text:
|Publication number
|Publication type
|Application number
|Publication date
|Sep 8, 1992
|Filing date
|Mar 7, 1990
|Priority date
|Mar 22, 1989
|Fee status
|Also published as
|Publication number
|Norman F. Watson
|Original Assignee
|Gec-Ferranti Defence Systems Limited
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (6), Referenced by (38), Classifications (7), Legal Events (4)
|External Links: USPTO, USPTO Assignment, Espacenet
This invention relates to signal processing and in particular to processing that involves integration with respect to time of an input signal containing components which in the integrated form give an erroneous result and wherein it is usual to remove the effects of the components (that may be detectable in the input signal or not) from the integrated signal rather than the input signal.
The invention is particularly, but not exclusively, applicable to the processing of signals provided by accelerometers used for inertial measurement, both in relation to the inherent response linearity to measuring acceleration along an axis to which an accelerometer is sensitive and in relation to the effects of motions of the accelerometer along or about nominally non-sensitive axes that manifest themselves in the signal produced.
Accelerometers used in inertial measurement are most frequently employed in navigation instruments wherein the acceleration signals are integrated with respect to time to give a measure of the velocity of a vehicle and possibly further integrated to give a measure of distance travelled. Clearly there is an important need to remove inaccuracies which if carried through processing and accumulated would both render the instruments insufficiently accurate for navigation. Accordingly, the sources of error and their elimination have been studied mathematically and practically and although forming no part of the present invention per se, examples of such errors will be outlined here for the purposes of explaining the present invention.
Correction errors in accelerometers and other inertial navigation instruments in general is discussed in the text books, for instance by N. Fernandez and G. R. Macomber in "Inertial Guidance Engineering" published by Prentice-Hall Inc., Englewood Cliffs, N.J., U.S.A.
One form of accelerometer error is a transfer function linearity error, often referred to as scale factor non-linearity, in which an output signal, say in the form of a current, is not proportional to the input, acceleration, alone but is in the form of a polynomial in which there is a constant term being a function of the instrument, what is herein referred to as a first order term proportional to acceleration and what is herein referred to as a second order term proportional to the square of acceleration.
This may be summarised as, output signal=
ACC.=K0 +K1 [acceleration]+K2 [acceleration]2( 1),
where K0, K1 and K2 are determinable constants for a particular instrument and operating conditions and higher order terms are ignored.
In the operating environment such accelerometer may be called upon to measure very low levels of inertial acceleration whilst subject to a vibration within the craft due to the craft motion or a deliberately induced dither of an instrument cluster carrying the accelerometer. The effect of such vibration is to provide a composite inertial and vibrational acceleration that is represented by the output signal of the accelerometer.
If the vibrational motion is sinusoidal, say represented by the function asinwt, the output signal given by equation (1) can be represented as
ACC.=K0 +K1 asinwt+K2 a2 sin2 wt (2)
which may be expressed as
ACC.=K0 +K1 sinwt+1/2.K2 a2 -1/2.K2 a2 cos2wt(3)
Although integration over a substantial interval can be made to have a filtering effect on the periodic variations it will be seen that the second order term in the transfer function introduces to equation (3) a constant term 1/2.K2 a2.
The coefficient K2 is usually much smaller than K1, and the term (1/2.K2 a2) would only become significant in the acceleration signal per se for large peak values (a) of vibrational acceleration, but its effect when signal ACC. is integrated with respect to time to give a velocity signal VEL. is certainly significant for long integration times in giving an erroneous time dependent component to the velocity signal.
In order to obtain a velocity measurement from an accelerometer it is known to perform integration of the measured acceleration-representing signal where it takes the form of a current by means of a current-to-frequency converter in which a capacitor is charged by the current until the voltage developed thereon reaches a threshold at which time the capacitor is reset by inserting a predetermined opposite charge that offsets the voltage and permits further charging, the number of capacitor resets in any given time period representing the average current flow in that time period and the total number of resets counted over a longer integration period representing the integral of that current flow, nominally the velocity of the craft.
Such a method of integration is considered very accurate per se and involves no direct measurement of acceleration current but, because of the aforementioned non-linearity given by the second order transfer function term, the velocity-representing signal, that is, the integrated input signal, or integral signal, does have to be corrected to give a true value.
This may be effected by sampling the velocity value throughout the integration period at high rate to give for each pair of adjacent sample values an average current sample value and for each effective current sample applying an algorithmic process that isolates the second order term, essentially by squaring the sample, multiplying it by a factor that provides the second order coefficient and sample duration and accumulating the processed samples for the integration period to get a quantitive estimate of the effect of the second order terms on the integrated accelerometer signal and subtracting this estimate to derive a true integral based upon first order term only.
It will be seen that a similar procedure involving sampling the accelerometer signal rather than its integral gives acceleration samples directly for the algorithmic process.
In either case it will be appreciated that in order to derive adequate information for processing a signal oscillating in amplitude whilst avoiding aliasing effects it is usually considered necessary to sample at, or preferably well above, the rate of twice the maximum oscillation frequency of interest present given by the Nyquist sampling theorem, and in practice it has been perceived necessary to sample at five or six times the oscillation frequency, that is, about 3�`Nyquist rate`.
It will be understood that in modern systems such algorithmic processing of signals is accomplished in digital form by programmed computer which also performs many other functions including control of sampling and that the taking and processing of samples at a high rate, which may in practice be of the order of 2.5 KHz, is a burden upon the system which is primarily interested in low frequency inertial change of signals and wasteful of computer overheads just to eliminate the effects of the unwanted second order output due to high frequency vibrations.
A second form of error occuring in accelerometers is the so-called vibropendulosity error which results from vibrational motion about the sensitive axis and orthogonal to it and is a function of the product of the acceleration experienced in these directions.
A third form of error that occurs in accelerometers is the so-called sculling error in which vibrations along rectilinear axes mutually orthogonal to the sensitive axis have an effect along the sensitive axis that puts the accelerometer output signal in error. When the accelerometer is mounted in a strap-down inertial platform with similar accelerometers sensitive along mutually orthogonal directions and gyros measuring rotation about those axis it is usual to the signals from the appropriate devices that measure in a particular angular or rectilinear sense to be sampled and used to perform a correction algorithm on the signal of the one accelerometer.
Although in these cases the errors are not detectable from the accelerometer signal itself their effects on the integrated signal are quantifiable by sampling the signals of devices that do measure in the appropriate directions subjecting the signal samples to the algorithmic function that defines their effect on the accelerometer sensitive axis and then integrating them before correcting the integrated accelerometer signal.
The correction procedure, insofar as it comprises sampling one or more signals, subjecting the samples to a correction algorithmic process then integrating the processed samples to give a correction for the integrated accelerometer signal, will be seen to conform in pattern to the first mentioned case and all of the above description exemplify the practice of extracting information at relatively high frequency from an oscillating signal in order to correct an output formed by integration of that oscillating signal.
It is an object of the present invention to provide a method of, and apparatus for, correcting an integrated input signal for the effects of errors in the input signal by deriving samples of the input or integrated signal and processing the samples which provides simplification of, and savings in effecting, said sampling and processing than hitherto.
According to a first aspect of the present invention apparatus for processing an input signal by integration with respect to time thereof for an integration period and correcting errors in the integrated signal due to errors in the input signal comprises signal sampling and processing means responsive to control signals to derive signal samples which bear a functional relationship with the errors in the input signal, subject to the samples to an algorithmic process representative of said functional relationship to quantify the error in the input signal represented by the samples and integrate the processed sample results to quantify the effects on the integrated signal, further processing means operable to modify the integrated signal in accordance with the quantified effect and control means operable to define the integration period and produce a plurality of control signals for the sampling and processing means at randomly or pseudorandomly generated times such that the number of control signals generated is smaller than required by the Nyquist sampling theorem for the highest signal frequency of interest.
According to a second aspect of the present invention a method of correcting a signal, representing the integral for a predetermined integration period of an input signal, of errors due to errors in the input signal comprises deriving from one or more signals that bear a functional relationship with the errors samples at randomly or pseudorandomly related times such that the number of samples in the integration period is smaller than required by the Nyquist sampling rate, subjecting the samples to an algorithmic process representing said functional relationship, integrating the processed sample results to quantify their effects on the integral signal and modifying the said integral signal in accordance with the quantified effects.
