!? She is the
author of Deaf Child Crossing. She has made numerous television
appearances and currently appears on The L Word. Marlee Matlin
lives in Los Angeles with her husband and four children. Visit her at


text:
the Latest
Here's A Total-Body Cardio Exercise That Burns Mega Calories
Get in great shape with just one move.
Here Are 7 Seriously Effective Exercises For Your Arms
Gold-medal biceps, triceps, and shoulders ahead.
12 Of The Best Bodyweight Exercises You Can Do For Strong, Fit Arms
Your equipment-free tickets to the gun show.
These 5 Strength Moves Will Make You A Better Runner
This routine will improve your endurance and strengthen your big muscle groups.
Work Out With... Karlie Kloss: Cool-Down
Work Out With Supermodel Karlie Kloss and Nike Master Trainer Traci Copeland.
Work Out With... Karlie Kloss: Dynamic Warm-Up
Work Out With Supermodel Karlie Kloss and Nike Master Trainer Traci Copeland.
6 Sculpting Moves That Will Transform Your Body
Exercising on the sand tones your entire body and burns major calories. Here's a quick routine to try the next time you're at the beach.
10 Moves To Do Before Breakfast
Between time with friends and family, late night deadlines and early morning meetings, it can sometimes be hard to prioritize your workout. But good news: we spoke to Shay Kostabi,
This Yoga Sequence Will Loosen Up Insanely Tight Hamstrings
Running and crazy-tight hamstrings seem to go together like peanut butter and jelly, but it doesn't have to be that way! Hop on your mat after a run and do
Your Do-Anywhere, Total-Body Strength Workout
A quickie circuit routine that tones and strengthens—fast.

subset: commoncrawl


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What is the best font to use on free ebooks, which are to be passed around the net.
Especially onthe part which says,......."for more information click here" (the viral twist)
For your own viral twist fonts- "for more information click here" from your stats and optin rates, what methods work best for you?
Best Ebook font + size?
by entry Posted: 02/20/2010
#internet marketing #ebook #font #size
- Marty SI make mine between 12 and 14, but sometimes it depends on the choice of font and style you want with your ebook. Don't sweat this too much though because PDFs are designed to be customized by the reader with very little quality loss visually.
In an extreme example, if you wrote a page in 6 font, the reader would think your are a wanker, but then proceed to enlarge his view option to make it readable.
- Jake DennertI personally like Verdana, 12 pt.
14 pt is ok too, but if the font gets any bigger than that I always have to adjust the size of the PDF to be able to read it comfortably.
- Charann MillerArial font size 12 works for me. Single spacing comfortably fits around 350 words per page.
- Kathy_THi guys! I'm just now (after 3 years!!) FINALLY getting around to writing my first eBook, so this forum is a wonderful wealth of info for me - I had the same question as "Entry" above, so thank you all for your input. I'm going to try a couple pages of Calibri, Verdana, and Arial and play around with it a little.
Thanks again!
- CatherineC
- Jeff Henshaw
My personal favorite is Calibri at size 14. It's a smaller font than others so 12 is a little too small for it.
Thanks and Regards,
- CatherineC
I've only now tried this font and it looks very good. Aside from using it in .pdf files, does any Warrior know if it will function correctly in the usual range of browsers, if I were to use it in my text based newsletters?
Thanks and Regards,
Fonts on the web and a list of web safe fonts | Dustin Brewer Web Design
I also like Cambria, I think it's exotic looking.
But both are best reserved for PDFs only as they aren't that widespread outside of the latest MS operating systems. For web work I stick to the boring basics that are supported by the most platforms.
- mcmahanusaI like Palatino Linotype 12.
- Jeff HenshawThanks very much Catherine, I'll read the contents of your link right away.
Best Regards,
- Scott VossIt is all about how the text feels with your layout and graphics.
You want to go with something that is easy to read.
Here is an interesting, but dated article about it: Usability Tip: Select Easy-To-Read Fonts
Since Calibri is the new Times New Roman for Microsoft Word, you can safely think of it whenever Times is listed in this article.
- CDarklock
- Lloyd Buchinski
I've only now tried this font and it looks very good. Aside from using it in .pdf files, does any Warrior know if it will function correctly in the usual range of browsers, if I were to use it in my text based newsletters?
Also an added problem with it is that (as mentioned already) it is a smaller font. If you specify it and the browser doesn't have it, Arial and Verdana take up more room. The browser will substitute and that can make a mess of the layout.
- ThomKentonCalibri 14 is the best for me so far. It's perfect for reading on the screen. I find anything less to be hard to read for most (or at least my bad eyes).
- Brian and ShannonIn our opinion Times New Roman or Arial in a size 12 is the most commonly used and really customers like simple fonts more so than a crazy looking unique font. However, I would agree with a lot of replies on here that it is eye catching to use a bigger size and using the bold, italic, and underlined options..... but not all three at the same time . You don't want to over do it but when you get to your Click Here button you want a 14 or 16 font size in bold to really catch the customers eyes.
Best of Luck!
- AllanandDawnAndy Fletcher wrote
"Microsoft have spent a small fortune researching fonts for Office 2007. If Cambria (headings) and Calibri (body) are good enough for them they're definitely good enough for me. "
on another WF post - Best font/size for ebook?
Might pay to check it out as well.
Allan and Dawn
- King ShilohI prefer Verdana 12 pt. It looks quite good and clear.
- Steven Carl KellyI've spent years in publishing both electronic and physical publications. There is one font that stands head shoulders above all others for me, and I use the SAME font for both e-book publishing and physical offline books:
Minion Pro
No other font comes close, IMO, to the comfortable readability, professional look, and elegance of Minion Pro
- {{ reply.thank_error_message }}


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Vern Eide Chevrolet Buick GMC Sales Reviews
- 219 E 1st Ave
- Mitchell, SD 57301 (map)
- Chat with Dealer
Your opinion counts! Be the first to share your experience of this dealership with others.
Please take time to submit a review or comment about this dealership and share your experience with others.
Is this your business? Learn More!


text:
CTB suddenly surged up! No news on Yahoo. What's up?
What you count on:
If CTB goes up, it will very quickly go back down.
What the hell now. They made it go up so they can short it? Why the big drop today?
When is earnings?
Sentiment: Buy
Positive sign that Che is starting production. A little concerned about the financial reporting part. I wonder why that is taking longer than starting production. You can never trust the Chinese when it comes to financial reporting.
I can't believe it went up 6% on just the starting of production and then it dropped over a dollar
from high. I hope it goes back up . I took profit, but bought back too high at 26.42.
Sentiment: Strong Buy
Interesting answer from the Apollo CFO on what really happened on the Apollo-Cooper deal.
Q: What was the real story?
Sarkar: This is what we discovered subsequently and is now part of the court filings that Cooper was trying to sell itself to this guy (Zhe Hongzhi, Chairman of Chengshan Cooper Tires in China) even the day after they signed the agreement with us. On the 12th of June, they signed with us. On the 15th of June, this guy was in the US at their invitation to see if he would bid higher. He did bid higher. He bid $ 38 per share but Cooper believed his financing was not as committed as Apollo's and chose to go ahead with Apollo. That's really the underlining factor behind this whole thing.
GT is also up about 4% today. Maybe just an expectation that tire companies will report good earnings. GT has done very well over the past year, while CTB has done nothing.
I'm going to take an educated guess. I read the interview with the Apollo CFO in Forbes India. Basically he lays out the case for the merger, that the tire makers need to get bigger in order to compete globally. He also said that he trusts most of the Cooper team and laid the blame completely on Che. He also mentioned that Che offered $38 but with less solid financing. Cooper was upset with the interview, but it really wasn't that bad.
I have a feeling that there maybe talks between the three parties - Apollo, Cooper, and Che - to get another deal done. At the phone conference Roy stated that Apollo never offered a lower price with committed financing, there were still conditions. He implied that a lower offer would be OK if it was committed. I think the path to a deal is starting to form.
Resumed production @ Chengshan :)
Sentiment: Buy
Is this your theory or real news?


