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Cariños cigars are produced under the direction of Nestor Plasencia using a core of Panamanian and Honduran longfillers tucked into a zesty Brazilian Sumatra-seed binder, then seamlessly rolled in your choice of light brown Nicaraguan Jalapa Seco or dusky Nicaraguan Viso Oscuro Maduro wrappers. The Natural offers a medium-bodied smoke, accented with wood, leather, & a hint of spice on a sweet finish. The Maduro presents an earthier, more full-flavored experience that finishes on a spicier note.
Everyone has different likes as flavor goes this cigar is fantastic not the prettiest cigar but construction ,burn,draw,ash is perfect the flavor for me is wonderful in my opinion they should be twice the price I have only had the Maduro corona but these will always be in my humidor.
Absolutely my favorite cigar. Perfect taste, draw, burn, construction. Very good smoke. The only ones that even come close are the La Floridita Limited and Conuco Robusto.
I love these. I have found that if I let it dry out all day, it will burn better. The burn is their only drawback. The taste doesn t kick in until half way down. Once there they remind me of the the hill country north of San Antonio where there are Cedar and Junipers growing together.
I got one of these in a sampler pack and gave it a try yesterday after it settled in my humidor for about 6 months. A nice looking cigar but it appears to be a fake maduro - you know, coloured, since I wet the end and it left stains on my hands. I did that because when I trimmed it, the inside looked rather light. On the flavour side - nothing bad, just not interesting as it could be.


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A funeral mass will be offered at 9 a.m. this Saturday, Sept. 15, 2001, at Saint Vincent Martyr Roman Catholic Church, 26 Green Village Road, Madison, for Samuel C. Palmieri of Madison, who died Tuesday, Sept. 11, 2001, at Morristown Memorial Hospital. He was 92. Born in Avelino, Italy, Mr. Palmieri came to the United States in 1912, and lived most of his life in Madison. Mr. Palmieri was a plumber who owned his own plumbing and heating business in Madison for many years before retiring 15 years ago. His wife, Adele Pisapia Palmieri, died previously. He is survived by two sons, Nicholas and Francis X.; a daughter, Mary Davenport; eight grandchildren, and two great-grandchildren.
Interment will be in Saint Vincent's Cemetery in Madison. Arrangements are by the Madison Memorial Home, 159 Main St., Madison.
Memorial contributions may be made to the American Heart Association, 2550 U.S. Highway 1, North Brunswick, N.J. 08902.


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Dedicated to providing the most reliable Public Safety Call Boxes available, find CASE Systems where you work, play and drive.
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In the News
CASE improves security for more than 115,000 students attending the Cypress Fairbanks Independent School District with the addition of 50 new call stations. More info in this article!
Mass Notification goes live at UCSD
UCSD improves campus security with the addition of Mass Notification to their network of CASE Blue Light Towers.
FDNY Fireboxes upgraded
The CASE Systems upgrade kit extends the service life of the exisiting firebox system in NYC.
WCC Upgrades to Blue Light Towers
Westchester Community College removed their older call boxes in favor of the popular CASE Blue Light Towers.
San Diego City College
School campuses and facilities with large grounds and parking lots use CASE call boxes to provide students, employees, and visitors with access to emergency communications, where and when needed.
Beach Side Safety in Kauai, HI
Because of changing weather conditions, strong currents and reefs, beach safety is very important. Emergency call boxes add another level of safety to unattended beaches.
Bridge phones offer a new lifeline
The Sunshine Skyway is now among the growing number of bridges in the country with emergency phones connected to crisis services. Solar-powered phones have been installed on the Skyway to offer direct help for those contemplating suicide.
Alpharetta hiker and biker trails
City of Alpharetta call box installations on the nature trails in the area offer safety for residents and visitors throughout the day, and in any season.
New Jersey Port Authority
Port Elizabeth NJ Call boxes provide a means to report suspicious activities around the port or emergency incidents to the authorities.
Central Park in New York City
New York Central Park call boxes provide direct communication to the NYPD. Keeping the park accessible and safe is a top priority for local authorities.
Roosevelt Island Subway Station
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In Sugar Land, Texas a property management company uses CASE call boxes for added safety on commercial property grounds for people who work and live in the area.
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Travel Time data collection
CASE has teamed with TrafficCast to develop the Bluetooth Call Box (BCBX™) travel time system, combining public safety and mobility capabilities. The CASE BCBX system adds a cost-effective traffic data system to existing traveler aid programs.


text: Return to iPromote Techfoots Spencer gets bacon from an unexpected bus trip to CanadaThe Seattle branch of Daka shoesBehold; The Techfoot!Carly, Sam, and Freddie gaze at The TechfootSam nearly chokes on a sandwich.I'm having fun with Daka's money/Spendin' a ton of Daka's money/I'm a rich girl...Freddie's fancy laptop PC DevalgiaSam's personal chef, SonyaSpencer builds a bike to avoid the bus.Carly and Spencer on his motorcycle.Oh, no, Carly. No, that hairdo is so 70's.Add a photo to this gallery Retrieved from "http://icarly.wikia.com/wiki/Gallery:iPromote_Techfoots?oldid=827666" Ad blocker interference detected! Wikia is a free-to-use site that makes money from advertising. We have a modified experience for viewers using ad blockers Wikia is not accessible if you've made further modifications. Remove the custom ad blocker rule(s) and the page will load as expected. Categories: Episode Galleries Galleries Photos Images Season 1