Examples of the present invention will now be described by way of example with reference to the accompanying drawings, in which:
FIG. 1(a) is a block circuit diagram of a known arrangement for correcting transfer function non-linearity in an inertial accelerometer integrated signal,
FIG. 1(b) is a representation of accelerometer signal as a function of time when subjected to a constant inertial acceleration and sinusoidal vibrational acceleration and superimposed thereon the integral with respect to time of the accelerometer signal and sampling points at intervals defined in accordance with the Nyquist sampling theorem,
FIG. 1(c) is a representation of the waveform of the integrated acceleration signal of FIG. 1(b) separated therefrom and showing also sampling intervals and the derivation therefrom of average acceleration samples,
FIG. 2 is a representation of the acceleration signal of FIG. 1(b) for a defined integration period and illustrating the taking of fewer samples randomly in accordance with one embodiment of the present invention,
FIG. 3 is graphical waveform similar to FIG. 2 but showing the taking of samples at random ones of fixed intervals within defined windows of the defined integration period,
FIG. 4 is a circuit block diagram of signal processing means, based on the circuit of FIG. 1(a) correcting the integrated accelerometer signal in accordance with the present invention,
FIG. 5(a) is a flow chart of steps in performing the present invention by means of software instructions in a programmed computer, and
FIG. 5(b) and 5(c) are blocks of alternative ways of deriving samples for processing in the scheme of FIG. 5(a) in accordance with the present invention.
Referring to FIGS. 1(a) to 1(c) a source 10 of signal, the input signal, to be integrated is exemplified by a known form of inertial accelerometer, e.g. Ferranti FA2, which produces a signal in the form of a current passed thereby in a directional sense related to the direction of acceleration, and of magnitude that is nominally proportional to the magnitude of the acceleration. In practice the transfer function of the accelerometer, that is, its response to acceleration, is not linear, that is, is not one of direct proportionality, but is in the form of a polynomial having constant, acceleration and acceleration-squared terms as given by equation (1) above. Although the second order (acceleration-squared) response may be small in relation to the first order (acceleration) response, that is, have a coefficient K2 <<K1, operating conditions exist wherein its effect represents a source of real error.
In performing inertial navigation it is not unusual to require the measurement of velocity by integration of the accelerometer signal with respect to time and for the accelerometer to be undergoing very low levels of acceleration due to inertial motion whilst subjected to a considerable high frequency vibration, perhaps due to deliberate dither of an instrument cluster or craft vibration, which subjects the accelerometer to additional acceleration forces. In such vibration the peak acceleration forces reached may be such that despite a low second order response there is an error term introduced to the accelerometer signal that is significant in comparison with the first order inertial term when integrated to give the desired velocity function.
Referring to FIG. 1(b) this shows a waveform as a function of time of the output ACC. of accelerometer 10 when subject to both a steady inertial acceleration A and sinusoidal vibrational acceleration a, the second order terms being ignored for clarity. The waveform may be represented by the equation
ACC.=A+a sinwt. (4)
Superimposed thereon is the integral with respect to time, that is, the velocity
which takes the form of a similar sinusoid offset in phase by 90� and oscillating about an abscissa which increases as a linear ramp function with time.
In the absence of any second order transfer function terms the integrated signal could be taken to give an instantaneous value, or be filtered of the high frequency components to give a mean value, of velocity.
It will be appreciated that with a vibrational acceleration that is a sinusoidal function, the second order transfer function term of the vibrational acceleration when integrated will have a constant, or d.c., effect as shown by equation (3) that would cause instantaneous errors as well as survive filtering of the higher frequency vibrations.
In accordance with equation (1) the output of accelerometer 10, equation (4), can be expressed as
ACC.=(K0 +K1 A+K2 A2)+(K0 +K1 asinwt+K2 a2 sin2 wt) (5)
Reorganising this in accordance with equation (3) gives
ACC.=(K0 +K1 A+K2 A2)+(K0 +K1 asinwt+1/2.K2 a2 -1/2.K2 a2 cos2wt) (6)
Apart from coefficient K0 which is constant for the instrument and can be removed, the signal ACC. contains non-sinusoidal terms which when integrated increase as a function of time, namely: K1 A, the inertial acceleration to be measured, K2 A2, the non-linearity error in the inertial acceleration, and 1/2.K2 a2, the non-linearity error in the vibrational acceleration.
The first of these is the desired measurement quantity and the last two are error components.
K2 is normally much less than K1 so the value of term (K2 A2) is normally negligible compared with K1 A.
Similarly where A is of the same order of magnitude as a or greater the value of term (1/2.K2 a2) may be negligible in relation to the value of term K1 A. However, for low values of inertial acceleration A the value of (1/2.K2 a2) may become significant in relation to the value of (K1 A).
The signal delivered by accelerometer 10 is conveniently integrated directly by integration means 11 that in practice may take the form of a current-to-frequency converter 12 that charges and reset a capacitor, the number of resets for a particular current direction being counted at 13 for an integration period to give a measure of velocity.
It is known to remove the effect of the second order errors in the accelerometer signal by sampling the accelerometer signal by sampling means 14 at a rate in excess of the Nyquist sampling rate from the highest frequency of interest of the accelerometer signal, and preferably in practice at 2-6 times the highest frequency, as indicated at 15 in FIG. 1(b). For reasons which will become apparent this sampling rate and the intervals 16 at which samples are taken are herein conveniently called the high frequency rate of sampling and high frequency intervals of sampling respectively.
The samples 15 taken at intervals 16 are converted into digital form by analog to digital conversion means 17 and each sample passed to a processor 18 where it is subjected to an algorithmic process that derives a measure of the second order term of the input signal.
From equation (1), the acceleration output signal ACC.=K0 +K1 [acceleration]+K2 [acceleration]2.
For most purposes except integration the second and higher order terms can be ignored and K0 readily eliminated, being a constant of the instrument, to give
ACC.=K0 +K1 [acceleration].
The signal
ACC.≃K1 [acceleration]
may thus be squared to give
ACC.2 ≃K1 2 [acceleration]2, or(7)
[acceleration]2 ≃ACC.2 /K1 2(8)
so that the effect of the second order term in equation (1) can be approximated by
K2 [acceleration]2 ≃ACC.2 K2 /K1 2 (9)
Where the acceleration is the aforementioned vibrational asinwt, and this is substituted in equation (9)
K2 a2 sin2 wt=ACC.2 K2 /K1 2
1/2.K2 a2 -1/2.K2 a2 cos2wt=ACC.2 K2 /K1 2 (10)
Thus by integration over the integration period the integral of the term 1/2.K2 a2 (and the term 1/2.K2 a2 cos2wt for other than a complete number of vibrational cycles) can be evaluated.
A sample taken of the acceleration signal ACC. when squared and multiplied by the ratio (K2 /K1 2) of the coefficients represents the effect of the second order non-linearity term in the sample. Integration effected by multiplying this by the interval 16, which also represents the ratio of the integration period to the number of samples, and accumulation of similarly processed samples for the integration period gives an integrated version of the component of the accelerometer signal that is due effectively to the second order response term of the accelerometer.
The multiplication of each sample squared by the ratio (K1 /K2 2) and the interval 16 may be performed more conveniently after accumulation of the squared samples in accumulator 19. The elements, 14, 17, 18 and 19 together comprise sampling and processing means.
The estimate is converted by digital-to-analog converter (DAC) 20 into a form corresponding to that of the integration means, such as a count, and both the output of integration means 11 and DAC 20 are fed to further processing means in the form of subtraction circuit 21 where the integrated signal is corrected by subtraction of the quantitative estimate of second order term 20 and a corrected value of velocity given at 22.
The above outlined procedure and apparatus is known and serves to illustrate how despite a simple and inherently accurate integration of the accelerometer signal considerable processing is deemed desirable to effect corrections due to second order components of the original signal caused by the non-linear transfer function and which processing, if done digitally as is most practicable, utilises considerable processing and storage overheads, largely because of the number of samples dictated by the sampling accepted as part of digital processing.
FIG. 1(c) shows the integrated signal VEL of FIG. 1(b) separately and also illustrates how this signal may itself be sampled and an adjacent pair of samples, such as 23 and 24, separated by a short time interval, conveniently one high frequency interval 16, employed to derive a rate of change of velocity, that is, an average value of acceleration, for the high frequency sampling interval 16 that could be employed in a slightly modified algorithmic process in FIG. 1(a), and in practice the use of the integrated signal in other computation makes this a particularly suitable source of correction signals.
In accordance with the present invention processing methods by which the effect of the second order term of the accelerometer signal on the integrated accelerometer signal is quantified is illustrated by the waveform of FIGS. 2 and 3.
Referring to FIG. 2, which shows the signal ACC., the method of processing in accordance with the present invention comprises defining the aforementioned integration period as T1, which for a particular frequency of accelerometer oscillation will contain a known number of cycles of the waveform, and sampling the signal at randomly or pseudorandomly related times so as to take in the integration period a plurality of samples 15' fewer in number than if the signal were sampled at or above the Nyquist rate that is depicted in FIG. 1(b).