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92 of 102 people found the following review helpful
Great Movie, Great DVD (or Laserdisk).,
A Kid's Review
This review is from: Clerks (Collector's Series) (DVD)
I'm not going to tell the plot of Clerks, since tons of other reviewers have already done that, but instead I'm going to focus of the DVD, because I don't feel enough people write about that.
First off here's the special features:
Audio Commentary: This commentary features a nearly countless amount of people, but mostly Kevin Smith with the occasional tid bit from actor Brian O' Halloran (also known as Brian Christopher O' Halloran) or producer Scott Mosier. Funnily, Jason Mewes showed up drunk for the recording of this and lies on the floor past out most of the time, sometimes waking up to swear or scream "Snootchie Bootchies." Obviously only one mike was used for this, but that never bothered me much, because the commentary is a load of fun, with tons of interesting things and laughs. I like this much better than the overrated Mallrats commentary.
Deleted Scenes With Introductions by Kevin Smith: There are about 6 deleted scenes, almost all of them extended bits, but all of them interesting. Ones I particularly liked were the longer Gum Guy's speech, the longer conversation with Dane and Veronica, and the longer talking between Veronica and Randal. The only completely additional scene is in #3 where Randal tries to pursuade a customer to rent Smokey and the Bandit 3. Not very funny, but interesting. The introductions to the scenes by Kevin Smith are very good, short and to the point, where as in all the other DVDs he rambles on for about two minutes about why you should visit Jay and Silent Bob's Secret Stash or mumbles or wastes time going "Um," you get my point. In these intros he simly states what you'll find new in the scene and then you view, I think the longest intro is about thirty seconds. Excellent.
Original Ending: The shocking original ending is included for your enjoyment, and it is obvious why it was cut, although I personally love the scene and think it'd be a great ending to the film. Why? Because it ends on a downer, just like Dante and Randal talk about early in the film, and is more realistic (OK, maybe not, but I like it). Sit through the short set of credits for a breif cameo by director Smith. The ending features an introduction where Smith states how happy he is that the scene was cut. Interesting.
Music Video: The funny music video for Soul Asylum's "Can't Even Tell", featuring a recreation of the hockey scene, in color no less! It's an interesting look at what if would be like if the movie was in color, but it's also a pretty good song, and the video is entertaining, measuring around four and a half minutes. Introduction by Smith is included, which is pretty interesting.
Theatrical Trailer: The film's original trailer is included with introduction by Smith, where he states how crazy he is for it and that it's one of his favorite trailers ever. It's a nice trailer and all, but really, it is just a trailer, and I think he sees into it more than most people will (though I read a review that called the trailer "a piece of film itself").
Anyway, those are the extras. It doesn't look like much, but quality overwhelms quantity, and all these extras are very cool, and worth your time.
The sound and picture on the film is fine, at least when you think about it. Remember Clerks cost less than a car to make, and the picture is consistently grainy throughout, as well as black and white (oh boo hoo to all you people who can't watch a black and white movie), but I could always tell what was going on, and after about two minutes, I got used to the grain (you will, too). The sound is a 2.0 surround sound that is always clear and never bothersome. There's minor hiss, but barely irritating (or noticeable).
Anyway, I like CLerks a lot, although most people won't watch it because of the black and white picture and a lot of people find it boring, but I just don't understand how anyone could find a movie with such great acting and dialouge boring. Well, if you need an explosion or a bunch of action every ten minutes.....
Hope you liked my review (kind of long, sorry), and please vote if it was helpful. Thank you for reading.
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Initial post: Sep 11, 2009 3:28:55 PM PDT
Cygnus says:
Great product review for a great movie!!!! i`ve seen this film several times and love it for it`s low budget qualitys.after seeing this movie , i`ve been an INDIE fan since.... GOOD REVIEW THANKS!!!!
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A Kid's Review


text:
Oh yes! Very much in agreement!
Its a HUGE series of spiral staircases to get from an affair to a healthy relationship-much less poly.
And I certainly advise against lying or cheating EVER. Regardless of reason, it creates a paradigm that is completely counter productive to bonding and relationship.
I honestly don't know anyone but us whose sifted through the ashes and found resolution.
Everyone I have ever met who had an affair-the relationship ended. Usually because the cheater expected to SAY they were sorry and be done with it. But deterioration of trust doesn't clean up that easily. Its not like you can run a swiffer through and poof-the dust is gone.
Its more like you set off tnt in a bldg that had the walls insulated with alergen filled glitter. Cleaning it up means years of dealing with the "allergic reactions" to the glitter and searching out every single piece-in addition to cleaning up the blown up bldg pieces and fallout and burn/scorch damage and any other bldgs damaged in the rain of material after the explosion and and and and.
Its a lifelong responsibility to deal with the consequences and they can be unbelievably far reaching.
"Love As Thou Wilt"
|anger management, bisexual female, blame, break-ups, breaking up, changing loyalties, children, co-parenting, competition, coupledom, demanding partners, divorce, forgiveness, from poly to mono, healing, making excuses, married and polyamorous, poly co-parenting, poly to mono, primary/secondary, therapy, triad fallout, trust, vee dynamics, vee vs. triad
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Fleece Friday: Take 15% off 1+ yards of Fleece Fabric Through 11:59 PM EDT July 29th.
36 years old, a sucker for wilderness and fabrics since I was a child, now affected with severe spoonflower addiction. Not a professional designer, I need your feedbacks to get better!
© 2008-2015 Spoonflower Inc