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Legal Information Reference Center
Providing online full text for many of the top consumer legal reference books, Legal Information Reference Center contains more than 310 full-text publications and thousands of legal forms. Many of the full-text legal reference books are provided through Nolo, the nation's oldest and most-respected provider of legal information for consumers and small businesses. This database offers the everyday user the necessary tools and detailed "how-to" instructions to independently address a wide-range of legal issues including business & corporations, family affairs & divorce, immigration & travel, money & financial planning, patents, copyrights & trademarks, property & real estate, rights & disputes, and wills & estate planning--Publisher.
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Could you quit your job, sell everything, and say farewell to a comfortable life to become an expat?
Sure you can!
Just take the advice of Cheryl Howard – a Canadian who left it all behind to become an expat for 18 months in Berlin, Germany.
And you know what?
She loved every minute of it.
Cheryl has since returned to her hometown of Toronto, Canada but shares her experience becoming an expat, how she prepared for the move, and her tips for living/traveling in Berlin…
Interview with Cheryl Howard
What made you want to become an expat?
After travelling to Europe twice, I fell in love. I wanted nothing more than to make a base there and spend time getting to know every nook and cranny of the continent.
The idea of beginning a new life abroad was also exciting. I moved to Berlin alone, not knowing the language, without a job and ever having been there before!
Although my plans seemed crazy to others, I was absolutely sure it was the right move for me. While I somewhat feared the uncertainty of my future, I was up for the challenge.
I had plans to return in 6 months if things didn't work out but lucky for me, my adventure lasted 18 months.
How did you prepare for the international move?
There was much that needed to be done in order to prepare for my big move abroad!
- Gave notice at work, giving myself six weeks to dedicate to my preparations. And trust me, this time was really needed as it was crazy busy.
- Similarly, I gave 60 days notice to my landlord so I could get out of my lease without any financial penalties.
- I delightfully booked a one way ticket to Europe!
- Applied for a working holiday/youth mobility visa that would allow me to live and work in Germany for up to one year. It was a tedious process but fairly straightforward to complete.
- Purchased health insurance for the first year which was one of the visa requirements.
- Said bittersweet farewells to loved ones through a series of parties and one-on-one meetings.
- Sold almost everything I owned, plus gave loads of stuff to family and friends.
- Took what was left and either put it into storage or shipped it to Germany.
- Found a furnished holiday flat to live in for my first few months in Berlin.
- Cancelled things like my cell phone, credit cards, electricity etc.
How did you research living in Berlin? Any specific websites or blogs that are good resources?
I knew I wanted to live in a city so I decided it would either be Berlin or Munich. On the advice of a good friend and some Berliners I met in Havana, I ended up choosing Berlin. Now knowing the two cities, Berlin was the perfect choice for me!
I used English sites like Slow Travel Berlin (www.slowtravelberlin.com) and Exberliner (www.exberliner.com) for inspiration as to what to do once I was in the city and which neighborhood that I'd eventually live in – Prenzlauer Berg, a very gentrified but quiet and beautiful district in East Berlin.
I found my holiday flat on Exberliner as well. Shopping for a new place to live through the Internet is a surreal experience! Once I knew I wanted to live in Prenzlauer Berg, I'd used Google Street View to get a glimpse of the street. Photos of the apartment helped and I was fortunate that my flat pretty much lived up to how it was advertised online.
What did you primarily do with your time in Berlin?
During the first six months, I took time to get used to my life abroad and didn't look for a job. I took a one month intensive German language class, got involved in the expat community, started to meet locals, explored Berlin, travelled through Europe and got my blog off the ground. It was an opportunity to establish myself as a travel writer, a completely new career path for me!
After six months, I started freelancing full-time as a travel/lifestyle writer for my own blog and other publications. I also started doing project management work for a local company which was the primary source of my income.
What were your three favorite activities/sights in or around Berlin?
Of course, I did the usual touristy things like everyone else but these were my favorite things to do.
- Spending lazy afternoons drinking beer and sleeping under the sun in various parks around Berlin, like the Tiergarten or Volkspark Freidrichshain.
- I was (and still am) quite enthralled with Berlin's epic nightlife scene. I spent many long nights drinking wine with friends until the sun came up.
- Strolling about the city taking photographs, especially in the autumn. Fall in Berlin is spectacular.
What were your three favorite traditional German meals? Please add details on what is in the meals.
- Currywurst is basically a sausage seasoned with curry flavored ketchup. At first I didn't like it but after some time it grew on me.
- Spargel is white asparagus which comes into season every spring. Not exactly a meal, but can be paired with tons of dishes.
- Weiswurst is a white sausage from Bavaria. Add a fresh warm pretzel, toss in a beer and you have yourself a tasty dinner (or breakfast). Now that I'm home in Canada, I still have some of this now and again as a reminder of my beloved Germany.
What is the most common misconception of Germany and why?
That Germans are an unfriendly bunch. While it does take time to get to know people, they are not at all like the stereotype. I count many of them as close friends.
What was your biggest culture shock in Germany?
I think my biggest moment of cultural shock came the first time I went naked at a German sauna! Not a typical activity for a girl with a prudish Canadian background.
What challenges did you face as a woman travelling in Germany? What are your tips to avoid those challenges?
I didn't really face any specific challenges in Germany that I wouldn't face while travelling anywhere else. Germany's safe and a pretty easy country to get around.
What advice can you give women about what to pack for their time in Germany?
I'd advise anyone coming to Germany (or travelling anywhere else for that matter), to pack their smart phone and buy a local SIM card whenever possible.
Being able to use travel related apps like Google Maps to find your way around or Four Square to discover restaurants is super helpful. It also lets you stay in contact with family – especially important if you're travelling alone.
What was the greatest lesson you learned being an expat?
My greatest lesson learned being an expat is that I can do anything, even things that seem wild and crazy like moving abroad on my own.
You become very resourceful – like communicating with a Vodafone sales rep via Google Translate. Since he didn't know English and I German, we used this to speak with one another and set up my new mobile phone contract.
What was your overall experience being an expat?
I learned some tough lessons during my time as an expat but it was an overwhelmingly positive experience which I hope to repeat somewhere else at some point. I made a new home halfway across the world and will always consider it as such!
My love for Berlin runs deep. I'm actually visiting Berlin now for a three week holiday and find myself not wanting to leave.
What advice can you give women considering becoming an expat?
To discard any fears they have about the possibility of becoming an expat and at least try it for a limited time. If worse comes to worse, they can always move home.
What challenges did you face moving back to Canada?
Settling back into my old life. I'm changed as a person and home feels boring at times.
I found myself longing for more but until I figure out what I want my next move to be, I'm happy working, spending time with loved ones and getting to know different parts of North America through a series of weekend trips.
So far, I've hit up Ottawa, San Francisco and Detroit. I hope to make it to Miami, New York and Montreal before the end of the year.
How did the experience change you?
It's made me more open to new experiences and increased my overall level of self-confidence. It's also ignited a flame of passion in me that drives me to live a more extraordinary life.
Any other thoughts or advice for our women readers?
If you have the desire to make a change, like moving abroad then follow those dreams. If you wish to travel, do the same. Just do it!
Thank you Cheryl Howard for participating in this interview. For more info on Cheryl Howard, please visit cherylhoward.com.