The samples are processed substantially in accordance with the conventional algorithm outlined hereinbefore (for deriving a function of the second order component of the signal) by squaring each effective sample of signal ACC., accumulating it with others of samples taken in the integration period T1 and multiplying by a factor that gives the equivalent of the second order coefficient and the ratio of the integration period to the number of samples taken in it. This ratio is an approximation of the average time interval over which each sample extends to the next sample. The input signal ACC. is continuous and the accumulated output is continuously updated, being formed from those samples taken in the preceding interval T1. Each sample when processed by the algorithm provides an estimate of the second order acceleration-squared effect on the inertial acceleration signal but one which is clearly not accurate due to the high frequency variations with time and the integral of the samples, the contents of the accumulator, may be thought of as suffering from `noise`. By taking several samples in effectively random manner such that there is no correlation between the sampling points on the waveform cycle then over a period of several cycles the processed results of the samples accumulate in sufficiently close agreement with sampling at or above a high Nyquist rate for possibly fewer cycles. However, as an essential feature is that the input signal is subject to integration over many cycles the additional time required to approach the accuracy of sampling at or above the Nyquist rate is not disadvantageous whereas the savings in sample processing are advantageous.
If the so-called low frequency of the inertial acceleration is sufficiently low, for example, zero frequency, then the integration period may be made as long as desired, and with the random sampling eventually for practical purposes equating to sampling above the Nyquist rate.
On the other hand the repetition rate of the high frequency intervals may be defined in accordance with accepted practice far in excess of the Nyquist rate and the repetition rate of the window intervals should also be less than the Nyquist sampling rate for the highest frequency of interest.
The important difference is that the sampling is taking place at a lesser rate in real time and in any period of time fewer samples are processed, thereby relaxing the demands of processing on the digital computer.
It will be appreciated that in general the integration period will have some limits imposed upon it, such as by variations in the inertial acceleration rate or a desire to restrict the number of samples processed in any shorter interval but it has been found that with a high frequency signal of the order of 400 Hz taking fewer than 5% of the samples required by the 3�Nyquist rate norm with an integration period of several seconds provides an adequately quantified estimate of the input singal error effects on the integrated signal.
The random taking of samples may be effected having regard to the `clocked` operation of digital circuitry to which the samples are input by defining the integration period T1 as a plurality of what have herein conveniently been called high frequency intervals 16 which occur at or above the Nyquist sampling rate, such as for samples 15 in FIG. 1(b), and selecting by a random or pseudorandom selection process intervals at which samples taken thereat are subjected to the algorithmic process. The selection may result in the actual taking of a sample at that interval when otherwise a sample would not be taken or in the passing of the selected samples, which are taken at each interval, for processing.
The method of the invention is implemented with the intent of reducing the demands on computing time whilst receiving sufficient number of samples to make an effective quantitive estimate. To assist in computer management it is considered helpful, if not essential, for the samples taken to be well spread throughout the integration period as illustrated in FIG. 2. However, it will be appreciated that if they are taken truely randomly it is difficult to control both the number of samples taken in the integration period and their separation so that to receive adequate information by processing an appropriate number of samples could depend upon processing samples taken closely together and not relieving instantaneous demands on the computing arrangement.
Further to the above described method, and as illustrated by the waveform ACC. of FIG. 3, the integration period T1 is divided into a plurality of high frequency intervals 16, as mentioned above, of duration I which may equal n clock pulses of a higher frequency clock occurring at at least the Nyquist sampling of the highest frequency of interest of the input signal and further defining each group of N successive intervals I as a sampling window interval 25 of duration W=N.I, the successive sampling window intervals having a repetition rate greater than the Nyquist sampling rate for the changes in inertial acceleration, a condition easily met with a zero or near-zero frequency component, so that M window intervals define the integration period T1.
Sampling is controlled so that a sample 15" of the input signal is taken at at least one of the high frequency intervals in each window interval, the high frequency interval at which a sample is taken being selected by a random or pseudorandom process within the constraints of the number of intervals in, or duration of, each window interval. This has the effect of samples being taken in synchronism with subsequent digital processing and spread throughout the integration period.
It will be appreciated that more than one sample may be taken in each window interval but not so many as to depart from the philosophy of the invention in terms of the number of samples taken for processing.
Similarly it will be appreciated that one or more samples may be taken truely randomly in each window interval.
The methods of the present invention described above may be implemented by suitable combination of items of hardware, and software where appropriate, that are conventional per se and FIG. 4 shows in block diagram form apparatus suitable for implementing the operation described in relation to FIG. 3 and based upon that described above with reference to FIG. 1(a), with which common elements have common reference numbers.
Sampling and processing means 14', 17, 18 and 19' has sampling means 14 controlled by control means shown generally at 26 which provides at random or pseudorandom intervals control signals to an input 27 of the sampling means 14'.
To implement the method described in relation to FIG. 3 the control means 26 includes a master clock 28 (although this may be provided by or associated with the processor 18) a first counter 29 which has a counting limit settable to define with the clock rate the high frequency intervals 16 as I clock pulses, a second counter 30 which has a counting limit settable to define with the high frequency intervals 16 rate the sampling window intervals 25 as W=N.I and an optional third counter 31 which has a counting limit settable to define as an integral number M of sampling window intervals W the integration time T1.
The output 32 of counter 29, that is, at the high frequency intervals, is fed by way of gate 33 to the sampling means 14 whereby when the gate is opened a sample is taken and/or applied to the analog to digital converter and processor at the appropriate interval 16. Gate 33 is normally closed and is opened by a control signal at the other input from a signal generator 34 which includes a random or pseudorandom generator, such as a pseudorandom number generator 35 and decoding means 37 for turning appropriate numbers into a signal occurring at a random or pseudorandom interval. The signal generator 34 is organised such that it produces an output at some time within the duration of each sampling window, possibly by being fed with the same setting as defines the window count, and is reset for the beginning of each sampling window by an output from counter 30.
Thus once at least in each sampling window the gate 33 is opened at a random one of the high frequency sampling intervals 16 occurring therein and the signal is sampled.
The output of counter 31, if employed, may be fed to accumulator 19' as shown at 38 to define the number of windows M and also, if one sample is taken per window interval, the number of samples which are considered to represent the integration period.
The accumulator receives and stores this number of processed samples, each new processed sample overwriting the oldest stored one and providing a constantly updated sum of the stored processed samples for the digital-to-analog converter 20.
If only one sample is processed and the result provided per sampling window interval the accumulator provides an output based upon the similar number of sampling window intervals, even though this output is updated at an indeterminate time within the window depending upon when the sample is taken.
If desired the accumulator 19 may be reset by an output of second counter 30 on line 39 at the start of each sampling window to eliminate the processed sample or samples from the oldest of a preset number of sample windows as determined by line 38, thereby defining an integration period by number of sampling windows rather than number of samples. This may be employed where sample taking is not limited to one sample per sampling window interval, or at least a fixed number of samples per sampling window interval.
The latter situation pertains with a modification (not shown) of the control means 34 wherein the signal generator 35 comprises a truely random signal generator that is not subject to a reset control for each sampling window as described above and/or which produces control signals for the sample and hold means at other than integral numbers of high frequency intervals 16 through gating means 33. Such random signal generator may employ white noise generator or a radioactive source whose decay rate is chosen to provide over the integration period a high likelihood of an acceptable number of `counts` that can be used by the decoder 37 to provide the control signal.
It will be understood that the circuit arrangement of FIG. 4 is open to further variation in detail in the construction of the control means 26, the relationship between the accumulator and other components such as the processor 18 and the definition of its integration period as well as the use to which the output of the accumulator is put.
The number generator 35 may actively compute new numbers continuously from a seed number or a noise signal using computational overheads or comprise a read only memory in which are stored a large number of pre-computed random numbers, being addressed sequentially with low demands on computational circuits in operation.