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|Publication number
|Publication type
|Application number
|Publication date
|Mar 11, 1997
|Filing date
|Mar 23, 1995
|Priority date
|Mar 23, 1995
|Fee status
|Also published as
|Publication number
|Uday J. Shankar, Neil E. Goodzeit, George E. Schmidt, Jr.
|Original Assignee
|Martin Marietta Corp.
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (11), Referenced by (27), Classifications (19), Legal Events (6)
|External Links: USPTO, USPTO Assignment, Espacenet
This invention relates to spacecraft attitude control systems, and particularly to such systems which are usable in the presence of noisy attitude control signals.
Conventional communication spacecraft or satellites are required to operate in a near-zero momentum condition, maintaining one body axis of the spacecraft, and the associated antennas, directed toward a particular location on the surface of the Earth. Zero-momentum spacecraft use torquers and control systems to orient the body of the spacecraft, and to maintain the desired body orientation.
The earliest spacecraft used body rotation to maintain attitude by virtue of angular momentum. This, in turn, required that, if an Earth-pointing instrument or antenna was required, that a portion of the body of the spacecraft be "de-spun". Later spacecraft eliminated the de-spinning function, by using torquers to control the attitude of the body, which in turn results in the instruments and/or antennas being directed in the desired direction.
In order to reduce the amount of propellant used by thrusters, zero-momentum spacecraft have in the past used electrically driven torquing arrangements. One such electrically driven torquing arrangement is in the form of magnetic coils mounted on the spacecraft body, which interact with the Earth's magnetic fields to produce body torque about the spacecraft roll and yaw axes. Because the North-to-South direction of the Earth's magnetic field lies along the pitch axis of a spacecraft in an equatorial orbit, magnetic torquing cannot be applied about the pitch axis.
Another form of electrically driven torquing arrangement includes momentum wheels or reaction wheels for providing torques about the control axes, and, in the case of momentum wheels, for providing gyroscopic stiffness about one or more of the control axes. These electrically-driven magnetic or wheel-type torquing arrangements eliminate the need to fire propellant-consuming thrusters for attitude control, which is very advantageous, because the available propellant can then be used exclusively for north-south and/or east-west stationkeeping, which results in a longer operational lifetime.
It has been found, however, that the momentum of the reaction or momentum wheels tends to increase with time in a secular manner. Because there is a limit on the rotational speed which a wheel can withstand, some additional torquing must be periodically applied to the spacecraft body, to maintain the momentum wheel rotational rate within limits. Magnetic torquers are used for reducing the wheel speed, and chemical thrusters are used when the magnetic torquers cannot provide sufficient torque. Thus, notwithstanding the presence of the two types of electrically-driven torquers on a spacecraft, it is still necessary to occasionally use chemical thrusters to provide torque, and the maximum remaining lifetime of the spacecraft is reduced as propellant is consumed.
The ANIK E2 spacecraft, launched in 1991 with an expected life of more than thirteen years, included magnetic torquers, a momentum wheel with a rotational axis lying along the pitch axis, pivotable about the roll axis, and also included a complement of chemical thrusters. Its attitude control system was autonomous, utilizing an Earth sensor assembly (ESA) for roll and pitch attitude sensing, together with pitch control torquing by wheel-speed variation. The yaw was not sensed; the yaw control was by gyroscopic stiffness in the roll and yaw axes, together with roll-yaw orbital interchange. Yaw/roll control was provided using magnetic torquers. As a result of an unusual anomaly in the space environment, both the primary and backup momentum wheels became inoperative, with the result that gyroscopic stiffness about the roll and yaw axes, and momentum-wheel pitch-axis attitude control were not possible. Since spacecraft are extremely expensive, it became very desirable to have some means for providing attitude control for a period of time commensurate with the remaining expected lifetime of the spacecraft.
Attitude control for the ANIK E2 after loss of the pitch wheels was complicated by the lack of spacecraft gyroscopic stiffness, and the loss of normal pitch control actuation. Because of the decoupling of the roll and yaw due to the lack of gyroscopic stiffness, a yaw measurement was needed, which had not originally been required, nor planned for. The available resources aboard the ANIK E2 included the magnetic torquers, the pitch and roll on-board ESA attitude sensor, and individual thruster actuators. A set of gyroscopes was also available, but these gyros had a design life of substantially less than the expected spacecraft life; consequently, the gyros could not be used continuously for attitude sensing for the desired duration of the mission. The on-board attitude processor was fully functional, but the autonomous attitude control processing logic portion which depended upon a momentum bias in its implementation was not reprogrammable. The two-way time lag for communications between an Earth or ground station and the spacecraft is about 0.25 second. The spacecraft uplink control channel was originally intended for use with an autonomous attitude control system, for commanding the operating state of communication transponders, and the like. The uplink channel has a two second command cycle. An attitude control system usable under the described conditions was needed.
A zero-momentum spacecraft's attitude is controlled by determining the torque required about a control axis to maintain the desired attitude, and, during each of recurrent control cycles, enabling a magnetic torquer if the torque demand exceeds a threshold. During each of the control cycles, thruster(s) are enabled to make up the difference between the torque demand and the estimated torque produced by the magnetic torquer. In determining the torque demand, the attitude rate signal is low-pass filtered to reduce noise, and the control loop bandwidth is maintained by totalling the estimated torque applied by the magnetic torquer and thrusters, high-pass filtering the estimated torque signals, and adding the filtered estimated torque with the filtered attitude rate signals to generate low-noise attitude rate signals. A three-axis system is described.
More particularly, the spacecraft attitude control system maintains the spacecraft body in a particular attitude. The system includes a magnetic torquing arrangement mounted on the body, for, when enabled, torquing the body about a particular axis. A thruster arrangement is mounted on the body, for, when enabled, producing torque about the particular axis. An attitude sensing arrangement senses the attitude of the spacecraft body about the particular axis, and generates attitude-representative signals. An attitude error processing arrangement is coupled to the attitude sensing arrangement, and to a source of attitude command signals, if required, for determining, during each of a plurality of recurrent control intervals, the amount of torque required about the particular axis for tending to maintain the particular attitude. A distribution arrangement is coupled to the attitude error processing arrangement, to the magnetic torquing arrangement, and to the thruster arrangement, for, during each of the control intervals, energizing the magnetic torquing arrangement in response to the torque required, and for, during each of the recurrent control intervals, if the torque required is greater than the torque which the magnetic torquing arrangement provides, enabling the thruster arrangement for generating torque representative of the difference between the torque required and the torque which the magnetic torquing arrangement supplies. This essentially operates the magnetic torquer and the thruster simultaneously, with preference given to the magnetic torquer. The control system includes specialized filters, which reduce the noise in the estimate of the applied torque sufficiently to allow high loop gain, as required for accurate zero momentum attitude control.
The control system includes a source of three-axis attitude bias command signals, and first, second and third torquing arrangement coupled to the body, for applying torques to the body about first, second and third mutually orthogonal axes, respectively, in response to weighted control signals. Attitude sensing arrangements are coupled to the body for generating attitude signals representative of spacecraft attitude. An estimated control torque generating arrangement is coupled to receive the weighted control signals, for generating estimated control torque signals representative of the control torque applied by the torquing arrangement in response to the weighted control signals. First, second and third processors are coupled to the attitude sensing arrangement and to the source of three-axis attitude bias command signals for at least generating attitude error signals about each of the first, second and third axes, and for, in at least one of the three axes, (a) low-pass prefiltering the attitude signals to form low-pass prefiltered attitude signals with reduced noise, (b) subtracting the attitude bias command signals from the prefiltered attitude signals to generate attitude error signals, (c) integrating the attitude error signals to generate attitude integral signals, (d) differentiating the low-passed filtered attitude signals to form rate signals, (e) low-pass filtering the rate signals to generate low-noise rate signals, (f) integrating and high-pass filtering the estimated control torque signals to form high-frequency rate estimate signals, and (g) summing the low-noise rate signals with the high-frequency rate estimate signals, to form pseudo-rate error signals. A proportional-integral-derivative (PID) control arrangement is coupled to at least one of the first, second and third processors, for multiplying the attitude error signals, attitude integral signals, and pseudo-rate signals by first, second and third gains, respectively, to form weighted attitude error signals, weighted attitude integral signals, and weighted pseudo-rate signals, and for summing the weighted attitude error signals, weighted attitude integral signals, and weighted pseudo-rate signals to form a summed attitude control signal, and for multiplying the summed attitude control signals by a controller gain for the corresponding axis, to thereby generate a weighted control signal for the axis. A distribution arrangement is coupled to the PID control arrangement and to the thrusters, for distributing the weighted control signals to those thrusters providing control about the axis or axes being controlled, and for converting the weighted control signal to a form usable by the thrusters, for thereby closing a control loop tending to maintain the attitude of the spacecraft.
In a particular embodiment of the invention, the first, second and third torquing arrangements include chemical thrusters and their actuators, for, when fired, providing torques about roll, pitch and yaw axes. In this embodiment, the roll and pitch signals from the ESA are transmitted from the spacecraft to the ground station. The yaw sensing is determined at a ground station from antenna polarization measurements. The estimated control torque generating arrangement, the prefilters, first, second and third processors are at the ground station. The PID processor and distributor are also at the ground station. The ground station transmits information to the spacecraft with instructions to the various thrusters and magnetic torquers.
Another embodiment of the invention takes advantage of the characteristics of the control system, and includes the attitude signal processing on-board the spacecraft. In this embodiment, the momentum control wheels need not be provided, and the weight saved by not using momentum wheels may be used for additional propellant or payload.
FIG. 1 is a perspective or isometric view of a spacecraft according to the invention, in orbit around the Earth, and in communication with a ground station;
FIG. 2 is a simplified block diagram of a control system according to one embodiment of the invention;
FIG. 3 is a simplified block diagram of a control logic portion of the arrangement of FIG. 2;
FIG. 4 is a simplified block diagram of a PID processor which may be used in the arrangement of FIG. 2;
FIG. 5 is a plot of the response of the yaw sensor; and
FIG. 6 is a block diagram similar to that of FIG. 2, but with the principal portion of the processing on-board the spacecraft.
FIG. 1 illustrates a spacecraft 10 communicating with a ground station 12 located on the surface of Earth 14. Spacecraft 10 includes a body 16, oriented with respect to yaw (x), roll (y), and pitch (z) axes 18, 20, and 22, respectively. Each face of body 16 has associated therewith one or more attitude control thrusters, some of which are designated 24N, where N is a thruster designation. A telemetry antenna 26 is directed toward an antenna 12a of a ground station 12. A communications antenna 27, illustrated as a reflector 28, with a feed 30 mounted on struts 32, faces corresponding antenna 12a of ground station 12. An Earth sensing assembly (ESA) 36 is mounted on the Earth-facing side of body 16, for producing signals representative of pitch and roll, as known in the art.
FIG. 2 is an overall block diagram of an attitude control system according to an aspect of the invention. In FIG. 2, that portion of the diagram to the left of dash line 201 represents that portion of the control system within the spacecraft 10 of FIG. 1, while the right portion 212 represents that portion of the control system located at the ground station. Elements of FIG. 2 which correspond to those of FIG. 1 are designated by like reference numerals. In FIG. 2, ESA 36 couples signals representative of pitch and roll to a transmitter (TX) 214 by way of an Attitude System Processor (ASP) 203. The on-board attitude signal processor is capable of storing a commanded attitude, and subtracting the commanded angle from the measured attitude to form an attitude error signal. The roll or pitch error signals are made into roll or pitch angle signals by setting the commanded angles to zero. The ASP 203 is also capable of filtering and/or averaging the roll and pitch signals to reduce noise. The roll signals from ASP 203 are 32-sample running averages, and the pitch signals are two-sample averages. These filtered and/or averaged pitch and roll signals are sent by transmitter 214, by way of a diplexer 216 if required, to transponder antenna 26, for transmission from the spacecraft to the ground station.
In the ANIK E2 attitude control arrangement, payload antenna 27 transmits at least some of its signal with a known linear polarization, and yaw information is derived from the polarization as it is received at the ground station. For simplicity in describing the invention of FIG. 2, the telemetry antenna 26, which transmits the telemetry signal, transmits at least some of its signals with a known linear polarization, which has a particular orientation relative to body 16 of spacecraft 10 of FIG. 2.
In the ANIK E2 embodiment, the true-yaw-angle-to-indicated-yaw-angle transfer function is as illustrated in FIG. 5. A linear yaw measurement range 510 extends from about -5� to +5�, and further saturated ranges 512, 514, in which only polarity information is available, extend to about �15�. Beyond �15�, no yaw information is available.