text:
1986 Dodge Power Ram 50 Custom Tires
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text:
Just when you thought the savagely scabrous sex farce had gone the way of manual typewriters and telephone booths, along comes The Motherfucker With the Hat, Stephen Adly Guirgis' gleefully blasphemous, high-velocity 2011 rumination on man's inhumanity to — and blithe sexual betrayal of — man. The play premiered on Broadway, starring Chris Rock and Bobby Cannavale and, after a staging last year at South Coast Rep in Orange County, it's now making its L.A. debut. After being paroled, high-strung Puerto Rican ex-con Jackie (a balefully funny Christopher Amitrano) comes home with a legitimate job and high hopes for settling down with his hot-blooded childhood sweetheart, Veronica (Melissa Pino). But his determination to keep to the straight and narrow and to his court-supervised sobriety is no match for Veronica's fondness for cocaine and for whoever forgot the titular mini-fedora that Jackie discovers on the nightstand. In the best tradition of Georges Feydeau, Jackie chases his dignity through an ever-recursive cascade of outrageously casual treacheries and matter-of-fact felonies, even as his quest for the fedora's owner brings him closer to a more profound and perilously implicating self-knowledge. The show suffers from the strained set-change logistics of director Martin Papazian's otherwise sure-footed staging. A sterling ensemble (including Keili Lefkovitz and standouts Shaun Duke and Alex Désert) ably showcases Guirgis' unerring ear for lumpen–New York patois in their deliriously machine-gunned delivery of the profane invective uttered by the play's collection of likable hypocrites, moral dwarves and good-hearted human train wrecks.
Thursdays-Saturdays, 8 p.m.; Sundays, 7 p.m. Starts: July 25. Continues through Aug. 10, 2014 (Expired: 08/10/14)
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Are you health conscious? What vitamins are you taking to help you keep going throughout the day? Good news! An award-winning multivitamin will be given away to one lucky winner for this giveaway event.
You can read Tammie's Review of the products that are in the Prize Pack for this giveaway by going HERE.
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Onto The Giveaway~
One reader will win an Oxylent Prize Pack of the items pictured above.
This giveaway is live and will end on 7/13 at 7 p.m.
Winner will be chosen at random, Notified within 48 hours and have 24 hours to respond to the email to claim their prize or another will be chosen
Must be 18 years of age to enter
Void where prohibited by law
Enter Below and Good Luck to You~
Disclosure- MomLovePassion is not associated with any of the companies named above. No purchase is necessary to enter. Void where prohibited by law. The odds of winning are based on the number of entries received Open to the US 18+ only. Confirmed Winner(s) (by Random.org) will be contacted by email. Winner(s) have 24 hours to respond before a new winner is chosen. No purchase necessary. Void where prohibited by law. The sponsor(s) will be responsible for product shipment to winner(s) of this giveaway. My blog is not responsible for product shipment/delivery nor did I receive compensation. Only one prize per household. This event is in no way administered, sponsored, or endorsed by, or associated with, Facebook and/or Twitter, Google, Pinterest. This disclosure is done in accordance with the Federal Trade Commission 10 CFR, Part 255 Guides Concerning the Use of Endorsements. Entrants must only enter with either one email address, IP address and/or Facebook account, anyone found violating these rules will be disqualified. It is at the sole discretion of the admin of the giveaway if the winner has met the rules or not.


text:
Zpocalypse: Ninja Dice Promo Cards
This pack contains four collectible Ninja Dice themed promo cards for Zpocalypse, originally released exclusively to backers of Ninja Dice on Kickstarter. They add new Armory Cards to the game.
The cards also come packaged with four location cards for Ninja Dice.
For more information: https://boardgamegeek.com/boardgameexpansion/158229/zpocalypse-ninja-dice-promo-cards


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HDI community elevate the customer experience, which in turn makes business more productive.
At Microsoft our mission and values are to help people and businesses throughout the world realize their full potential.
The #1 CRM solution takes sales force automation to new heights, with an array of cloud-based tools that give your team the power to succeed
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Amazon Web Services offers reliable, scalable, and inexpensive cloud computing services.
TIPS is a purchasing cooperation where Awarded Vendors and Members both benefit.


text:
If an item you ordered from TextbookRush does not meet your expectations due to an error on our part, simply fill out a return request and then return it by mail within 30 days of ordering it for a full refund of item cost.
Learn more about our returns policy
Description: Without warning, giant silver ships from deep space appear in the skies above every major city on Earth. Manned by the Overlords, in fifty years, they eliminate ignorance, disease, and poverty. Then this golden age ends--and then the age of Mankind begins....
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All the information you need in one place! Each Study Brief is a summary of one specific subject; facts, figures, and explanations to help you learn faster.
List price: $7.99Copyright year: 1953Publisher: Random House Publishing GroupPublication date: 5/12/1987Binding: PaperbackPages: 224Size: 4.00" wide x 7.00" long x 0.50" tall Weight: 0.220Language: English
Arthur C. Clarke was born in Minehead, Somerset, England, on December 16, 1917. During World War II, he served as a radar specialist in the RAF. His first published piece of fiction was Rescue Party and appeared in Astounding Science, May 1946. He graduated from King's College in London with honors in physics and mathematics, and worked in scientific research before turning his attention to writing fiction. His first book, Prelude to Space, was published in 1951. He is best known for his book 2001: A Space Odyssey, which was later turned into a highly successful and controversial film under the direction of Stanley Kubrick. His other works include Childhood's End, Rendezvous with Rama, The Garden of Rama, The Snows of Olympus, 2010: A Space Odyssey II, 2062: Odyssey III, and 3001: The Final Odyssey. During his lifetime, he received at least three Hugo Awards and two Nebula Awards. He died of heart failure on March 19, 2008 at the age of 90.
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Vince Luecke
editor@perry countynews.com
It takes just a few seconds to rub away the moss hiding the etched words over Margaret Duffy's tomb. Still legible 140 years after the 15-year-old's death, the two short sentences echo the cry her parents surely felt. "Behold this grave and shed a tear," the tombstone requests of passersby. "Beauty and virtue is buried here."
We understand the city's desire to advance animal control in Tell City. However, we have concerns about the ordinance presented March 1 for discussion by the city council.
We realize the ordinance was just a first draft but it would have limited to four the number of dogs and cats a person could have. That created a good bit of discussion and debate, during the meeting and among members of the public afterwards.
Jonathan Bydlak
How much does the Department of Defense waste on overhead and outside contractors? Pentagon officials recently paid an outside consulting firm to find out.
When the consultants put the figure at $125 billion, defense officials were scared Congress would cut their budget. So they tossed the multi-million-dollar report in the trash and hoped no one would find it.
Can-Clay is Perry County's own concept of too big to fail. It's at the citizenry's hands to bear the brunt of practices that help failing business survive when the market or poor business practices says its time to close.
Stuart Cassidy
Staff Writer
If you're a female artist of Irish ancestry who couples her HIIT regime with a balance of healthy eating, March is a great month. More than just St. Patrick's Day, corned beef, and leprechauns, it's never too late, or early for that matter, to indulge in the less traditional aspect of the history.
Alexander P. Orlowski
As Americans, we are united in the belief that all people have certain inalienable rights. Chief among these are, as President Thomas Jefferson penned, the right to life, liberty and the pursuit of happiness.
At the same time American values are also deeply rooted in a strong sense of community. This sentiment is reflected in our national motto: "E Pluribus Unum," which means "out of many, one."
Jim Adkins
Guest Columnist
The roar tore through the night air like the wail of a thousand banshees as the Mexican army swarmed toward the walls of the old mission. The cannons barked, spitting blistering fire and heavy iron balls at the Texan defenders atop the battlements of the Alamo.
Eric Harris
Religion in public school is an issue that pops up from time to time. Usually, it's in a letter to the editor or a Facebook post claiming that there would be less bullying and violence if they allowed prayer in school.
Copyright © 2017
The Perry County News is your source for local news, sports, events, and information in Perry County, Indiana, and the surrounding area.