One particular modification may be the sampling of the integrated signal from the output of integrator 11 to derive an effective sample of the input signal. As indicated by FIG. 1(c) the signal requires sampling at pairs of adjacent sampling intervals in order to determine the rate of change and to this end a flip-flop 36 is included in the output of signal generator 34 which when triggered by an output thereof holds the gate 33 open for two high frequency intervals I and causes two samples to be taken and/or passed for processing.
It will be appreciated that the processor 18 for performing the algorithmic process on the samples and the accumulator 19 may in practice be provided by a programmed computer which processes in digital form samples taken for other purposes by means of software control.
As indicated hereinbefore such configuration is often employed to sample the integrated signal from 11 and perform the correction, as well as other processes, on these samples of the integrated signal.
It will be appreciated that the above described processing may be implemented by software steps within a computer scheme to minimize the number of operations employed in actually performing the correction algorithm.
The procedure may be based upon that described in relation to FIG. 4, by taking samples of the accelerometer signal at the randomly or pseudorandomly defined intervals, by taking samples of integration signals in pairs at adjacent high frequency intervals 16, one of which pair is randomly or pseudorandomly defined as above, and deriving an average acceleration sample value for the high frequency interval 16, or by accepting that samples are taken at each high frequency interval for other purposes or by simple existing control but only processing those of intervals defined in accordance with the above random or pseudorandom designation.
FIG. 5(a) shows a flow chart of the steps of the above described correction operation suitable for incorporating into programmed operation of a computer.
The sequence starts by defining in relation to the clock frequency of the processor the high frequency intervals 16 as I=n clock pulses, the window intervals 25 as W=N.I and the integration period T1 as M.W.
The clock pulses from clock 40 are counted at 41 and compared at 42 with the number n to derive the high frequency intervals I which are themselves counted at 43. The count of high frequency intervals I is compared with the number N at 44. If it is less than N it is compared at 45 with a number R generated by pseudorandom number generation algorithms 46 that provide a number R between 1 and N inclusive.
When the number of high frequency generated corresponds to R the generator 46 is stopped from providing an output to 45 or reset to begin a new generation when restarted. The number R defines a high frequency sampling interval at which a sample is taken 47 for the algorithmic process, that is, the derivation of the second order component of the accelerometer signal in this instance, at 48.
At the end of the sampling window, that is after N high frequency intervals I the comparison at 44 is positive and this both resets counter 43 for the next window and restarts generator 46 to provide a new value of R for the next window.
Each sample processed at 48 is applied to accumulator 49 which, controlled in accordance with the number M of windows, and therefore samples, in integration period T1, accumulates the most recent M processed samples in order to give a velocity correction value at 50.
It will be seen from FIG. 5(b) that, if appropriate and samples are taken at the high frequency rate for other purposes, the action at 47 may comprise simple selection 47' of the samples taken at the corresponding interval.
Alternatively, as illustrated at 47" in FIG. 5(c) the action at 47" may comprise taking or selecting a taken sample of the integrated signal at the interval R=Ii followed by a sample at the next interval Ii+1 and deriving from the difference between them and the duration of the high frequency interval (Ii -Ii+1) the average value of acceleration for that interval.
The above considered accelerometer signal, the error present therein that affects the integrated signal and the steps of correcting for it are to be considered as examples only not limiting as to form of signal and how a correction is derived by algorithmic process for corrective application to the integrated signal.
As also outlined hereinabove a signal may derive from an output of each of inertial accelerometers disposed with their three sensitive axes mutually orthogonal. Furthermore one or more of these accelerometers notwithstanding any non-linear response as described above may be subjected to vibration in a direction or directions orthogonal to its nominally sensitive axis as a consequence of which so-called vibropendulosity and sculling effects result in an erroneous component of the integrated signal.
It is known to correct for these effects by sampling the signals of the accelerometers sensitive in those orthogonal directions and gyroscopes, if rotation about an axis is involved, and perform algorithmic processing that involves deriving the cross product of these signal samples before accumulating the process results for the integration period and then correcting the integrated signal.
It will be appreciated that the present invention is applicable to such correction also, the only difference apart from performing a different algorithmic process on the samples is the taking of samples at the same time from any accelerometer or gyro signal or integrated signal which is to be used in combination with that of another.
Finally it is reiterated that although the above description has concentrated on accelerometer signals which are integrated with respect to obtain velocity this invention is applicable to any signal representation that is integrated and to which integrated signal a correction is made by sampling a signal or signals for the integration period purely to perform operations on the samples which are then also integrated for correction of the integrated signal.
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|Dec 23, 1991
|Apr 26, 1994
|Sumitomo Electric Industries, Ltd.
|Zero-point correction device for a gravity-type accelerometer
|Feb 1, 1993
|Nov 8, 1994
|General Motors Corporation
|Vehicle acceleration sensor
|Aug 13, 1991
|Jun 6, 1995
|Litton Systems, Inc.
|Strapdown inertial navigation system using high order
|Aug 29, 1995
|Dec 8, 1998
|Canon Kabushiki Kaisha
|Measuring method and apparatus for measuring system having measurement error changeable with time
|Nov 1, 1996
|Mar 30, 1999
|Litton Systems, Inc.
|Sculling compensation in strapdown inertial navigation systems
|Aug 27, 2002
|Jul 20, 2004
|Kabushiki Kaisha Toshiba
|Method for diagnosing life of manufacturing equipment using rotary machine
|Aug 28, 2002
|Apr 26, 2005
|Kabushiki Kaisha Toshiba
|Method for predicting life span of rotary machine used in manufacturing apparatus and life predicting system
|Apr 18, 2003
|May 24, 2005
|Kabushiki Kaisha Toshiba
|System for predicting life of a rotary machine, method for predicting life of a manufacturing apparatus which uses a rotary machine and a manufacturing apparatus
|Aug 27, 2002
|Aug 30, 2005
|Kabushiki Kaisha Toshiba
|Method for avoiding irregular shutoff of production equipment and system for avoiding irregular shutoff
|Jul 29, 2003
|Oct 24, 2006
|The Boeing Company
|Single plate capacitive acceleration derivative detector
|Dec 14, 2004
|Nov 21, 2006
|The Boeing Company
|Leveling device
|Nov 23, 2004
|Jun 12, 2007
|The Boeing Company
|Precision flexure plate
|Apr 14, 2005
|Nov 20, 2007
|The Boeing Company
|Extended accuracy flexured plate dual capacitance accelerometer
|Sep 29, 2004
|Dec 18, 2007
|The Boeing Company
|Integrated capacitive bridge and integrated flexure functions inertial measurement unit
|Dec 9, 2004
|Feb 19, 2008
|The Boeing Company
|Magnetic null accelerometer
|Nov 22, 2004
|Apr 22, 2008
|The Boeing Company
|Compensated composite structure
|Jan 22, 2007
|Mar 17, 2009
|Somfy Sas
|Method of configuring a control unit of an actuator
|Jul 12, 2006
|Dec 7, 2010
|Airbus France
|Method and device for determining the ground position of a mobile object, in particular an aircraft on an airport
|Sep 27, 2006
|Jun 28, 2011
|Caterpillar Trimble Control Technologies Llc
|Control for an earth moving system while performing turns
|Jul 18, 2011
|Sep 2, 2014
|DMG Mori Seiki Co., Ltd
|Relocation detection method and relocation detection unit
|Aug 28, 2002
|Aug 14, 2003
|Shuichi Samata
|Method for predicting life span of rotary machine used in manufacturing apparatus and life predicting system
|Aug 27, 2002
|Aug 14, 2003
|Shuichi Samata
|Method for diagnosing life of manufacturing equipment using rotary machine
|Apr 18, 2003
|Apr 1, 2004
|Kabushiki Kaisha Toshiba
|System for predicting life of a rotary machine, method for predicting life of a manufacturing apparatus which uses a rotary machine and a manufacturing apparatus
|Jul 29, 2003
|Feb 3, 2005
|The Boeing Company
|Single Plate Capacitive Acceleration Derivative Detector
|Dec 22, 2004
|May 12, 2005
|Bremner Ronald D.
|Active seat suspension control system
|Sep 29, 2004
|Mar 30, 2006
|Campbell Ray F
|Integrated capacitive bridge and integrated flexure functions inertial measurement unit
|Nov 22, 2004
|May 25, 2006
|Campbell Ray F
|Compensated composite structure
|Dec 14, 2004
|Jun 15, 2006
|The Boeing Company
|Leveling Device
|Jan 22, 2007
|Jul 26, 2007
|Florent Pellarin
|Method of configuring a control unit of an actuator
|Apr 14, 2005
|Sep 27, 2007
|The Boeing Company
|Extended accuracy flexured plate dual capacitance accelerometer
|Dec 9, 2004
|Jan 17, 2008
|The Boeing Company
|Magnetic null accelerometer
|Sep 27, 2006
|Mar 27, 2008
|Francisco Green
|Control and method of control for an earth moving system
|Nov 2, 2007
|Dec 11, 2008
|Nenad Markovic
|Accelerometer System
|Jul 12, 2006
|May 21, 2009
|Airbus France
|Method and Device for Determining the Group Position of a Mobile Object, in Particular an Aircraft on an Airport
|Jul 18, 2011
|Feb 2, 2012
|Mori Seiki Co., Ltd.
|Relocation detection method and relocation detection unit
|Sep 19, 2011
|May 17, 2012
|National Chiao Tung University
|Method system and computer readable media for human movement recognition
|Jun 12, 2008
|Jan 8, 2009
|Robert Bosch Gmbh
|Device for determining a speed comprising an acceleration sensor
|Jun 12, 2008
|Mar 12, 2009
|Bosch Gmbh Robert
|Device for determining a speed comprising an acceleration sensor
|U.S. Classification
|702/85, 341/120
|International Classification
|Cooperative Classification
|European Classification
|Apr 20, 1990
Owner name: GEC-FERRANTI DEFENCE SYSTEMS LIMITED, THE, UNITED
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNOR:WATSON, NORMAN F.;REEL/FRAME:005278/0886
Effective date: 19900316
|Apr 16, 1996
|Maintenance fee reminder mailed
|Sep 8, 1996
|Lapse for failure to pay maintenance fees
|Nov 19, 1996
|Expired due to failure to pay maintenance fee
Effective date: 19960911