The telemetry transmissions from antenna 26 (or from-another spacecraft antenna, as described above) of FIG. 2 are transmitted to another antenna 226, located at ground station 212. Antenna 226 may be a dual-linear-polarization antenna, as known in the art, which separately receives each of two linearly polarized signals, or which separates or resolves a single linearly polarized signal into two orthogonal components, which, in conjunction with a polarization processor 228, is indicative of the yaw orientation of the spacecraft body. Polarization processor 228 converts the two components into a yaw angle, and produces a signal representative of the current state of the yaw of the spacecraft. The yaw signal so generated has been found to be very noisy. The yaw signal is sent by way of a path 230 to a yaw control processor 236.
The pitch- and roll-representative signals processed by the ASP 203 of FIG. 2, and transmitted by telemetry antenna 26, are received by antenna 226 at the ground station 212, and are coupled to a receiver (RX) 240, by way of a diplexer 242, if required. Receiver 240 extracts the signals representative of the pitch and roll, and applies them, by way of a path 244, to pitch and roll control processors 232 and 234, respectively. As described below, roll control processor 232 receives the roll-representative signals from path 244, receives estimates of the roll torque from path 246, and generates roll attitude representative signals on a path 252, roll attitude integral signals on a path 254, and roll rate signals on a path 256, all for application to a proportional-integral-derivative (PID) processor 258. Similarly, pitch control processor 234 receives the pitch-representative signals from path 244, and estimates of the pitch torque from path 260, and generates pitch attitude representative signals on a path 262, pitch attitude integral signals on a path 264, and yaw rate signals on a path 266, all for application to a PID processor 268. In the same way, yaw control processor 236 receives the yaw-representative signals by way of path 230, and estimates of the yaw torque from path 270, and generates yaw attitude representative signals on a path 272, yaw attitude integral signals on a path 274, and pitch rate signals on a path 276, all for application to a PID processor 278. Details of a control processor such as 232, 234, or 236 are explained below in conjunction with FIG. 3.
Each of PID controllers 258, 268, and 278 of FIG. 2 multiples the corresponding attitude-representative signals, the attitude-integral-representative signals, and the attitude-rate-representative signals applied thereto by weights, to form weighted signals, and then sums the weighted signals, and weights the summed signal, all in known fashion, to produce a torque demand signal Tc. For example, as described in greater detail below in conjunction with FIG. 4, roll PID processor 258 of FIG. 2 receives the roll-attitude-representative signal over path 252 from roll controller 232, the roll attitude integral signal over path 254, and the roll attitude rate signal over path 256, and produces a roll torque demand signal Tcy on a path 290 for application to a distribution processor (distributor) 296. Distributor 296 performs processing, according to an aspect of the invention, for distributing the torque demand to the magnetic torquers insofar as possible, and, when the magnetic torquers are insufficient to supply the torque demand, as described below, for distributing the remaining torque among the various chemical thrusters of the spacecraft, in accordance with their known thrust directions, or preferably from their effective thrust directions, which may differ from the actual thrust direction, as, for example, due to plume impingement effects. The signals produced by distributor 296, representing the magnetic torquer ON/OFF states and the thrust pulse widths, as described below, are applied over a signal path 297a to a torque estimator 298, and over a signal path 297b to a transmitter 299. Transmitter 299 transmits the torquer magnetic state and thrust pulse width representative signals by way of diplexer 242, antenna 226, antenna 26, and diplexer 216 to a receiver 218 at the spacecraft 10.
The magnetic torquer state and thruster pulse width-representative signals transmitted to receiver 218 of spacecraft portion 10 of FIG. 2 from ground antenna 226 are extracted from the transmitted signals by receiver 218, and the magnetic torquer state representative signals are applied, by way of a signal path 219, to the corresponding one of drivers 222a and 222b for magnetic roll and yaw torquers 224a and 224b, respectively. The thruster pulse width representative signals are applied to ASP 203, which uses the operable and accessible thruster control processing to produce commands on a signal path 205 for application to thruster drivers 2201, 2202, 2203, . . . , 220N. Drivers 220 respond to their own particular signals, and respond by energizing or firing their associated thrusters 241, 242, 242, . . . 24N, with a pulse duration specified in the commands, to provide the desired torque. In general, the thruster control is by means of thruster pulse-width or pulse-duration ON-OFF modulation in the ANIK E2 embodiment.
Torque estimator 298 of FIG. 2 receives the magnetic torquer state and thruster pulse width representative signals by way of path 297a, and uses the signals, in conjunction with a table of estimated magnetic torques which can be produced by the magnetic torquers, and a table of torques which can be produced by the thrusters of the spacecraft. The tables may be preloaded into ROM 295, or into RAM if periodic updating is required, and accessed by estimator 298. The estimated torques are based upon various parameters, such as the locations of the thrusters on the spacecraft and their thrusts, and the thrust vector directions. Thus, torque estimator block 298 produces estimates of the torques produced by the torquers and thrusters about each of the roll, pitch and yaw axes. The resulting roll torque, pitch torque, and yaw torque estimates are applied over paths 246, 260, and 270, respectively, to roll controller 232, pitch controller 234, and yaw controller 236, respectively.
FIG. 3 is a simplified block diagram of a controller in accordance with an aspect of the invention, which may be used as any one of controllers 232, 234, or 236 in the ground-based portion of the arrangement of FIG. 2. For definiteness, roll controller 232 is illustrated and described. In FIG. 3, a roll attitude signal is received from path 244 and is applied to a block 310. Block 310 represents an nth -order low-pass prefilter, used to further reduce the noise in the roll attitude signal originating from ESA 36 and processed by the ASP 203 of FIGS. 1 and 2, to produce a filtered attitude signal af. The term "nth -order," in this context, means a filter described by a second-order difference equation of the form
yk =D1 yk-1 +D2 yk-2 + . . . +Dn yk-n +C0 Uk +C1 Uk-1 + . . . +Cn Uk-n(1)
yk is the filter output;
D1, D2, Dn, C0, and C1, and Dn are filter coefficients, one set for each axis;
yk-1, yk-2 are the previous-sample filter outputs; and
Uk is the filter input;
Uk-1 is the previous-sample filter input signal.
The low-pass filtered roll signal af produced by filter 310 of FIG. 3 is applied over a path 312 to a differentiator 322 and to the noninverting (+) input of a subtracting circuit 314. The inverting (-) input port of subtracting circuit 314 receives a signal over a path 248 which represents a pointing offset which may be desired away from zero roll. It is easy to understand that if the desired offset signal is zero, subtracting circuit 314 simply replicates the filtered roll attitude signal on its output signal path, which in effect makes the boresight of the ESA the target attitude. If the desired pointing offset is non-zero, the effective target attitude of the system is offset from the boresight.
The filtered roll-angle-representative signal produced at the output of subtracting circuit 314 of FIG. 3 is applied to an attitude processing block 316, which generates the roll component ae.sbsb.y of the attitude error vector
ae =(ae.sbsb.x, ae.sbsb.y, ae.sbsb.z) (2)
(where the overbar represents a vector quantity) and also generates the roll component of the integral update gain vector Ku.sbsb.y
Ku =(Ku.sbsb.x, Ku.sbsb.y, Ku.sbsb.z) (3)
from the filtered attitude errors by the following equations ##EQU1## where: subscript i represents any of spacecraft control axes x, y or z;
vector aint =(aintx, ainty, aint) represents the integral update limits;
vector aerr =(aerrx, aerry, aerrz) are the attitude error limits; and
vector amax =(amaxx, amaxy, amaxz) are the attitude error clamp limits.
The integral update limits are less than the attitude error limits, which in turn are smaller than the attitude error clamp limits. The attitude error limits must be less than the saturation value 514 in FIG. 5.
Essentially, equations (4) state that the attitude error ae along any axis equals the filtered attitude error af, and Ku equals 1, if the magnitude of af is smaller than the integral update limit aint. If af is not smaller than aint, and if the magnitude of the filtered attitude error is less than the attitude error limit aerr, then the attitude error ae is again set to equal to the filtered attitude error af, but Ku is set equal to zero. If neither of the conditions is present, then attitude error is set to the attitude error clamp limit amax, with the same sign (plus or minus) as the value of af, and Ku is set to zero. When Ku is set to zero, the value of the attitude integral does not change (the integrator is disabled). When Ku =1, the attitude error is integrated.
The roll attitude error signal ae produced on path 252 of FIG. 3 by attitude processor 316 of FIG. 3 is applied to integrator logic illustrated as a block 318, which integrates the roll attitude error signal ae to produce a roll attitude integral signal Γ on output signal path 254. The attitude integrals, at instant k, are calculated as
Γi.sbsb.k =Γi.sbsb.k-1 +ΔtKu.sbsb.i ae.sbsb.i (5)
i takes on the values x, y and z;
Γi.sbsb.k-1 is the attitude integral calculated for the previous sample; and
Δt is the processing sample interval.
In the ANIK E2 embodiment, the processing sample interval is 2 seconds for roll and pitch, and 1 second for yaw.
The filtered roll attitude signal af produced on signal path 312 by filter block 310 of FIG. 3 is applied to a block 322, which represents a differentiator. Differentiation of the filtered roll attitude signal af generates derived attitude rate (rd) signals representative of roll attitude rate.
rdk =(af.sbsb.k -af.sbsb.k-1)/Δt (6)
The roll attitude rate signals rd are applied to a block 324 of FIG. 3, which represents a low-pass filter. As mentioned above, such a filter is described by equation (1). The resulting low-frequency roll attitude rate signal rl component of vector rl =(rlx, rly, rlz) is applied to a first noninverting input port of a summing circuit designated 326 of FIG. 3, where it is combined or summed with a high-frequency rate estimate rh derived from the control torques.
A block 328 in FIG. 3 represents an integrator, which uses the known spacecraft roll inertia Ij to convert the estimated roll torque (Te) received over signal path 246 from torque estimator 298 of FIG. 2 into rate information r. The rate information r from integrator 328 is applied to a high-pass filter 329, which high-pass filters the estimated roll rate signal to produce a filtered estimated roll rate signal rh. Summing circuit 326 of FIG. 3 receives the high-passed roll torque estimate signal rh from block 327 at its second noninverting input port, and sums it with the low-frequency roll attitude rate signal rl from block 324, to produce a composite roll rate or "pseudo rate" error signal rp on path 256, rp =rl +rh. While only roll control processor 232 has been described, pitch control processor 234 and yaw control processor 236 are identical, except for the signals which they process.
FIG. 4 is a simplified block diagram of one of proportional-integral-derivative (PID) processors 258, 268, and 278 of FIG. 2. The three PID processors are mutually identical. For definiteness, roll PID processor 258 is illustrated and described. In FIG. 4, elements corresponding to those of FIG. 2 are designated by like reference numerals. In FIG. 4, roll-attitude-representative signals ae are applied over signal path 252 to a block 410, which represents multiplication or weighting of the attitude signal ae by a position gain constant or factor Kp ; the resulting weighted signal is applied to a first noninverting input port of a summing circuit 416. The roll attitude integral signal Γ on signal path 254 is applied to a block 412, which represents weighting of the attitude error signal by an integral gain constant Ki ; the resulting weighted roll attitude integral signal is applied to a second noninverting input port of summing circuit 416. Similarly, the composite roll attitude rate signal rp is applied over signal path 256 to a block 414, which represents weighting by a rate gain constant Kr, and the resulting weighted signal is applied to a third noninverting input port of summing circuit 416. Summing circuit 416 produces a sum of weighted signals, and the sum is itself further weighted by a constant Kf in a further block 418. The weighted sum signal
Tc.sbsb.i =Kf.sbsb.i (Kp.sbsb.i ae.sbsb.i +Kr.sbsb.i rp.sbsb.i +Ki.sbsb.i Γi)(7)
i is x, y or z;
Tc =(Tcx, Tcy, Tcz) are the torque demands;
Kf =(Kfx, Kfy, Kfz) are the forward gains;
Kp is the position gain;
Kr is the rate gain; and
Ki is the integral gain.
is generated on output signal path 290.
The attitude control system operates in two distinct modes, the acquisition mode and the normal operating mode. The acquisition mode uses the available short-lifetime gyros in a conventional manner, and is not a part of the invention. The following description of the operation of the attitude control system relates to the normal operating mode.
The Actuator Command Processing Logic (ACPL) associated with distributor 296 of FIG. 2 receives roll, pitch and yaw torque demand signals Tcy, Tcz, Tcx, respectively, from PID controllers 258, 268, and 278 of FIG. 2. At the beginning of each control cycle, the pulse widths for each of the attitude control thrusters and the yaw and roll magnetic torques, are set to zero.
Tm.sbsb.x =0
Tm.sbsb.y =0 (8)
The pitch impulse demand Iz is calculated from the pitch torque demand Tc.sbsb.z as
Iz =Δc Tc.sbsb.z (9)
where Δc is the control period. The pitch pulse width Δz is then calculated as
Δz =K.sub.Δ Iz (10)
where K.sub.Δ is the pitch-impulse to pitch-pulse-width gain. The pitch pulse width Δz is then limited in accordance with equations 11, 12, and 13 so that small values of pulse width are not allowed.
IF (|Δz |<Δmin) THEN Δz =0 (11)
where Δmin is the minimum pitch pulse width. If the pitch pulse width is greater than the maximum pitch pulse width, the value of the pitch pulse width is set equal to the maximum pitch pulse width
IF (|Δz |>Δmax THEN Δz =Δmax SIGN (Δz) (12)
Since the available pulse widths may have a finite resolution, the value of the pitch pulse width is then resolved
Δz =INT (Δz /Δres +SIGN (Δz)0.01)Δres (13)
where Δres is the pulse width resolution.
With the pitch thruster pulse width determined, it is then possible to stipulate which of the thrusters are to be used. For example, in a normal set of thrusters, either thruster 6 or 11 could be selected, depending upon the direction of pitch correction desired. Under abnormal conditions, such as failure of a thruster such as thruster 6, "odd-mode" thrusters might be selected, which would entail selection of thruster 9 instead of 6 for one direction of pitch correction, or thruster 11 for the other direction of pitch correction. If thruster 11 were unavailable, the even set of thrusters (6 and 8) might be selected. The pulse widths for the thrusters are therefore calculated from the pitch pulse width Δz as