text:
- Average
- Main course: £12
- Food spend: £25
- Opening hours
- Monday to Friday: 08:30 - 17:00.
Within the world?s leading interior design centre, the Design Café restaurant showcases internationally-inspired cuisine. This bright, airy setting features décor inspired by the resident designers. Design Cafe is open for breakfast and lunch, Monday to Friday.
Chelsea Harbour - Design Centre
Chelsea Harbour, Lots Road, London, SW10 0XE
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Choose from other online games in various categories!


text: Lemar TV (meaning "Sun TV" in Pashto) is a television station based in Kabul, Afghanistan, which was founded in 2006. It is owned by MOBY Group. The channel broadcasts news, shows, and entertainment programs to certain parts of the country.Its sister channels are Tolo TV, TOLOnews and FARSI1 (which is also owned by News Corporation). Lemar TV play Hindi serials dubbed in Pashto like Bandhan Saat Janamon Ka, Laagi Tujhse Lagan.This channel is the second most watched channel in Afghanistan, after Shamshad TV which is the main transmission carrier Pashto channel along with Khyber TV.


text: I have been asked by a Homeowners association to give them a bid on maintaing the front of the subdivision, the entrance, and a culdesac in the neighbor hood. I already cut 30 houses in the neighbor hood, this is why they asked me. all30 houses are cut for between $50-$70 a cut. They want me to trim the whole line of trees across the whole front and mow! I will be doing this solo! I measured out the cutting areas it came out to be about 40,000 SQFT. Section 1) 167' x 49' Section 2) 527' x 49' Section 3) 340' x 49' Entrance and culdesac would take about hour to do


text:
Steve Campagna Photographer
Cookie1Model Female Tacoma, Washington, US
My MM URL: http://www.modelmayhem.com/LornaNel
Mayhem # 2600795
About MeThank you for taking the time to look at my profile! My name is Lorna. I am originally from South Africa, and currently live in Tacoma WA. I have 4 years of modeling experience. I have worked with several amazing photographers, and love being in front of the camera. I am very down to earth, and easy to work with. I deal well with stress as well as taking directions from others. I have a lot of drive and I am very open-minded. I am very comfortable with my body, and I am open to discuss and/or collaborate any ideas involving set design, wardrobe, lighting, or even just general themes for shoots. I work hard at everything I do and my reward is the finished product. I am open to working with other models. I have single piercings in my ears and my navel that can be removed. I have had training in runway and moving in front of the camera, and have done several runway shows. I welcome any constructive criticism about my photos- the more detailed, the better!
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Steve Campagna Photographer
Akasha Lovely Model
Precious Stone Clothing Designer
Irisphoto Photographer
Lloyd Bondy Studios Photographer
LGImages Photographer
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text: Partner Communications Company Ltd. ("Partner" or "the Company") (NASDAQ:PTNR)(TASE:PTNR), a leading Israeli mobile communications operator, announces that it was served with a lawsuit and a motion for the recognition of this lawsuit as a class action, filed against Partner and two other cellular operators ( "the Defendants") on August 8, 2012 in the Tel aviv District Court. The claim alleges that the Defendants do not comply with the provisions of the Israeli Consumer Protection Regulations by not returning to their customers the replaced parts when their handsets are repaired. If the lawsuit is recognized as a class action the total amount claimed against all the Defendants together, is estimated by the plaintiffs to be approximately NIS 120 million. Partner is reviewing and assessing the lawsuit and is unable, at this preliminary stage, to evaluate, with any degree of certainty, the probability of success of the lawsuit or the range of potential exposure, if any. Forward-Looking Statements This press release includes forward-looking statements within the meaning of Section 27A of the US Securities Act of 1933, as amended, Section 21E of the US Securities Exchange Act of 1934, as amended, and the safe harbor provisions of the US Private Securities Litigation Reform Act of 1995. Words such as "believe", "anticipate", "expect", "intend", "seek", "will", "plan", "could", "may", "project", "goal", "target" and similar expressions often identify forward-looking statements but are not the only way we identify these statements. All statements other than statements of historical fact included in this press release regarding our future performance, plans to increase revenues or margins or preserve or expand market share in existing or new markets, reduce expenses and any statements regarding other future events or our future prospects, are forward-looking statements. We have based these forward-looking statements on our current knowledge and our present beliefs and expectations regarding possible future events. These forward-looking statements are subject to risks, uncertainties and assumptions about Partner, consumer habits and preferences in cellular telephone usage, trends in the Israeli telecommunications industry in general, the impact of current global economic conditions and possible regulatory and legal developments. For a description of some of the risks we face, see "Item 3D. Key Information - Risk Factors", "Item 4. - Information on the Company", "Item 5. - Operating and Financial Review and Prospects", "Item 8A. - Consolidated Financial Statements and Other Financial Information - Legal and Administrative Proceedings" and "Item 11. - Quantitative and Qualitative Disclosures about Market Risk" in the Company's 2011 Annual Report (20-F) filed with the SEC on March 22, 2012, as amended on March 26, 2012. In light of these risks, uncertainties and assumptions, the forward-looking events discussed in this press release might not occur, and actual results may differ materially from the results anticipated. We undertake no obligation to publicly update or revise any forward-looking statements, whether as a result of new information, future events or otherwise . About Partner Communications Partner Communications Company Ltd. ("Partner") is a leading Israeli provider of telecommunications services (cellular, fixed-line telephony and internet services) under the orange™ brand. The Company provides mobile communications services to over 3 million subscribers in Israel. Partner's ADSs are quoted on the NASDAQ Global Select Market™ and its shares are traded on the Tel Aviv Stock Exchange (NASDAQ and TASE: PTNR).