text:
J Brand - Monroe Organic Bell Bottom Jeans
High fashion meets eco-friendly and never looked so good. Perfect for the girl who has so strut her stuff ... organically.
Another pair of skinny jeans from Levi's. When they got so good at designing skinny jeans I'll never know. Either way, these eco jeans are made of 98% organic cotton and 2% lycra.Tags: fashion, jeans, denim, style, Eco, organic, work clothes, levis, skinny legsAdded 9 Years Ago from Levisstore

subset: commoncrawl


text:
WATCH: Justin Timberlake Releases New Trailer For Pt. 2 Of ' The 20/20 Experience"
We're just over a month away from the release of the second half of Justin Timberlake's comeback album, The 20/20 Experience.
To add to the anticipation, JT released a new trailer for the album just prior to his VMA Video Vanguard performance and brief reunion with *N Sync.


text:
|Message view
|« Date » · « Thread »
|« Date » · « Thread »
|Tony Collen <colle...@umn.edu>
|Re: [RT] Moving towards a new documentation system
|Sat, 11 Oct 2003 18:30:47 GMT
Bertrand Delacretaz wrote: <snip/> > I'm starting to think (and I think this resonates with what Tony was > saying) that the physical structure of the docs should be flat, > wiki-style, having all docs "files" (real files or generated) in a > single directory, of very few directories like "reference", "documents" > and maybe "technotes". > > We can then build all kinds of navigational structures, trails, multiple > tables of contents, beginners/advanced, whatever (again picking up on > wiki idea of a flat page structure with many navigation paths), but the > path to a given document stays valid forever unless documents are removed. Yes, I agree. The docs should all be in one place -- at least in the repository. It will make things easier for us to find, and we won't neccesarily have the problem of trying to categorize new docs, or move existing docs into a more appropriate section. More on this later... > Of course we forfeit compatibility with our existing docs URLs, but I > think this is needed anyway to move forward. > > This might also make our remodeling easier: > > -move all existing docs to a small number of directories like above, > "big bag of docs" Agreed. > -rename docs as needed to give them permanent names Also agreed. I like the idea of giving the docs a permanent name. This should be investigated thoroughly, though. Remember that we can create whatever URL space we want, and have it totally decoupled from the physical layout of the docs in the repository. > -create a very simple publishing system for now (Forrest probably?), > until the new docs system moves forward > -start building the navigations, trails, tables of contents incrementally Agreed. The way I think of it, is if we have our so-called "big bag of docs", we can then create virtual categories, which are collections of docs in a specific order. This will allow for any type of "virtual" docs layout -- be it trails, or straight up reference, TOC, index, etc. The problem then would be tying in these virtual categories into the sitemap automatically somehow. This way we could create trails, or references for just about anything. (Does this duplicate any Forrest functionality?) Here's how we could glue together a trail for the Flow: <category name="teachMeFlowscriptTrail" title="Everything you need to know to use the Flow"> <doc id="123-flow-intro.xml"/> <doc id="456-flow-basic.xml"/> <doc id="789-flow-advanced.xml"/> <doc id="012-flow-woody.xml"/> <doc id="345-flow-fom-ref.xml"/> <doc id="678-flow-jxt-ref.xml"/> </category> Likewise, we could glue together a reference for all of the generators: <category name="generatorsReference" title="Generators Reference Page"> <doc id="343-generator-intro.xml"/> <doc id="982-file-generator.xml"/> <doc id="356-html-generator.xml"/> <doc id="234-wsproxy-generator.xml"/> <!-- and so on, in order (alphabetical) --> </category> Obviously we'd want to abstract the actual filenames, preferably to get rid of the numbers out of the actual URL that it will be accessed through. Then again, if we have a good naming convention, we might not need numbers on the files at all. This could even let us keep the "old" urls for the fubared docs layout, all we'd have to do is create categories that reflect the current fubared layout ;) Implementation is left as an exercise for the reader.... Regards, Tony
|View raw message


text:
WikiGenerator implements database-optimized queries to allow fast scan of your system.
In few minutes your documentation is online and ready to be used.
Save time and enhance your productivity!
Written in Java GUI, WikiGenerator allows users to connect and scan a database in very few clicks
All you need to install and run is:
No business data and connection parameters are sent to public networks.
Table structure (columns name and type, primary and foreign keys, metadatas and so on..) or ETL jobs are sent to the internet through secured connection (SSL)
How much time do you spend documenting a database?
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Lack of time, always on hurry: ETL flows and database structures remain frequently undocumented.
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WikiGenerator works with complexity: it vizualizes your ETL graphics and flows
We used instances of DokuWiki as backend to publish documentation.
DokuWiki is Opensource, no need of further license.
WikiGenerator makes it easy to add or edit content, using a friendly WYSIWYG interface.


text:
GAA propose Champions League-style group stage for football q-finals
GAA supremo Páraic Duffy today announced a radical new proposal for how the football Championship would run.
In a proposal published on the GAA's website today, Duffy proposes that the Championship would run largely as it does now up to the quarter-final stage.
Then, the final eight (four provincial winners and the four teams that emerge from the qualifiers) would be split into two groups of four, with the top two in each side making the semi-finals.
The move would inject eight extra games into the Championship, though with the abolition of League semi-finals, only six more additional games would be played over the season.
The proposal also says that both All-Ireland semi-finals would be played on the same weekend, meaning each side had the same time to prepare and rest.
The proposal also contains the idea that teams from Division 3 and 4 would get home draws in round 1, 2 and 3 of the qualifiers if they face a team from Division 1 or 2.
The idea will now go to Central Council for discussion.
The full proposal can be examined here


text:
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text:
By Errin Haines, Associated Press Writer
DreamWorks announced a deal this week with The King Estate for a major motion picture about the civil rights icon.
King's son, Dexter, oversees the estate and signed off on the deal.
"The purpose of making a movie about the life of Dr. Martin Luther King Jr. is to tell a great story which could bridge distances and bring people together," read the statement provided to The Associated Press by DreamWorks spokesman Chip Sullivan. "We remain committed to pursuing a film chronicling Martin Luther King's life provided that there is unity in the family so we can make a film about unity in our nation. We believe this is what Dr. King would have wanted."
The studio touted the project in a news release as the first big-screen portrayal of the 1964
"I sincerely believe that the film project we have been working on with DreamWorks ... offers an unprecedented opportunity for educating the largest possible audience about our father's legacy as the leader of
He said the DreamWorks biopic could focus on the life and work of his father just as the film
"I sincerely hope my brother and sister will join us in supporting this urgently needed project," he said.
He said although his communication with family members has "been somewhat stymied by the current litigation," he continues to reach out to them.
Spokesmen for Martin Luther King III and Bernice King were not immediately available to comment on DreamWorks' statement.
Bernice King and King III have accused their brother of tarnishing their parents' legacy with his business decisions, and say he has been operating The King Estate for years without their input.
In March, Dexter King brokered a deal with
The siblings still haven't settled three lawsuits involving their parents' estates, including one attempting to force Dexter King to open the books of The King Estate. Another would determine who should control
Copyright 2009 The Associated Press. All rights reserved. This material may not be published, broadcast, rewritten or redistributed.
Guidelines: You share in the USA TODAY community, so please keep your comments smart and civil. Don't attack other readers personally, and keep your language decent. Use the "Report Abuse" button to make a difference. Read more.