______________________________________Normal set: If (Δz ≧ Δmin) Δ6 = Δz (14) If (Δz ≦ Δmin) Δ11 = -ΔzOdd set: if (Δz ≧ Δmin) Δ9 = Δz If (Δz ≦ Δmin) Δ11 = -ΔzEven set: If (Δz ≧ Δmin) Δ6 = Δz If (Δz ≦ -Δmin) Δ8 = -Δz______________________________________
These values of Δi and Δmin are stored, so that they can, later during the current control cycle, be combined with other commands. As mentioned, pitch control by means of the magnetic torquers is not possible, so thrusters must be used for pitch torquing.
The attitude command processing logic (ACPL) associated with distributor 296 of FIG. 2 uses the magnetic torquers for roll and yaw control to the greatest extent possible, to avoid the need to operate the thrusters, and thereby save fuel. The ACPL, in general, avoids the need for pulse-width modulation or throttling commands for the magnetic torquers, which might consume too much communication path bandwidth, by (a) if the torque requirement in roll or yaw is less than the magnetic torque which is available at maximum magnetic torquer current, commanding the magnetic torquer to be OFF for the current control cycle, and (b) if the torque requirement is greater than that which the magnetic torquer is capable of supplying, enabling the magnetic torquer at maximum current for the current control cycle. The ACPL also estimates the torque which has not been supplied by the magnetic torquer, to be made up by a thruster during the current command cycle, or possibly during the next following control cycle. The ON or OFF state of a magnetic torquer is established by setting the torquer state S=(Syct or Srct) on that axis to either true or false, and transmitting the signal to the spacecraft for execution. Note that Srct is the state of the roll-axis control magnetic torquer (RCT), which generates a yaw control torque, while Syct is the state of the yaw-axis control torquer (YCT), which generates a roll control torque. Assuming that magnetic torquer control is enabled (that the torquers are available for use), the torque demand on each axis is compared with a magnetic torque threshold for that axis. The magnetic torque threshold is based on an average value of the Earth's magnetic field and the magnetic torquer dipole. If the torque demand on an axis is less than the magnetic torque threshold on that axis, the torque demand on that axis is zeroed, and the torquer state S=(Syct or Srct) on that axis is set to OFF: ##EQU2## where Tc is the control torque produced by the PID block for that axis. On the other hand, if the torque demand on a roll or yaw axis exceeds the magnetic torque threshold, the torquer state for that axis is set to ON, the magnetic torque is defined, and the control torque demands are modified to carry unused torques over to the thrusters. The calculation is initiated for the yaw axis by, first, setting the default value of the magnetic control torque to zero
Tm =0 (16)
following which the actual determination is made ##EQU3## where: Mt.sbsb.x is a threshold constant, which is equal to the total torque which the torquer can provide in the yaw direction, based on the known magnetic dipole moment of the torquer, and an assumed average value of the Earth's magnetic field; and
Tmag.sbsb.rct is the three-component vector estimate of the torque produced by the RCT (in the case of a positive command), based on same known torquer magnetic dipole moment, and average Earth's magnetic field value.
It should be noted that the value of Mtx may be selected to be higher than the actual estimated torque, in order to prevent magnetic torquer command cycling in response to noise in the torque demand. Equation (17) determines the state of Srct, and the value of Tmag.sbsb.rct, which are both yaw axis determinations. The same processing is performed for the roll axis, to determine the state of Syct and the value of Tmag.sbsb.yct. ##EQU4## where: Mt.sbsb.x is a threshold constant, which is equal to the total torque which the torquer can provide in the roll direction, based on the known magnetic dipole moment of the torquer, and an assumed average value of the Earth's magnetic field; and
Tmag.sbsb.yct is the three-component vector estimate of the torque produced by the RCT (in the case of a positive command), based on magnetic dipole moment of the torquer and average Earth's magnetic field value. As in the case of the roll calculations, the value of Mty may be selected to be higher than the actual value. Note that the calculations are sequential, in that equations 16, 17, and 18 are evaluated in the stated order.
The yaw and roll thruster impulse demands, required to make up the amount of yaw and roll torque missing or lacking because of the torque limitations of the magnetic torquer, taking into account the operating state of the magnetic torquer, are then calculated
Ix =Δc Tc.sbsb.x
Iy =Δc Tc.sbsb.y (19)
The vector of the yaw and roll impulse demands, Ixy =(Ix, Iy) is then multiplied by the pseudoinverse thruster selection (PITS) matrix M, as known in the art, and as described in U.S. Pat. No. 5,140,525, issued Aug. 18, 1992 in the name of Shankar et al. The M matrix is termed Q in the Shankar et al. patent.
Δyr =MIxy (20)
is the vector of yaw-roll pulsewidths. These pulses are assigned to various ones of the thrusters, as explained in more detail in the above-mentioned Shankar et al. patent. The PITS matrix which is used depends upon availability of thrusters. All of the elements of the pulse width vector Δyr are limited and resolved in accordance with equations 11, 12 and 13 before allocation to the thrusters. These pulsewidths Δ are sent from distributor 296 of FIG. 2, by path 297b, to transmitter 299 for transmission to the spacecraft, and are also directed over path 297a to torque estimator 298 to aid in the estimation of the applied torque.
Torque estimator block 298 of FIG. 2 receives the thruster pulsewidths Δi and the magnetic torque Tm from distributor 296. The pulsewidths are used to calculate the average thruster torque Tt about each control axis, where Tt =(Ttx, Tty, Ttz), over the processing intervals of the filters of the attitude error processing logic (AEPL). ##EQU5## where: Te are the estimated control torques for the thrusters; and
Δtj is the AEPL filter processing interval for the jth axis. The average thruster torque Tt is added to the magnetic torquer torque Tm in torque estimator block 298 of FIG. 2, to generate the estimated pitch, roll and yaw torque vector Te =(Tex, Tey, Tez).
Te =Tt +Tm (22)
As described above, these torques are coupled to roll, pitch, and yaw control processors 232, 234, and 236.
FIG. 6 represents the same type of attitude control system as that of FIG. 2, but with most of the processing performed aboard the spacecraft. Elements of FIG. 6 corresponding to those of FIG. 2 are designated by like reference numerals. In FIG. 6, a dash line 1101 separates the portion of the attitude control system which is on spacecraft 10 from that portion which is at ground station 12. As illustrated, the roll and pitch signals originating from ESA 36 are applied from ASP 203a by way of a path 1120 directly to roll and pitch controller blocks 232, 234 of a second portion 203b of the on-board ASP. The yaw signals are generated at ground station 12 by polarization processor 228 as described in conjunction with FIG. 1, and the resulting yaw-representative signal is directed by path 230 directly to transmitter (TX) 299. Transmitter 299 transmits the yaw-representative signals by way of antenna 12a back to the spacecraft. Within the spacecraft, the signal received by antenna 26 is routed to receiver (RX) 218, and the yaw-representative signals are directed by way of a path 1119 to yaw controller 236. The processing within ASP portion 203b follows the description of the corresponding portions of FIG. 2. The distributor and ACPL 296 directs its signals by way of path 1197 to ASP portion 203a. Instead of sensing yaw at the ground station, the arrangement of FIG. 6 may use an on-board yaw sensor, such as that described in U.S. Pat. No. 5,107,434, issued Apr. 21, 1992 in the name of Paluszek, in which case the attitude controller does not depend at all upon ground-based sensing.
It should be noted that there are two dead-bands in the control of roll and yaw; the first is the dead-band before the magnetic torquer is energized, and the second is the dead-band inherent in the minimum pulsewidth of the thrusters. Thus, errors can accumulate slowly, until, during a particular control cycle, the corresponding magnetic torquer is energized. However, the torque demand will likely not be great enough to exceed the torque corresponding to the minimum thruster pulsewidth. With slow accumulation of attitude error, the magnetic torquer may be energized several times, until, at some later time, the torque demand requires a minimum pulsewidth firing. Thus, the thrusters can be expected to fire infrequently, if at all, during normal operation. However, they are available for large amounts of torque in the event of a larger transient.
The described system overcomes a disadvantage of attitude control systems in which the attitude signal can be even more noisy. The ESA is notoriously noisy, and the yaw determination as determined by the polarization of the received radio-frequency signal can be even more noisy. For a zero-momentum spacecraft, attitude rate feedback is necessary for a stable closed feedback loop. As described above, attitude rate is determined by low-pass filtering the attitude signal, and then differentiating the filtered attitude signals. The large amounts of noise in the attitude signals can concomitantly require large amounts of low-pass filtering. This low-pass filtering, in turn, limits the bandwidth of the attitude control loop, thereby limiting the disturbance rejection, and slowing the transient response. In the present case, large amounts of filtering are required to reduce limit cycling, which would result in propellant-wasting thruster cycling. Also, where ground-based control of the thruster firing is required, frequent thrust actuator commands, which are attributable to attitude sensor noise, can require excessive amounts of communication link usage, to the detriment of other housekeeping communications or of the payload communications. According to an aspect of the invention, low-frequency attitude information is combined with high-frequency actuator information to obtain low-noise, wideband rate signals, which allow stable, high bandwidth attitude control loops. More particularly, the actuator or thruster command signals (thruster pulse widths or magnetic torquer states) are used to derive estimated spacecraft body torques. These torques are integrated and high-pass filtered to generate low-noise, high-frequency rate information. The low-noise, high-frequency rate estimate is used in conjunction with the attitude errors and attitude integral to generate the torque demands by means of a PID controller. The resulting torque demands are distributed to the torquers, and back to the torque estimator.
According to another aspect of the invention, the magnetic torquers are enabled at a fixed current during those control cycles in which the torque demand equals or exceeds the torque estimated to be available from the magnetic torquer. The difference is taken between the demanded and magnetic torques, and the difference is applied to control the pulse-width of the thrusters. Thus, the thrusters and the magnetic torquers are both available for use during each control cycle. This is particularly important where a strong environmental effect acting on the spacecraft might overwhelm the magnetic yaw/roll control and tend to cause the spacecraft to rotate outside of the yaw sensing region or away from the Earth, which could cause loss of control and mandate entering an acquisition mode. By having the thrusters available during each control cycle, rapid corrections can be made, if necessary, to prevent loss of control, but during normal operation, in the absence of strong environmental factors, the thruster usage is minimized.
Other embodiments of the invention will be apparent to those skilled in the art. More particularly, the described processing may be performed by dedicated hardware, by one or more software-controlled general-purpose processors, or by firmware, as is well known in the art. In an embodiment in which the control system of the invention is incorporated into an autonomous attitude control spacecraft, the magnetic torquers may be actuated during each control cycle with a torquer proportional to the torque demand, rather than the zero-torque or full-on states mandated by the limitations of the communication path. While chemical thrusters have been described, other thrusters may be used, such as catalyst- or electrically-enhanced chemical thrusters (using resistance heaters or arcs), or ion or other charged-particle thrusters. While antenna 226 of FIG. 2 has been described as being different from antenna 12a of FIG. 1, they may be the same antenna.
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|U.S. Classification
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|International Classification
|Cooperative Classification
|European Classification
|Mar 23, 1995
Owner name: MARTIN MARIETTA CORPORATION, NEW JERSEY
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SHANKAR, UDAY JAYA;GOODZEIT, NEIL EVAN;SCHMIDT, GEORGE EDWIN, JR.;REEL/FRAME:007614/0062;SIGNING DATES FROM 19950303 TO 19950314
|Sep 8, 2000
|Fee payment
Year of fee payment: 4
|Sep 13, 2004
|Fee payment
Year of fee payment: 8
|Nov 23, 2004
Owner name: LOCKHEED MARTIN CORPORATION, MARYLAND
Free format text: MERGER;ASSIGNOR:MARTIN MARIETTA CORPORATION;REEL/FRAME:015386/0400
Effective date: 19960128
|Sep 11, 2008
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About five months ago a new Chamber of Commerce sprang into existence in Redwood City that has already done as much for the advancement of its chosen field, as any similar promotion organization in the entire State.
The creator and moving force of this association is Mr. Ed. T. McGettigan who has made community building, trade-development and trade-protection a life study.
Mr. McGettigan was born in Vallejo, California, March 3, 1875. Early in life he attended the "College of Hard Knocks," obtaining his education in a life of practical experience, including in his curriculum, salesmanship, government clerkship; and finally taking up newspaper work, which he followed for twelve years. His newspaper experience covered a field ranging from San Francisco to Denver.
The positions he is now filling are: Secretary-Manager of the Redwood City Chamber of Commerce, and General Manager of the Peninsula Industrial Commission, an organization formed for the purpose of making known, through widespread newspaper publicity, the merits of San Mateo County. In a little over two years, Mr. McGettigan's articles on the good roads of San Mateo County have been published in magazines and papers in nearly every state in the Union as well as in Canada and Australia, being largely responsible for the recent development of the County during the last two years.
Mr. McGettigan lives in Wellesley Park, Redwood City with his wife and four children. He is Past Exalted Ruler of Vallejo lodge of Elks, the B. P. O. E., being the only fraternal order of which he is a member.
Biographical Sketch of Edward T. McGettigan
About five months ago a new Chamber of Commerce sprang into existence in Redwood City that has already done as much for the advancement of its chosen field, as any similar promotion organization in the entire State.
MLA Source Citation:Alexander, Philip W.; Hamm, Charles P. History of San Mateo County from the Earliest Times: With a Description of Its Resources and Advantages: and the Biographies of Its Representative Men. San Mateo County, California: Press of Burlingame Publishing Company. 1916. AccessGenealogy.com. Web. 26 July 2016.
https://www.accessgenealogy.com/california/biographical-sketch-of-edward-t-mcgettigan.htm- Last updated on May 15th, 2013
This page is part of a larger collection. Access the full collection at History of San Mateo County California.