text:
Big Fish Games decided to widen their horizons by starting the acceptance of Bitcoin as one of the payment methods for their products. The company is a well-known developer of gaming software compatible with the most operating systems present. One of their 3000 games might be found on desktop machines, smartphones or browsers. Just check Your own list – maybe You are using their developments unconscious.
Outplaying Zynga
Zygna is considered as the pioneer of game developers interested in acquiring Bitcoins for their products; however a full implementation belongs to Big Fish. The idea has come to one of the engineers on the team of developers – some discussions, evaluation of all pros and cons and the decision has been made.
CEO Paul Thelen jocosely stated:
"It's a fun project, and it makes sense."
Both sides of the purchase contract receive particular and very attractive advantages – the cryptocoin users have more options than they had before, but the developers reduce their costs on transaction fees.
Official Comments
The editorial board of the Coin Telegraph decided to contact Paul Thelen to receive some more, unique comments on Bitcoin, acceptance of the currency at Big Fish and the vision of the possible development strategies.
After the determination of interest of society in other cryptographic assets that has initially brought to the rice of prices of the most successful counterparts of Bitcoin, it was reasonable to ask whether the enterprise is considering the introduction of Litecoin or other currencies. Mr. Thelen insists that still Bitcoin has a higher usage rate and market capitalization, which makes it more attractive and interesting for big businesses.
The resulting advantages were obviously summed up by the CEO of Big Fish games:
"Reduce transaction expenses worldwide, increase purchase options for all our customers, attract new customers that use BTC."
The entrance in the Bitcoin environment was easy. The Coinbase as the chosen payment processor provided the required help and made the innovation very smooth as the company had no previous experience in that field.
However, Paul Thelen is not ready and willing to make any predictions on Bitcoin:
"We launched this as it was gaining popularity, it was straightforward to implement and positions us for the future if BTC gains traction. We are an Internet game retailer, we're not in a position to speculate on the future of crypto currencies."
Some Stats
Observing the aspect of cost reducing, it is necessary to mention that the revenue of the company was equal to 266 million dollars in 2013. 8% are given away to the processors of transactions. Just imagine the number!
The cooperation with Coinbase brings new opportunities. The operator will request less than 1% for every transaction, but the first million dollars will be serviced for free.
At first, the Big Fish games enterprise was willing to save up 8% of every Bitcoin transaction as a reserve or investment in the virtual asset, but recently has changed its mind and plans to convert all received money in US dollars.
The Coin telegraph article on Zygna


text: I want to remove Home Page section from my forum. is there a simple way to do it ? next question, i haven't upgraded my forum to XenForo 1.4.4 , do i need to pay since my getting updates option have expired but i was eligible to get it since update came on january . regards


text:
Extra gold tempts striking Amplats miners back to work
Anglo American has been forced to offer bonuses to thousands of striking workers at its platinum business in South Africa in a bid to lure them back to work.
Amplats, Anglo's platinum operation, has also offered to re-employ the 12,000 workers it fired recently for not coming to work. It made the offer of 2,500 rand (£180) during negotiations with unions but said that they must show up today and do productive work for two days in order to apply for the bonus. Those who have been working for the company throughout the six-week strike will be given a "loyalty bonus" of 2,000 rand, which will be paid without making an application.
Four out of every five workers at Amplats' operations in Rustenberg, South Africa,…


text:
Remember when you had to flash a little peen in the movies to get some cred as a leading man (miss you, Harvey Keitel)?
So it leads you to question: "What is a leading man these days?"
CAPOTE (2005) This is the role that propelled Hoffman from ace character actor to leading man.
Presidential debates are political theater, and Obama did not play the role of a leading man.
It was an amazing acting feat that catapulted him from gifted character actor to A-list leading man.
The leading man having readied the cover in front will signal back all clear, and the two men in the rear will join him.
"Nothing here," said the leading man, of course in Malagasy.
He found not a little humor in pre-empting the services of the Daly leading man as a sort of reciprocal stroke.
"Say, that leading man of yours he's some class," cried Fanny.
Phinehas Nevers was quite a leading man in the early days of Maugerville.


text:
Butterick 8357; ca. 1958; MISSES' DRESS: CHOICE OF SKIRT. The new soft look beautifully interpreted in a dress cought at the shoulders with soft gathers. (A) Crushed cummerbund emphasizes the spectacular full-of-flare skirt. (B) Slimming lines… three quarter length sleeves.
Featured in Butterick Fashion News, January 1958
Links to reviews/blog posts Edit
Sources/Vendors Edit
- SewUniqueClassique Bust 32
Gallery Edit
[insert your photos of this pattern made up]
Wishlist Edit
[insert your username, and make sure your preferences allow for people to contact you via e-mail. Do not list your email address here!]