text:
- Choosing the
Right Floor
- Our
- Who
We Are
- Customer
- Contractors &
Cryl-A-Tex is a 100% reactive, high strength, methyl methacrylate (MMA) based polymer concrete. It is typically used for repair, sloping and grouting. It is a three component mortar consisting of an MMA liquid component, curing agent and a powder component made from sands and fillers. The mortar can be extended with washed and dried pea gravel to produce a polymer concrete for deeper applications.
Cryl-A-Tex is the "Go To" product to help repair both industrial and commercial floors prior to the application of a final seamless floor.


text:
Bowlers bring first national championship to SCCC
When the Schenectady County Community College men's bowling team rolled to the 2013 National Junior College Athletic Association championship on March 2 in Buffalo, it had to take down perennial power Vincennes University of Indiana in the process.
SCCC defeated the two-time defending national champions by a score of 13,500 to 13,343 for the title.
Vincennes, which has its own bowling lanes on campus, is the only school in the country that offers a bowling management and technology degree program.
Meanwhile, the SCCC women's team placed fifth in the tournament. Ray Ross, who has coached both teams for 20 years, was named Coach of the Year.
The SCCC Board of Trustees and President Quintin Bullock honored both teams for their successful seasons.
"We are very proud of our men's and women's bowling teams for their successful seasons. The hard work of our student athletes has paid off, specifically with Coach Ross and the men's team bringing SCCC its first-ever national championship," Bullock said.
Board Chairwoman Denise Murphy McGraw also congratulated the team on its accomplishments.
"As a mother of a student-athlete, I know how hard it can be to juggle books and the field of play. Therefore, I have a special appreciation for what the bowling teams have accomplished this season," she said.
Members of the men's team are Tyler Mocharie, Jeff Karabin, Corey Buckley, Zach Doty, Casey Schoonmaker, Jake Rivers and Tyler Smith.
The women's team consists of Brittany Barkley, Stephanie Carson, Theresa Shufelt, Kayla Marois, Shelby Colegrove and Brittany Fahd.
In addition, Mocharie and Karabin were named to the 2013 NJCAA Men's Bowling All-Americans.


text:
Citation Edit
Department of Homeland Security, Privacy Impact Assessment for the Arrival and Departure Information System (ADIS) (DHS/CBP/PIA–024) (Aug. 1, 2007) (full-text).
UPDATE: Department of Homeland Security, Arrival and Departure Information System–Information Sharing Update (DHS/CBP/PIA–024(a)) (Mar. 7, 2014)(full-text).
Overview Edit
The ADIS PIA describes changes to ADIS corresponding to the publication of a new ADIS system of records notice (SORN). ADIS is a DHS-wide system to serve certain programs, including those of the intelligence community that require information in support of the DHS mission on individuals who seek to enter or who have arrived in or departed from the United States.
Update Edit
This update provides notice of a change in the National Counterterrorism Center's (NCTC) temporary retention of ADIS information to three years for U.S. person information and 10 years for non-U.S. person information due to the March 2012 approval of Guidelines for Access, Retention, Use and Dissemination by the National Counterterrorism Center and other Agencies of Information in Data Sets Containing Non-Terrorism Information (2012 NCTC AG Guidelines).


text:
Injectable Fillers Q&A
Spasms + Injectable Fillers
Narrow 2 questions by:
Sort by:
What's happening to me? (Permanent fillers)
I had a permanent bone material injected into my nose (1mg) .The PS said there were no complications or risks.But a week later I started having... READ MORE
Periodic Nerve Spasms Post Nasolabial Filler
I am experiencing nerve spams at midpoint (or slightly closer to outer nostril cartilage) between my right nostril and infraorbital nerve?. I can see... READ MORE
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text:
I created a Windows account when i wanted to create an SSH account to be used for network scans by Spiceworks. I could not create a duplicate named SSH account, and i could not easily delete the existing Windows account. (See http:/
My question is, why did the deleted network scan account show in the list after it was deleted?
This topic was created during version 2.1.
The latest version is 7.5.00101.
3 Replies
Nov 21, 2008 at 6:07 UTC
Hi, sorry for the delayed response, we had some issues with the Community and your question did not display in our queue.
Are you still having this issue?
Nov 22, 2008 at 1:30 UTC
I do not know.
:: rereads his post ::
I will have to chck at that site, which may not be a while. I will mark this thread answered, if it is not already. If it comes up again, the issue, i'll see about resurrecting this thread.
Nov 24, 2008 at 12:59 UTC
Hi Javier, thanks for the update, let me know if you have any other issues.
This discussion has been inactive for over a year.
You may get a better answer to your question by starting a new discussion.


text:
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|RP23-301L16.1, 6330532G10Rik, C030039N24, IL1R8, IL1RAPL, MRX34, OPHN4, TIGIRR-2
|A DNA sequence encoding the mouse IL1RAPL1 (P59823) extracellular domain (Met 1-Thr 357) was fused with the Fc region of human IgG1 at the C-terminus.
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Bulk packages of recombinant proteins are provided as frozen liquid. They are shipped out with blue ice unless customers require otherwise.
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|The secreted recombinant mouse IL1RAPL1/Fc is a disulfide-linked homodimer. The reduced monomer comprises 574 amino acids and has a calculated molecular mass of 65 kDa. As a result of glycosylation, the apparent molecular mass of rmIL1RAPL1/Fc monomer is approximately 85-95 kDa in SDS-PAGE under reducing conditions.
|Lyophilized from sterile PBS, pH 7.4
1. Normally 5 % - 8 % trehalose and mannitol are added as protectants before lyophilization. Specific concentrations are included in the hardcopy of COA.
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Interleukin-1 receptor accessory protein-like 1 (IL1RAPL1) is a member of interleukin-1 receptor family. The protein structurally comprises three extracellular immunoglobulin domains, which presumably mediate binding of an as yet unidentified ligand, a transmembrane region, and an intracellular domain, which is likely to enable signalling via the NFkB pathway. The means of signalling is almost certain to be identical to that used by the IL1R family and the more distally related Toll protein. L1RAPL1 protein physically interacts via its 150 aa C-terminal domain with neuronal calcium sensor-1 (NCS-1), a protein widely expressed in neurons and the related chromaffin and PC12 cells. IL1RAPL1 is an integral membrane protein responsible for a nonsyndromic form of mental retardation (MR). It is suggested to affect human cognitive ability to some extent, especially the memory and concentration capability.
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Simple mount, great price.
This mount holds up my 50" Panasonic plasma TV and it is pretty heavy. It was simple to set up and although it is right up against the wall, it still leaves room for me to get cables plugged in behind it. The tilt feature is nice for positioning just the way we want it. The built-in level is a nice touch, no need for the extra level. Why pay double or triple at a retail store? This mount is all you need.
Was this review helpful to you?YESNO