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Reviewed By derek k (MANDAN, ND) Reviewed for a 2006 GMC Envoy —3/8/2013 2:41 AM
A little exspensive but worth it exspecialy when added to volant cold air intake. Installation is s breeze.
Reviewed By Richard B (Youngstown, FL) Reviewed for a 2006 GMC Envoy —1/18/2012 3:07 PM
Easy to install takes about as long as it takes to put in a air filter element. Its almost too easy. My 2006 Gmc Envoy 5.3 v-8 picked up about 1.4 mpg thanks to this spacer. It made the check engine light come a couple of times but it finally got use to it and it no longer does.Also seems like it is more responsive. Good product two thumbs up Thanks Rich
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Expectid to be able to take the old air system out and just hook up the new k&n system and done. Sadly it was not that easy. The holes for the grommets were to small making the hole in the grommet to small for the air sensor. I had to open up the hole with a die grinder to get it to work. Also there id no hole for the air injection tube. Lucky i already had a 1-1/4 hole saw or i would of had to go buy that too. Sill love the product and the brand


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Penthouse 1
Maksimum Konuk Sayısı6
Yatak odası1
Boyut52 metrekare
Floor No.2
- Aile / Çocuk dostu
- İnternet/Kablosuz ağ
- Mutfak
- Evcil hayvan girebilir
- Çamaşır makinesi / Kurutma makinesi
- mevcut Otopark
- Balkon/teras
|Bohaterów Monte Cassino, 81-704 Sopot, Polonya
|Mülkiyet türü
|Referans kodu
|Acceptance rate
|Response time
|A few hours
|Calendar updated
|A week ago
Apartment space
• 1 bedroom
• Living
• Kitchenette
• Spatial Window
• Balcony
• 1 bathroom
additional amenities
• Possibility to park your car in the yard outside the building
• washing Machine
• Wireless Internet
• Television
• Towels, bed sheets
• Fully equipped kitchen for cooking utensils, pots, glassware, cutlery, lunch, and utensils:
• Refrigerator
• Freezer
• Ceramic hob
• Electric kettle
The apartment consists of 2 rooms and is designed for 6 people
• 1 bedroom with king-size bed and a sofa bed
• Living room, sofa bed
• Shower
• Toilet
• Sink
• mirror
• Drying the laundry
Size 52 m
|Check-in Saati (Sonrası)
|Check-in before
|Check-out Saati (Öncesi)
|İptal Koşulları
The host cancelled the booking, this review is automated.
We really enjoyed our stay. The apartment was as we had expected. Big advantages was the spacious rooms and the location. Our host was extremly service minded and made sure that we got the most out of our stay.
The only remark is that the apartment wasn't cleaned Hood enough after the former guests.
We would definatly recommend this apartment!
It was a very nice apartment with a good locasion.
Nice and clean Apartment located in a quiet street, but still close to Monte Cassino. Large enough for a family of five. Our host was service minded and followed up our queries rather promptly.
The apartment "Grande" was dirty. The oven had not been cleaned, there was old food in the freezer and the floors were dirthy. The kitchen was not equipped for 7 people and there was no mop to clean the floors. The only place to dry clothes and towels was a broken drying rach. We called the owner and he fixed everthing except the drying rack and the hole week we had difficulties to dry our clothes and towels
The owner was helpful and reachable and ordered taxies for us both ways. The apartment was big enough for 7 people
We enjoyed our stay in Sopot a lot. The apartment has a nice location, it's close to the beach and in the heart of Sopot. The facilities are great, too. The only thing we missed, though, was wifi. Our contact person was service minded and helpfull. Thank you!
The host cancelled the booking, this review is automated.
clean tidy apartment with all the facilities you could wish for 1 weeks holiday. excellent location and superb views. look no further if you want a holiday let in Sopot. Great
Very nice apartment with good location. Great service from the host, who also arranged taxi for us from the airport. This can be recommended !!
- Kalite güvenceli konaklama
- Her ev sahibi telefonla doğrulanmıştır
- SSL şifrelemesi ile güvenli ödeme