text:
|Publication number
|Publication type
|Application number
|Publication date
|Feb 27, 1996
|Filing date
|Jun 29, 1994
|Priority date
|Jul 10, 1992
|Fee status
|Publication number
|Sam C. Puma, Brian D. Brody, Gregory R. Lee
|Original Assignee
|Northrop Grumman Corporation
|Export Citation
|BiBTeX, EndNote, RefMan
|Patent Citations (14), Referenced by (42), Classifications (11), Legal Events (7)
|External Links: USPTO, USPTO Assignment, Espacenet
This patent application is a continuation-in-part of U.S. patent application Ser. No. 07/912,962, filed Jul. 10, 1992 by S. Puma et al. entitled "HIGH SPEED HIGH RESOLUTION ULTRASONIC POSITION AND ORIENTATION TRACKER," now U.S. Pat. No. 5,339,259.
The invention is related to position tracking systems generally and particularly to tracking pilot helmet position in the cockpit of a flight vehicle or simulator using ultrasonic transmitters mounted in the cockpit and ultrasonic transducers mounted on the helmet, or vice versa.
Position tracking systems for monitoring the position of an article such as a pilot's helmet in a cockpit are useful for such purposes as maintaining a computer-generated projected image display in the pilot's field of view, for example. Other purposes include tracking any part of a person's body such as the head, hand or finger, so that the person may generate inputs to a computer by the movement of his head, hand or finger, for the control of cursor movement in a computer display, for example. Other applications include robotics and weapon systems.
The advantages of employing ultrasonic waves to perform such position tracking over techniques employing electromagnetic signals (such as those disclosed in U.S. Pat. No. 4,742,356 to Kuipers and U.S. Pat. No. 4,303,394 to Berke et al.) are well-known. Essentially, electromagnetic systems are far more vulnerable to interference from many noise sources. Ultrasonic position tracking techniques are well-known. For example, U.S. Pat. No. 4,807,202 to Cherri et al. discloses an ultrasonic tracking system in which the orientation and position of a movable object (such as a helmet) in a closed frame of reference (such as a cockpit) is continually tracked by following the six degrees of freedom of movement of the moveable object. This is accomplished, as illustrated in FIG. 1 hereof, by mounting three ultrasonic transmitters 100, 102, 104 in three different locations in the closed frame of reference 106 and mounting three ultrasonic transducers 108, 110, 112 in three different locations on the moveable object 114. Each one of the three transmitters 100, 102, 104 transmits an ultrasonic acoustic wave signal at a different ultrasonic frequency, all of which are received at each one of the three transducers 108, 110, 112. The three ultrasonic frequencies received at each transducer are separated into three received signals, so that a total of nine signals are received and processed. A tracking processor 116 processes each of the nine signals to provide the distance between the transducer and the transmitter corresponding to the frequency of the received signal, thus providing nine distances. Using well-understood principles, the tracking processor 116 computes the instantaneous position and orientation of the moveable object 114 with respect to the closed frame of reference from the nine distances. This computation uses the locations of the transmitters in the closed frame of reference and the locations of the transducers with respect to the frame of reference of the moveable object.
Various methods of transmitting and processing the ultrasonic signals are employed, all with varying degrees of limited performance. The basic limitation of such methods is that they are slow, limiting the rate at which the position and orientation of the movable object can be repeatedly computed. Most of the methods employ a pulsed ranging ultrasonic technique, such as the techniques disclosed in U.S. Pat. No. 4,853,863 to Cohen et al., U.S. Pat. No. 4,807,202 to Cherri et al., U.S. Pat. No. 3,836,953 to Rotier and U.S. Pat. No. 3,777,305 to Stoutmeyer.
The above-referenced patent to Cohen et al. discloses an ultrasonic position tracking technique in which the frequency shift of the ultrasonic signal due to helmet movement is measured and integrated to provide a displacement value from which the transmitter-to-receiver range is computed.
The problem with the pulse or sequential techniques is that the time required for the receiver to acquire a sufficient ultrasonic signal from which the transmitter-to-receiver range can be inferred limits the rate at which the helmet position can be tracked. For example, the ultrasonic pulsed ranging techniques are limited by the time of flight between the transmitter and the receiver. Generally, it is believed that such sequential techniques produce an updated position measurement for a given sensor at a rate not exceeding on the order of 10 Hz. Most users would be pleased by a 100 Hz update rate. Pulse or sequential techniques are limited to a total time of 9 time-of-flight intervals, or about 30 ms. In a room with echoes, this figure may be 3 or 4 times as large. Consequently, the maximum update rate for sequential techniques is 30 Hz, although a more practical update rate is 10 Hz. Another problem with sequential techniques is that the data is incoherent. The 9 ranges are not simultaneous. As will be shown below, the present invention provides the 9 ranges simultaneously as coherent data, a significant advantage over the prior art.
The problem with the technique of integrating the frequency shift is that its maximum update rate is limited by the time required to measure frequency, compute the doppler shift and then integrate it so as to produce a displacement value from which to compute a range.
The use of plural ultrasonic frequencies to provide separate ultrasonic signal processing at each sensor has the drawback of creating a relatively noisy environment, which tends to detract from the system performance. An example of an acoustical tracking system responding to many different frequencies is described in U.S. Pat. No. 4,333,170 to Mathews et al., wherein there is no active acoustic transmitter, and the sound emanates from a passive target at an unknown location. The present invention concerns a system employing an active ultrasonic transmitter transmitting at a single predetermined ultrasonic frequency. Unlike the Mathews et al. system, the present invention concerns enhancing the type of system in which sound is actively transmitted at known frequencies from fixed predetermined locations while the sensor array is mounted on a helmet (or other moving platform) whose location and orientation is to be determined and updated at rapid intervals. The Mathews et al. system cannot detect rotations of its passive target involving no translation of the target, and therefore is unsuitable in helmet tracking systems.
What is needed is an ultrasonic position tracking system, employing a single active ultrasonic source, which will track the moveable object position at a high rate without requiring many different ultrasonic frequencies.
An ultrasonic tracking system embodying the invention has an array of plural ultrasonic detectors at discrete locations, the plural detectors being responsive to an ultrasonic signal of frequency f emanating from a single remote transmitter to produce respective plural electronic signals corresponding to the ultrasonic signal as received at respective ones of the plural detectors, and a processor for determining from the plural electronic signals a direction of travel of the ultrasonic signal relative to the array of ultrasonic detectors. The processor stores a matrix K which is a function of a displacement matrix D including vectors defining locations of respective ones of the plural detectors in the frame of reference. The processor includes digital signal processors which sense the phase angles of each of the electronic signals and to produce a phase difference vector including, respectively, differences between the phase angle of the electronic signal of one of the plural detectors and the phase angles of the electronic signals of respective remaining ones of the plural detectors. The processor produces an orientation vector defining an orientation of the transmitter relative to the frame of reference of the array of detectors by multiplying the phase difference vector by the matrix K. The processor computes an azimuth angle and an elevation angle from the orientation vector.