text:
Correction Appended
Annika Sorenstam spent this morning trying to cling to the ordinary. She slept in. She watched a movie. She did laundry.
By the end of the day, though, Sorenstam, the reigning queen of women's golf, had achieved the extraordinary, winning the Women's British Open to become the sixth female golfer to complete a career Grand Slam.
Tied with a tenacious Se Ri Pak on the 18th hole of the final round, Sorenstam watched Pak slice her 7-wood tee shot into a craterlike bunker. To avoid the same fate, Sorenstam felt her best option was to pull out a driver and go long. She blasted the ball on the par-4, 371-yard hole within 108 yards of the cup, then settled for a par tap-in and a place in golf history. Pak stumbled to bogey and finished in second place, a stroke behind.
Admittedly nervous inside, Sorenstam oozed confidence and happiness on the outside on another gorgeous afternoon at Royal Lytham and St. Annes Golf Club.
''I felt the pressure, but I felt on the other hand that this is what it's all about, having to perform in a major championship,'' she said.Continue reading the main story
Sorenstam's two-under-par 70 for a 10-under 278 in the tournament was hardly the stuff of legends, but it tied for the best round of a tense day. Pak shot 72 to finish at nine under, followed by the defending champion, Karrie Webb, and Grace Park at eight under. The morning leader, Patricia Meunier-Lebouc of France, who is 12 weeks pregnant, performed brilliantly, but she stumbled with a final-round 76 to finish at six under.
The record book is ever expanding for Sorenstam. In May she became the first woman in 58 years to compete in a PGA Tour event; she played two rounds before missing the cut in the Colonial. Despite claiming exhaustion since, she has captured two majors (she won the L.P.G.A. Championship in June) to bring her total to six in a spectacular career that now numbers 46 Tour victories.
But Sorenstam said she refused to ponder her place in the annals of the sport. ''I knew what was at stake today,'' she said. ''There's enough pressure just to play this golf course.''
When the going got uneasy, Sorenstam said, she conjured the overwhelming expectations she faced at the Colonial to give her perspective. ''This was nothing like that,'' she said.
Whatever Pak used to comfort herself began to malfunction on No. 17. Her second shot fell into a bunker, but she bailed herself out with a sand wedge that crept within 2 feet. A par putt kept her tied with Sorenstam.
Disaster struck on the 18th. Pak watched her tee shot sail out of sight, so she had to make the agonizing walk up the fairway to see where it went. She was sure it avoided the bunker, but she could not find a spot of white anywhere on the course. Then she knew.
Pak, 25, who has won four majors, including this one in 2001, worked her way to a chance for a 10-foot putt for par and a possible playoff, but the ball slipped by the left lip of the cup. Sorenstam missed an 8-foot putt before tapping in for par. The only thing left for Pak was consolation.
''Her game is really great,'' Pak said. ''I'm still a little behind her, but at the same time I'm young. Every single tournament is not my last.''
Sorenstam, 32, has finished second on three occasions in the British Open, but that was before it became a major three years ago. Last year, she missed the cut.
Before this year's tournament, she hardly seemed in a state to reconquer the world's best. The publicity surrounding her 36 holes against the men dumped her into a physical and emotional trough. Three weeks ago, she walked out of the Canadian Open after six holes.
She began today two strokes back and let instinct take over in coming from behind for the 15th time to win on the final day. A sense of humor helped her, too. On the 15th hole, as Pak and Sorenstam were sizing up their shots, a man in boxer shorts ran onto the course, and Sorenstam's caddie, Terry McNamara, kicked him in the behind before the man ran into the waiting arms of a bobby.
''He wasn't even a good-looking guy, so it wasn't even worth it,'' Sorenstam said. ''It was tough to focus on the chip because I was still laughing.''
For the record, Sorenstam chipped the ball within a foot of the hole and putted in for a birdie to move into first temporarily.
If Sorenstam can shoulder the popularity of the women's game and excel at the same time, the question arises about a more difficult feat: a season grand slam. Two women, Babe Didrikson Zaharias in 1950 and Sandra Haynie in 1974, accomplished that, but with only two and three majors in their respective seasons.
''I definitely think it's possible,'' she said.
Correction: August 11, 2003, Monday A sports article last Monday about Annika Sorenstam's victory in the Women's British Open golf tournament reversed the numbers of victories in major tournaments for Babe Didrikson Zaharias in 1950 and Sandra Haynie in 1974. Zaharias won three and Haynie two. A sports article on July 21 about the final round of the men's British Open golf tournament misidentified the major tournaments won by Vijay Singh, who finished in a tie for second place with Thomas Bjorn. Singh has won the Masters tournament and the Professional Golfers Association championship. He has not won the United States Open.Continue reading the main story


text:
No Holiday
The Lawrence Holiday Inn came under fire for alleged poor treatment of several black employees. A sit-in demonstration was held by a group that called itself Concerned White Citizens of Lawrence. They took all available seats in the restaurant and forced it to close. Members included students, faculty and Lawrence citizens. The hotel manager was later found guilty of discrimination by the Kansas Commission on Civil Rights.


text:
The Portfolio
Burning Man
Walking on an Alien Surface
I was about 25 minutes outside of Te Anau, and I pulled over to take a break. I walked over a little hillock and saw this massive sea of hot yellow sponge on the ground. It was amazing! It was SO SOFT to walk on… each footstep had me sink down about 2 inches! It then sprang back up, good as new. I even laid down on it for a while to watch the clouds soar overhead… oh New Zealand, you are full of surprises!- Trey RatcliffClick here to read the rest of this post at the Stuck in Customs blog.
Log In:


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Dressed-Up Doors
The cabinet doors on either side of the fireplace started out as basic flat-panel doors. Stock trim applied in a diamond pattern to the fronts of the upper cabinets offers subtle detail that provides an affordable yet custom look.
Our Dahlonega, Georgia Idea House boasts up-to-date designs as fresh as the mountain air. Step inside to see our favorite ideas.


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Superior 9708; ca. 1940s; Junior Miss Design. Style approved by Cynthia Powell
Links to reviews/blog posts Edit
Sources/Vendors Edit
Gallery Edit
[insert your photos of this pattern made up]
Wishlist Edit
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text:
What is JotForm?
JotForm is a free online form builder which helps you create online forms without writing a single line of code. No sign-up required.
At JotForm, we want to make sure that you're getting the online form builder help that you need. Our friendly customer support team is available 24/7.
We believe that if one user has a question, there could be more users who may have the same question. This is why many of our support forum threads are public and available to be searched and viewed. If you'd like help immediately, feel free to search for a similar question, or submit your question or concern.
Интересное обновление.Asked by Таисия on March 18, 2014 at 02:21 PM
Интересное обновление. А как это можно использовать и для каких целей?
This is a re-post of a comment on Introducing Field Calculations for Forms
JotForm Support
The main usage of the calculation feature is to sum, substract, multiply and divide numbers. Let's say, for example, you want to know the number of days between two different dates.
Example Form: http://www.jotform.com/form-templates/calculate-number-of-days
More calculation forms here: http://www.jotform.com/form-templates/category/calculation-form.
Calculation guide: http://www.jotform.com/help/259-How-to-perform-calculation-in-the-form
Let us know here if you have any additional questions about this feature.


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I am trying to set up a remote collector, and from the remote machine I am getting the message "Server is not responding." in the "Remote Collector Configuration" section of the remote installation.
I can browse the control panel of the central office through a web browser from the remote machine, and do have connectivity on the installed port 80 at the central server.
Both are running version. 4.0.37242
Any ideas why I am receiving this message?
This topic was created during version 4.0.
The latest version is 7.5.00101.
8 Replies
Jul 27, 2009 at 5:22 UTC
Tacklebox IT is an IT service provider.
I reinstalled SW and still nothing. Any ideas? This is just one way communication over the central Spiceworks install's port (which is 80 in my case) right?
Jul 27, 2009 at 6:26 UTC
I'm not very familiar with configuring Spiceworks in this way, just to be sure, did you read and follow the directions on the help page?
That's all the help I can offer, hope that's useful.
Jul 28, 2009 at 8:34 UTC
Tacklebox IT is an IT service provider.
Thanks Timmy, yes, this is the article I started from.
My problem occurs in step 6. When saving, this is where I receive the message "Server is not responding".
Jul 28, 2009 at 3:53 UTC
That save test just does a round trip from the remote collector to the central server on the specified port. Is it possible that there is no network path between the two?
You can test this by bring up a browser window on the remote collector machine and then typing in the central server url: http:/
Aug 2, 2009 at 4:48 UTC
Tacklebox IT is an IT service provider.
I can access the central server through a browser window in that way, but the test still fails.
Any other ideas?
Aug 2, 2009 at 4:55 UTC
Tacklebox IT is an IT service provider.
Is there something I need to do at the central server so that it knows its the central server or something?
Aug 2, 2009 at 5:24 UTC
Tacklebox IT is an IT service provider.
I decided I would go ahead and kick off a scan anyhow, and devices are showing up from this site at my central server, even though it is still giving me this message.
Mar 3, 2010 at 5:21 UTC
1st Post
Same problem. Is there any logs to check for this error or something?
This discussion has been inactive for over a year.
You may get a better answer to your question by starting a new discussion.