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I have a 1994 dodge intrepid the car has a 3.5 v6 the car drives good except when driving it will shift from 1st to 2nd no problem but wont go any higher it tops out at around 45 and wont shift. Its like its in limp mode or something. Can you please help me. Thanks
Tuesday, October 2nd, 2012 AT 11:35 PM


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This bag is a real bargain. Well made out of sumptuous leather. The bag's complete lack of embellishments and logos gives it a sleek elegant look. Very much a classic, appropriate for women of all ages and stages. I highly recommend this bag, especially for ladies who do not like all kind of glitter, bells and what not. I bought this bag in "avocado" to use on a day to day basis. Lovely color, adds some "punch" to any outfit. I am the Director of Nursing for a Home Health Agency. I am in the office, in the community, seeing patients in their homes, teaching a class, all on the same day! This bag is perfect to hold my needs for the whole day! It is easy to "reload" at the end of the day. As for size, perfect. Big enough to hold my daily necessities, but not big enough to allow junk to accumulate. My only criticism, and the reason I gave this bag four instead of five stars, the liner is really cheap. I think the bag's quality makes it worth the investment to have it relined when the cheap liner "goes". I'll be back for one of the brown shades. And one for my daughter. as well.
I ordered this bag as a rebellion against crappy, cheap looking, bling-blingy purses that seem to have permeated the market lately. This looks like "nothing special" which was exactly what I wanted - there are no worthless zippers to nowhere, no fringe, nor enormous metallic logos that make you look like a K-mart-shoppin' Paris Hilton. The straps are sturdy and a good length - it fits on my shoulder fine, might be just a tad to long for holding by your side - the purse is large, but not ridiculously so. It holds a lot of "purse stuff" - wallet, makeup bag, anti-bac, etc - as well as the occasional bag lunch or "take home work" files. The snap closure is my favorite thing ever! My only complaint (and this is my own fault) is I got the burgundy, which is beautiful, but severely clashes with my largely purple and brown shoe and jacket wardrobe.
This bag is wonderful. It has two compartments which is perfect for keeping my wallet and other personal items sperate from my work stuff. Big enough to fit a date book, notebook and file folder, but it doesn't look bulky. Also has a large zipper area in the middle which I use for small items to avoid digging through the large compartments to find them.
I love this bag. Lots of room, and looks great. It really needs more pockets. There's only one side pocket and a place for sunglasses. But the main problem is it stinks. I know it's the leather, but maybe it's the quality of the leather because the smell hasn't toned down in the 6 weeks that I've had it. And it's not the pleasant leather smell. My 3 yr. says he smells poopy whenever my bag is near.
I purchased this handbag a year ago and when it arrived loved the color and smell of the leather. Okay so I've been carrying it for a year now and it looks well worn. The bottom trim colored leather has peeled and chipped so it looks more worn than it should. I've owned several leather purses and none have "chipped" like this. The other thing is that it was much bigger than I was expecting but for those ladies who like a bigger purse, it holds a lot. I finally have put it away for a little while because I couldn't ever find my phone. There is a velco holder on the side I used for my "old people" glasses so I guess a phone would have fit there but then where to put the glasses? I liked the zipper middle pocket which held a potpouri of odds and ends but again, I don't like a lot of clutter in my purse. Anyway, I put it away for a few months and then I'll probably bring it out again. It's a good purse for the money.
- How did the color on site compare with the actual product? exactly as pictured
- Please tell us about the quality of the product. okay quality
- How accurate was the sizing? bigger than expected
I bought this purse because one reviewer said it was perfect for work and that she could put her files with all her everyday stuff. WRONG. Either you put in files standing up or you put very small files. I bought it to use for work. I am a teacher and have to use it for papers, wallet, cosmetic bag, and little everyday extras. The bag is very narrow and I have to push the wallet in. The other thing is that it does not have outside pockets for keys, phone or glasses. The inside pocket for the phone is so narrow you can't use it if you have an IPhone. I kept it to give as a gift but I can't use it for what I intended it for. Another reviewer mentioned the smell. It is not bad. It's just real leather smell.
- How did the color on site compare with the actual product? Good color.
- Please tell us about the quality of the product. Good everyday bag.
- How accurate was the sizing? The size was accurate but it is a slim purse. I can't put barely put my wallet on one of the sides.
This purse was bought as a gift for my assistant - who was desperately in need of a business travel purse. Had to be big enough to carry paperwork, sturdy enought to take the weight of lots of paper/books etc., secure enough to keep her personal effects out of sight and away from prying hands, rough enough to handle not-so-gentle travel, presentable in a business setting - and still pretty. So far so good - fits the bill, and my assistant loves it. The avocado colour was just great - fun enough to give a little levity to business - but not fluffy enough to undercut gravitas. sensible construction - practical.
I was looking for a "good old bag" to use everyday, to scuff, to bang around in the grocery store. This bag is good leather, shallow enough for me not to lose eveything, easy to see into at a glance. It goes with everything, fits unde my arm easily without slipping. It was a really good choice for me and fits my needs. I would recommend highly...
I bought this bag because I needed a good leather bag for work. I was really pleasantly surprised at how nice it is. The leather is a good quality and I like that the handles are leather too. The bag is a great size and I can fit a slim lunch container in one of the divided compartments along with a bottle of water. I've had a lot of compliments on the bag and it doesn't bother me one bit that there is no brand name on it. The bag is great for what I need it for and the size and handles are perfect. I purchased black and it goes with everything.
- How did the color on site compare with the actual product? Very accurate
- Please tell us about the quality of the product. Very good
- How accurate was the sizing? Very accurate
I ordered two bags, burgundy and black. They are the perfect size for everyday use; easy access and the leather is very soft. The only problem I have is that the handles are pieced in an odd way, making the stitching obvious and without a nice smooth line. However, for the price I am quite pleased with the bags and glad I bought both colors.
I like the bag and the longer I use it the softer it gets. However, you have advertised the five colors for several months and it has not had these colors available any of this time. Would really had liked it in a different color. It is a nice size - can put a lot in it and the lining is so that things come out easily. It's okay just not anything to get excited over.
Top quality craftmanship in top quality leather. Is comfortable on the shoulder or in the hand. Sits perfectly upright on metal feet. I have paid 2-3 times this much for similar quality leather bags. Highly recommend.
Other purses with the color I received are described as Chestnut brown or as I would say more of a cinnamon, kind of reddish brown. It is not the color display on the website. But the quality is good and I love the black one I purchased.
I like the tote. I truly do. I wish I would have paid attention to the dimensions of the tote before I purchased it. It would have been so much nicer if it was a little bit bigger!
This is not a particularly fashionable looking pocketbook but it does not disappoint if you are looking for a utilitarian purse. It is roomy without being overwhelming and has a plain and classy look. The price is right for a leather purse! It has nice long straps that fit over your shoulder even with a winter coat. It has a great pocket for your phone with a velcro flap that keeps your phone from falling out. I like its center large zipper pocket because you can zip up your wallet inside to foil pickpockets. I wish it had a second small "cell phone" type pocket for my business cards.
I got this bag and love it. It's a timeless, classic shape and style. I got it in the olive green and love the colour. The bag had a very strong smell (odor) that other reviews have referred to...it must be be due to it being cowhide leather but that smell is disipating more every day. No streaky colouring, or any colour rubbing off. I think this was a great buy and steered a friend to Overstock so she can look at it in other colours!!!
I love my new purse. The handles are large enough that it can still go over my shoulder, however, the handles must be vinyl because after using it for about three weeks, they are starting to show some cracking. It is black in color, therefore, the cracks are harder to see, unless you purchase one that is a lighter color. Overall, I think it's a fabulous purse for the money. My girlfriends commented how much they like the purse also. I just might order more as Christmas gifts for a few good friends!
Super lightweight and perfect in lieu of briefcase for work. Love the color!
Soft leather, good organization, great everyday bag. I've had mine for over a year and it still looks good.
Got a great deal on this bag. I like that its real leather and pretty good quality as well. Would definitely get another in a different color.