In order to provide range, a phase shift key encoder connected to the transmitter encodes every N cycles of the ultrasonic signal with one of a succession of encoder counts, while a phase shift key decoder coupled to receive an electronic signal from one of the plural detectors produces a new decoder count every N cycles of the electronic signal that are decodable. A range processor connected to the phase shift key encoder and to the phase shift key decoder receives simultaneously the encoder counts and the decoder counts. From the encoder and decoder counts, the range processor computes distance between the transmitter and the one detector.
The computation of the range is carried out by storing a first encoder count from the phase shift key encoder, then, upon receipt from the phase shift key decoder of a decoder count equal to the first encoder count, sensing the concurrent encoder count from the phase shift key encoder. The processor subtracts the first encoder count from the concurrent encoder counts and computes the range from the resulting difference. The range is computed by multiplying the difference by Nc/f, where N is the number of cycles of the ultrasonic signal encoded by the phase shift key encoder with an encoder count, c is the speed of propagation of the ultrasonic signal from the transmitter to the array of ultrasonic detectors and f is the frequency of the ultrasonic signal. The encoder count and the decoder count each lie in a range of binary values between 0 and 2N -1. In one embodiment, the phase shift key encoder employs a phase shift key code in which respective ones of the N cycles correspond to respective binary bits and wherein each one of the N cycles represents a binary one if shifted by a predetermined phase shift and represents a binary zero if not shifted. The predetermined phase shift may be 180 degrees, as one example. The ultrasonic tracking system is preferably a digital system in which the processor includes respective analog to digital converters having analog inputs connected to respective ones of the plural detectors and having digital outputs, respective digital signal processors having digital inputs connected to the digital outputs of respective analog to digital converters, the digital signal processors being programmed to compute a phase angle of the signal received at its input.
FIG. 1 is a simplified diagram of an ultrasonic position tracking system of the prior art employing three transmitters operating at three different frequencies and three transducers.
FIG. 2 is a schematic block diagram illustrating one channel of a circuit in the system of the parent application.
FIG.'S 3A through 3C are contemporaneous diagrams of time domain waveforms generated in the operation of the circuit of FIG. 2.
FIG.'S 3D through 3G are diagrams of correlative phase domain waveforms generated in the operation of the circuit of FIG. 2.
FIG. 4 is a schematic block diagram illustrating a digital implementation of three channels of the type illustrated in FIG. 2.
FIG. 5 is a simplified block diagram illustrating the application of the circuit of FIG. 2 with an inertial measurement unit.
FIG. 6 is a schematic block diagram of an ultrasonic tracking system of the present invention.
FIGS. 7 and 8 depict coordinate systems of ultrasonic sensor arrays having three and four sensors, respectively.
FIG. 9 is a diagram of a local sensor coordinate system employed in defining a displacement matrix of the sensor array.
FIGS. 10A, 10B, 10C and 10D are time domain waveforms of various PSK encoded ultrasonic signals representing binary values of 0, 1, 2 and 3, respectively.
FIG. 11 is a graph illustrating the output of the PSK encoder as a function of time.
FIG. 12 is a block diagram illustrating an algorithm carried out by a range processor in the system of FIG. 6 to compute range.
FIG. 2 illustrates a typical circuit of the invention used in each one of the nine channels in the tracking processor 116 of FIG. 1. In the example illustrated in FIG. 2, the circuit processes the one signal received by the transducer 110 from the transmitter 100, it being understood that there are a total of nine such processing tasks to be performed, corresponding to the nine received signals discussed above with reference to FIG. 1.
The main advantage of the invention is that it exploits the C.W. form of the received ultrasonic signal by an interferometric comparison of the transmitted and received versions of a signal in which any change by a single fringe of the resulting interference pattern produces a change in the computed tracking position. The fastest rate at which this change can occur is the frequency of the ultrasonic signal, or about 40 KHz in one implementation of the invention. This is an increase in tracking rate of about two orders of magnitude over the prior art.
The interferometric displacement detector circuit of FIG. 2 includes a fringe processor 200 having inputs connected to receive both the transmitted and received signals, a fringe count latch 202 connected to one output of the fringe processor 200 and a fringe fraction latch 204 connected to another output of the fringe processor 200. A master timing generator 206 synchronizes the operation of the circuit of FIG. 2 and the generation of the ultrasonic signal (on the order of 40 kHz, for example) produced by the transmitter 100. The pair of latches 202 and 204 are periodically sampled by a computer 208. As will be described below herein, the computer 208 samples a total of nine such pairs of latches corresponding to the nine received ultrasonic signals discussed hereinabove. The computer 208 is programmed in accordance with the prior art techniques referred to previously herein to compute the position and orientation of the helmet or tracked object 114.
Accompanying the interferometric detector circuit is a rough range processor 210 which responds to a low frequency (480 Hz, for example) signal modulating the ultrasonic carrier transmitted by the transmitter 100 to provide a rough but unambiguous position of the helmet 114 within the cockpit or frame of reference 106. The output of the rough range processor 210 is held in a rough range latch 212 which is sampled by the computer 208 as desired. The wavelength of the rough range modulation signal must be at least on the order of the diameter or greatest length of the cockpit or closed frame of reference 106, and so its frequency is typically on the order of 480 Hz.
The fringe processor 200 detects the phase differences between the received signal of the transducer 110 and the transmitted signal in quadrature pair and deduces therefrom each zero-crossing of the phase difference. The fringe processor 200 includes a phase detector 214 which detects the phase difference between two signals: (a) the signal transmitted by the transmitter 100 and signal phase-shifted by 90 degrees by a phase shifter 216 and (b) the signal received by the receiver 110 and bandpass filtered and converted to square wave by a phase-locked loop 218. (For this purpose, the phase-locked loop 218 is of the type well-known in the prior art having a square wave oscillator.) Another phase detector 220 detects the phase difference between the transmitted signal and the output of the phase-locked loop 218. The output signal amplitudes of the detectors 214, 220 are proportional to the phase differences of the signal pairs received by the phase detectors. The output signals of the pair of phase detectors 214, 220 are low pass filtered by a pair of filters 222, 224 and are compared with a threshold by a pair of Schmitt triggers 226, 228, respectively.
FIG. 3A illustrates the time domain pulsed waveform (a square wave) of the signal furnished by the master timing generator 206 to the transmitter 100. The reactive elements of the transmitter 100 (or, alternatively, an active filter not shown in the drawings) convert the square waveform to a corresponding sine wave shown in FIG. 3A, so that a sine wave C. W. signal is received by the transducer 110. FIG. 3B illustrates the waveform at the output of the phase shifter 216. FIG. 3C illustrates the signal received by the transducer 110 as converted to a square wave at the output of the phase-locked loop 218. FIG.'S 3D and 3E illustrate in the phase domain the magnitude of the signal at the output of the low pass filters 222 and 224, respectively, as a function of increasing phase difference detected by the phase detectors 214, 220, respectively.