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Symposium proceedings. An overview of present trends and knowledge in the field. Subjects include: fluxes and residence times; system response to anthropogenic inputs; biological interactions with changing fluxes; larval recruitment; response of fisheries; estuarine river management.
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text:
Just when we thought CBB couldn't get more shocking, it turns out that the oh-so-nice Ryan is a SNAKE!
In a shock nominations twist live on this evening's show (which saw Lacey getting the boot - read more on that here), Ryan and Razor were called into the Diary Room by Big Brother.
As the TV flicked on in the living room, the housemates thought they were about to watch their favourite lads do some sort of task. But they were wrong.
Big Brother proceeded to read a conversation Ryan and Razor had this morning - all about nominations.
Throwing all of the rules out of the window during this secret chat in the garden, Big Brother revealed that Razor told Ryan: "If you wan to last until the end, vote the girls."
And we thought he was a gentleman! At this point, the housemates in the living room looked shocked - covering their mouths as they willed the conversation to stop. But it didn't.
Agreeing with his pal, Ryan said: "If Speidi stay tonight, the public want them in. They wont win, but the public want them. So don't waste it, put it elsewhere."
And Razor concluded: "We're not allowed to talk about voting. But the girls are not voting for each other."
It's odd how the only real rule on CBB is not to talk about nominations, yet they ALL bloody do it, isn't it? Is it the effect of the house or their small brains?
After BB had reported the conversation back to the boys, Ryan and Razor were told that they would be up for nomination as a result.
Giggling, Razor said "Fair enough", while Ryan agreed "Yeah, that's fine".
But Big Brother wasn't finished. The ominous voice added: "As punishment, ALL of the housemates will be up for eviction."
At this point, Ryan and Razor started laughing even more, falling apart like a couple of schoolboys in detention.
Razor chuckled: "We're not that clever - this wasn't meant to be nasty, but thank you for reminding us of the rules.
"We apologise to our fellow housemates, we weren't ganging up were we?"
Looking very sheepish indeed, Ryan said: "We were just thinking out loud. We're sorry!"
Returning to the house to the sound of boos, Frankie shouted: "I was p***ing myself laughing!"
However, the ladies were not amused. "I'm a little offended", said Heidi, forgetting she's not actually one of the ladies (being teamed with hubby Spencer). And as Gillian shook her head and said "I've got to find a dress now", Tricia rounded on Razor and yelled: "You slithering sneaky little streak of p***!"
If they Ryan and Razor were laughing before, they weren't after that. Good luck sleeping tonight, boys.


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30m-1hr spawn times.
100% drop rate.
Rare/Ex would make me happy.
100% drop rate.
Rare/Ex would make me happy.
If the battles are challenging, I could deal with this.
I could also handle this, but...
Its no longer special anymore if every single person on the server has it.
I hope they can think of a way around this. If everyone can get it, it's not the best of the best anymore. It's standard and becomes required. Everyone would be required to have it as soon as they get to the level or skill level required to equip it.
Rare things should stay rare. It should be a bonus to have it. You see a player in your squad has "Super Cape of Awesomeness" it should be "Wow nice cape man".
In the instance that everyone is easily able to get the "Super Cape of Awesomeness", and someone shows up to your squad without it. You know there will be those people, "Aw man this guy's a noob he doesn't have the cape, kick him and get someone else". Not everyone is like that, but many are.
So the question is, how can they make it easy to claim with high drop rates on Rare/Ex drops, while still not making it so easy that everyone has it?
So yeah I contradicted myself in the same post. Guess some people are hard to please, sheesh.


text:
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Nike will release two retro sneakers this week are both expected to get much attention on the market for cheap jordan shoes basketball. The first is the Air Jordan 13 Retro Edition "Doernbecher" which will be published as part of Nike Doernbecher Freestyle Collection - joint project of the company with the Doernbecher Children's Hospital. The cheap Air Jordan 13 Retro Edition "Doernbecher" was designed by John Charles, who suffers from Crohn's disease. According to Nike, this edition offers John football numbers and a cartoon child with a raised eyebrow because John may raise an eyebrow as well, which he considers one of his special skills. PUBLICITY论文代写
It also has seven pills, which represent the seven John takes medication to manage his health. twin brother of John, Jonah, his German shepherd, Teagan, and an Egyptian pyramid were also presented. John has also decided to put the word "Crohn's disease" on the sole and 11 years of patient gave an interesting explanation. "When I walk,cheap jordans I want to literally crush the disease at every step," said John, who also placed the words courage, strength and fight on the sole.
Air Jordan 13 Retro Doernbecher Articles
The Air Jordan 13 Retro "Doernbecher" will be released on Saturday,cheap jordans for sale with the retail price set at $ 225 for men's sizes and $ 180 for the GS sizes. Related articles like Jordan Hat will be sold for $ 35, while the Nike AW77 Full-Zip Hoodie is available for $ 80. More information and photos are available on this link to Nike. Aside from the special edition of the Air Jordan 13, Jordan Brand will also release the Air Jordan 1 Retro High "The Return" this weekend.
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This edition, which is officially listed as the black colorway / Gym Red-White shoe, has a top black base with red highlights, including the laces and Nike Air Branding. It also has black wings and Jordan gym red Nike Swoosh, and was finished with a white midsole and outsole red. According to Nike, it was the model worn by Jordan when he made his return from a foot injury during the 1985-1986 season. The superstar of the Chicago Bulls have the support and cushioning of the Air Jordan 2, but it feels more comfortable with the Air Jordan 1. In turn, the Air Jordan 1 High "The Return" edition was created Air Jordans For Sale It features top of the Air Jordan 1 combined with elements of the Air Jordan 2. This edition will also arrive at retailers on Saturday and will be available for $ 150 per pair.


text:
|Message view
|« Date » · « Thread »
|« Date » · « Thread »
|Sean Wheller <s...@inwords.co.za>
|Re: [RT] plugin infrastructure
|Thu, 04 Nov 2004 14:18:28 GMT
On Thursday 04 November 2004 15:30, Nicola Ken Barozzi wrote: > I'm thinking of the DocBook plugin and plugins that output the DocBook > as Sean has shown... so there is a dependency > > DocBook_outputting_plugin-> Docbook_plugin -> Forrest > > A solution to this would be Cocoon Blocks, but they would still > need some sort of automatic resolution for us to be of use. Sorry to cut this message so short. There are lots of good ideas in it. However, at the risk of sounding stupid and being totally simplistic, perhaps there is another solution. Perhaps a solution is to force some level of filesystem organization on users. By this I mean, that if a user has Docbook files, then they should store them in the same folder. If a person has OO.org files they will be in another folder. This means that we can allow the user to specify the content type expected by the folder. Instead of matching by file extension, we match by folder. All resources, including images are stored within this folder. Forrest does not try to determine image locations, css, javascript etc. locations. This is defined by the transformation stylesheets. Forrest would need properties to be provided so that supported content types are mapped or associated with 0 or more paths. When a property is not set = "0", that content type is seen as non-existant in the system. When set it to a value of "1" it will automatically look for the paths where such content type resides and the plug-in and sitemap to use. I also think that mapping to a path is more efficient than mapping explicitly to files with a given extension. Does anyone think this could work? -- Sean Wheller Technical Author firstname.lastname@example.com http://www.inwords.co.za
|View raw message


text: Currently you can select multiple prefixes for action, but the only action allowed is to copy settings from an existing one to them. I would like to see the ability to also select multiple prefixes and mass remove them in the quickset options (preferably with a prompt to confirm the deletion). Further action(s) like mass moving them to another category might also be beneficial. Case in point.. I'm redoing the layout of my forum and need to remove about 280 prefixes, and am currently having to do that one at a time after removing them from their prefix category and into the ungrouped one. Would be much quicker (and cleaner) to be able to select multiple to delete at one go. I did a search on multiple|delete|prefixes and delete|prefix and got no search return so not sure if this has been suggested before.


text:
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Please find the requirement below ; If you find yourself comfortable with the requirement please reply back with your updated resume upon ravind...@sysmind.com <ravind...@sysmind.com?utm_source=emailcampaign11786&utm_medium=phpList&utm_content=HTMLemail&utm_campaign=Urgent+Need+%3A%3A+Test+Engineer+%3A%3A+Bentonville%2CAR> *Role: Embedded Developer (QNX,RTOS)* *Location: Peachtree city, GA* *Contract Position* ***NEED VISA COPY + PASSPORT No*** *Skills*: QNX ,RTOS,C++,Embedded development experience SDARS, Receiver, AM FM,TDD *Brief Description:* Programming above average: C++ Test driven development experience. OS/RTOS concepts: QNX experience: Debugging Knowledge: Jtag/Jlink/Trace32 debugging: Performance optimization, throughput measurement: Software Design: Teamwork/Co-ordination with Offshore Teams/System Team Analytical skills, Log analysis AM FM, SDARS experience Ravinder Kaur | SYSMIND, LLC [image: https://newoldstamp.com/editor/profilePictures/profile-b15c8fc3ea4630e2ca604f11e3e951c7-41898.png] Phone: 609-897-9670 x 2177 Direct: 609-897-9670 Email: ravind...@sysmind.com Gmail:ravikaur1144 Website: sysmind.com Address: 38 Washington Road, Princeton Junction, NJ 08550 -- You received this message because you are subscribed to the Google Groups "SAP BASIS" group. To unsubscribe from this group and stop receiving emails from it, send an email to sap-basis+unsubscr...@googlegroups.com. To post to this group, send email to firstname.lastname@example.com. Visit this group at https://groups.google.com/group/sap-basis. For more options, visit https://groups.google.com/d/optout.