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Find out how you and a friend can win a trip to Las Vegas!
Bell Biv Devoe | TLC | Montell Jordan | All-4-One | Soul For Real | Kid 'N Play w/ DJ Wiz
The rapper opens up about his first new album since he was released from prison
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See a day in the life with the 'Here' singer
Facebook is changing AGAIN, make sure it doesn't impact your feed
The party gets going' every Saturday night thanks to Double Nickel
In light of the NBA's decision to move the site of next year's All-Star Game, a local congressman is pushing for Sacramento to host the four-day event.
A Natomas pastor, whose name became infamous in our area after a YouTube video showed him praising last month's horrific shootings in an Orlando nightclub,...
It's called "The Barn" but its design has locals in West Sacramento thinking about contemporary architecture seen only in Europe.
Five people were injured in a two-car crash in Folsom Friday afternoon.
The actress opened up about her health battles.
Big Al talke with the people of Make-a-Wish about an awesome wish they are granting to a little Sacramento boy!
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Michelle was spitting hot bars with the rapper! James definitely wasn't ready for all of that fire.
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Firefighters are battling a fire that broke out near Storksbill Road in Pilot Hill in El Dorado County.
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A Florida teacher is out of a job and on probation for showing up to school drunk.
The artist detailed her reaction to seeing the First Lady rap her song, as she sat in the backseat of "Carpool Karaoke."


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Access to MyStatesman included for Statesman subscribers.Explore
Barry Switzer regrets that he never developed a personal relationship with Darrell Royal, the legendary Longhorns coach whom the former Oklahoma coach antagonized in the 1970s.
There were so many hard feelings spawned by the heated Texas-Oklahoma rivalry that the two coaches becoming friends was virtually impossible, Switzer said after Royal's death last Wednesday at age 88.
Royal was buried in a private ceremony Monday at the Texas State Cemetery.
It's not unusual for coaches to become friendlier once their careers are over — and Royal and his wife, Edith, had a special bond with Arkansas' Frank Broyles and his family — but not so for Royal and Switzer.
"We could never have the same relationship that Darrell and Broyles had," Switzer said.
The Royal-Switzer feud boiled over in 1976. The Texas coach had thought for years that Switzer was finding ways to sneak into Memorial Stadium and scout UT practices. The week of the game, Royal learned the identity of an alleged Sooners spy, an Oklahoma booster disguised as a painter.
Royal challenged Switzer to take a lie detector test, saying he would resign if the Oklahoma coach passed. Switzer declined.
However, in his 1990 autobiography, Switzer admitted spying.
"Darrell was right to accuse of that," Switzer wrote. "It was my fault because I was the head coach."
Royal said he decided to retire in 1976 at age 52 because he'd grown tired of cheating in college football. He also was probably tired of losing to Switzer; Royal's Longhorns were 0-3-1 against Switzer's Sooners in their four head-to-head matchups.
That 1976 Texas-Oklahoma game — Royal's final appearance in the annual Cotton Bowl shootout — dripped with intrigue. The Sooners had won five straight over Texas, and Royal's offer to pay $10,000 to Switzer, Oklahoma defensive coordinator Larry Lacewell and Lonnie Williams, the person accused of spying, to take polygraph tests made headlines.
Texas played a defensive masterpiece that afternoon, taking a 6-0 lead on a pair of long field goals by Russell Erxleben. Oklahoma avoided defeat with a late touchdown drive, but a botched snap on the extra point was the pivotal moment in a 6-6 tie.
Switzer, who still attends the Texas-Oklahoma game, said he was saddened roughly a month ago to learn that Royal was battling Alzheimer's, especially when he heard a rumor that Royal might be having problems remembering that he used to coach college football.
"When I heard that remark, it just overwhelmed me," Switzer said. "Imagine that a man who had accomplished so much, (was) loved and respected by his players and peers, couldn't remember that. That was such a profound moment."
CORRECTION: This story has been updated to correct the day of Darrell K Royal's burial.
Memorial Service
A public memorial service honoring Darrell K Royal — who was the winningest football coach in University of Texas history and led the Longhorns to national championships in 1963, 1969 and 1970 — will be at noon Tuesday at the Erwin Center.
Those wishing to attend may enter through arena-level doors, which will open at 10:30 a.m.
Seating will be open throughout the arena and mezzanine levels.
On Saturday, the football team honored Royal with "DKR" initials inside the longhorn logo on players' helmets. That same logo graced midfield. After Texas' 33-7 win over Iowa State, head coach Mack Brown said the field logo and DKR helmet logos would remain for the rest of this season.


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No Runaway "Must Have" Toy for the 2011 Holiday Season
I have very clear memories from my days working retail of parents shoving other parents and even children out of the way to get to the latest and greatest toys and games around the holiday season. I can reassure you - it's usually pretty ugly out there.
The Times' article "No Hit Toy To Brighten Retailers' Christmas" describes a toy shopping landscape without a toy that everyone goes bonkers trying to get. The article also cited a survey in which more than one-third of parents were stumped for toy gift ideas because they weren't seeing as many new items for offer. You can read more on this year's buying habits at The New York Times.
How have your shopping days been? Have you run into any crazed parents or have they been pretty mellow?
(Image: Flickr member pasukaru76 licensed for use by Creative Commons)


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'RHOC' Star Alexis Bellino Flaunts Bikini Bod In Laguna Beach
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|Reviews for Haley Confesses
| The Phantom Titan chapter 14 . 4/25/2010
So Awsome! please update!
| kagetoushiru chapter 14 . 1/18/2010
great story, cant wait for you to update it. hope it will be soon as i am looking forward to what there parents say and what will happen next.
| Homer chapter 14 . 11/14/2009
wow...:O that was something! finished reading all the chapters and i have to say once you get past the shock factor this is a decent
smutty romance story. my heart stopped when their dad opened the door and i couldn't help but laugh my a$$ off when Spud and Trixie were getting down. Great so far can't wait for the next chapter
| anonymous chapter 14 . 3/23/2009
In future chapters, preferably in next chapter I want Jake and Haley have sex in their dragon forms. And by away it's a very good story you have created.
| SethFC chapter 14 . 2/12/2009
Great fic I enjoy it and its going on my alerts update soon.
| jamesstutz chapter 14 . 1/16/2009
I love this chapter. Next chapter I want to see Jake and Haley make love in their dragon forms. I know it will be hard for you. I know you cona do it.
| kagetoushiru chapter 1 . 12/12/2008
amazing story, i think that it would be good if you made a lemon when they are in dragon form as it is somthing original, hope that you will update soon
| hetalian-system chapter 14 . 11/29/2008
i luv this story soo much plz write more!
| Graybear32 chapter 14 . 10/21/2008
Funny, sexy, with just a smidgion of angst. perfect story so far. Plus its seems that you aquanted with spell check. (the good lord knows I use it often enough)
| fcck chapter 14 . 10/10/2008
This is sick just sick go to hell you mother fucker
| anon o'mace chapter 1 . 10/5/2008
dude when are you going to updaTe
| Krytical chapter 5 . 8/18/2008
Ohh, umm, wow. That was, uh, kinda sick. You know? God, something must be wrong with me to get through chapter 5. Hell, something must be wrong with you. I have no problem with slash and stuff, but incest! That includes a 10 year old girl? That makes even sicker! Ugh. At least it wasn't just pure smut.
| Dan chapter 1 . 8/18/2008
| dragonboy 2343 chapter 14 . 7/20/2008
this was great
can you put more up i want to see what happens
with jake and haley
haley is HOT!
| Dark King Rosemar chapter 14 . 7/1/2008
From one author to another let me just say: Bravo! Bravisemo!
This was highly enjoiable and I look froward to the ending. You are trully inspiring, for daring to make a Haley X Jake fic. You are trully an author after my own heart. Once more: Bravo! Bravisemo!


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A client of mine wants an app with the following functionality:
They send me a video and information on timeframes when a user can interact with video.
When the timeframe comes , the video has a white screen (already in there) and i switch video output to the camera. Then the user does some talking to the (recording) camera till the timeframe is over , then it switches back to the video.
This happens for about 5 timeframes in a 2 minute video ( timeframes and videos are variable)
After the entire video is played and everything is recorded, i need to merge the existing video with the recorded videos ( put the recorded videos on the specified timeframes) and 'compile' it as a new video.
Since i've never worked with video on iOS i'm asking for some help/directions. I've already checked out AVFoundation, but it hasn't made me wiser whether this is possible or how to do it.


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There doesn't have to be multiple gunmen to pull off something, just one we...
That tree's friends will be out for blood. Or sap. Whatever.
At some point you're not really shooting the gun so much as avoiding it.
Woah. That's how gun accidents happen. Luckily, in this case, she missed ev...
If you want a real challenge, try a giant 2-gauge Punt Gun. These shotguns...
The sequel to John Wick, which will be called John Wick: Chapter Two, is sc...
Never waste a healthy beard.
Yeah, bad idea right there.
Duck next time.
Nerf…the word has lost all meaning.
Another viral video war wound.
That's pretty cool and, you know, dangerous.
Or just roll down the window.
Pew pew pew!
Gun safety...What's that?!
Best to just run away.
Turtlenecks only at the gun range.
They spent their ammunition fund on haircuts for Kim Jong-Un.
Tea cup for the win!
All of that in less than the blink of an eye.
Hope he ate the deer.
You know, if you need such a thing.
Snipers'll get ya every time.
Maybe downsize next time.