FIG.'S 3F and 3G illustrate the outputs of the Schmitt triggers 226, 228, respectively. Essentially, each time the input to the Schmitt trigger 226 or 228 falls below its trigger threshold (dashed line of FIG. 3D or 3E), the Schmitt trigger output goes high, and each time the input rises above the trigger threshold the output goes low. Note that the leading edges of the output of the Schmitt trigger 228 (FIG. 3F) coincide with the zero phase crossings of the phase detector 220 (FIG. 3D), which is the only one of the two phase detectors whose input is not phase shifted. These leading edges of the Schmitt trigger 228 are detected by employing the output of the other Schmitt trigger 226 as a gate: whenever the output of the other Schmitt trigger 226 is low, sampling of the output of the Schmitt trigger 228 is enabled. For this purpose, the fringe counter 230 has its clock input connected to the Schmitt trigger 228 and its enable input connected to the other Schmitt trigger 226. The fringe counter 230 is of the well-known type in which up-going transitions at its clock input cause the fringe counter 230 to count up while down-going transitions at its clock input cause the fringe counter 230 to count down. The contents of the fringe counter 230 indicate the number of fringes or zero crossings caused by displacement of the helmet 114.
The master timing generator 206 produces fringe interpolation clock pulses at a rate which is an integral multiple (e.g., 4, 8, or 16 times) the frequency of the transmitted ultrasonic signal. A fringe interpolation counter 240 counts the fringe interpolation clock pulses. The rate of the fringe interpolation clock pulses (e.g., n times the transmitted ultrasonic signal frequency) and the modulus of the counter 240 (e.g., n) are selected so that the counter 240 automatically resets at the end of each sinusoidal period of the transmitted ultrasonic signal. The fringe fraction latch 204 latches the output of the fringe interpolation counter 240 in synchronism with the received ultrasonic signal at the output of the phase-locked loop 218. Thus, the change in phase (range) between fringes is measured to within a fraction (1/n) of the wavelength of the ultrasonic signal.
In the example of FIG. 2, the master timing generator 206 derives the ultrasonic carrier for the transmitter 100 by dividing down the fringe interpolation counter by some integer (e.g., 16). However, the ultrasonic carrier may be derived by simply connecting the transmitter 100 to the most significant bit of the fringe counter 240.
The rough range processor 210 operates simply by measuring the phase of the low frequency (e.g., 480 Hz) modulation signal imposed on the ultrasonic carrier. Since the wave length of the low frequency modulation is at least as great as the longest dimension of the closed frame of reference or cockpit 106, each slice is a unique location range in the cockpit 106.
As illustrated in FIG. 2, a low frequency (e.g, 480 Hz) oscillator 250 modulates the ultrasonic signal transmitted by the transmitter 100. A conventional AM demodulator 252 in the rough range processor 210 demodulates the low frequency (e.g., 480 Hz) signal received at the receiver 110. In the meantime, a rough range counter counts 256 up in synchronism with the low frequency oscillator 250 and is latched in the latch 212 by the output of the demodulator 252. Preferably, the modulus of the rough range counter 256 and rate at which it counts are selected to that the counter 256 resets at the end of each period of the low frequency modulation signal. Thus, the contents of the latch 212 indicates the phase of the modulation, which is a direct measure of the range between the transmitter and receiver.
FIG. 4 is a diagram corresponding to FIG. 2 but showing at a higher level how the three ultrasonic frequencies detected by the receiver 110 are processed. In one implementation of the invention, the three ultrasonic frequencies are 37 kHz, 40 kHz and 43 kHz. Thus, in FIG. 4 there are three fringe processors 200a, 200b and 200c corresponding to the fringe processor 200 of FIG. 2, three ultrasonic received carrier signals RC1, RC2 and RC3 and three rough range received signals RR1, RR2 and RR3. In addition, an address decoder 260 permits the computer 208 to selectively address any one or portions of the various latches 204, 204 and 212, in accordance with well-known techniques, as required by the computer's program. The apparatus of FIG. 4 is associated with one of the transducers, there being three transducers in all, so that FIG. 4 illustrates about one third of the system of the invention comprising a complete tracking processor of the type illustrated in FIG. 1.
The contents of the latches 202 and 204 provide the range between the transmitter 100 and the transducer 110 in the form of a wavelength count (the latch 202) and a fraction of a wavelength (the latch 204). The computer 208 is programmed in accordance with the techniques of the prior art discussed hereinabove to periodically sample the contents of the latches 202 and 204 for each of the nine received ultrasonic signals and compute therefrom the helmet position and orientation.
Referring to FIG. 5, the system 500 of FIG. 1 implemented with three circuits of FIG. 4 for each of the three transducers 108, 110, 112 is used to periodically update an inertial measurement unit 502. The inertial measurement unit constantly provides position and orientation data, while the ultrasonic position tracking system of the invention 500 provides measurements only at periodic intervals corresponding to the position tracking rate discussed above. However, while the inertial measurement unit is therefore superior in its ability to continuously provide such measurements, it suffers from a tendency to drift. The advantage of the embodiment of FIG. 5 is that drift errors are minimized by periodically updating the inertial measurement unit 502 with its correct position and orientation as measured by the ultrasonic tracking system 500 at a very high rate. For this purpose, the three transducers 108, 110, 112 are placed on the inertial measurement unit 502, while the output of the computer 208 embodying the tracking processor 116 of FIG. 1 is transmitted to the inertial measurement unit 502. The inertial measurement unit updates its position and orientation data with the measurements received from the ultrasonic tracking system 500.
While the system of FIGS. 1-5 employs a separate ultrasonic transmitter 100 at a unique ultrasonic frequency received by a respective ultrasonic sensor for each one of the nine measurements, the present invention employs only a single ultrasonic transmitter received by all ultrasonic sensors on the helmet 114.
Referring now to FIG. 6, a single ultrasonic transmitter 100 located a a fixed predetermined location transmits a single ultrasonic tone of frequency f which propagates at a speed c to each of the sensors 108, 110, 112, 113. The outputs of the ultrasonic sensors 108, 110, 112, 113 on the helmet 114 are connected to respective analog-to-digital (A/D) converters 1010, 1020, 1030, 1040. In FIG. 6, the ultrasonic sensors 108, 110, 112, 113 are labelled S1, S2, S3, S4, respectively, in FIG. 6. The A/D converters 1010, 1020, 1030, 1040 generate digital versions of the signals received by the respective ultrasonic receivers S1, S2, S3, S4, which are applied to the inputs of respective digital signal processors (DSP's) 1050, 1060, 1070, 1080. The DSP's 1050, 1060, 1070, 1080 are programmed in the conventional manner to compute the phase angles p1, p2, p3, p4, of the output of the sensors S1, S2, S3, S4, respectively, relative to a common reference signal. The process by which the DSP's compute phase using fast Fourier transforms is disclosed in U.S. Pat. No. 4,333,170 to Mathews et al. Digital subtractors 1110, 1120, 1130 subtract the phase p1 of the sensor S1 from the phases p2, p3, p4 of the other sensors S2, S3, S4, respectively, to produce a phase vector P whose dimensionality is one less than the number of sensors: ##EQU1## using the notational convention pij =pi -p.sub..
A memory 1140 stores a matrix K which is a function of a displacement matrix D defining the locations of the sensors S1, S2, S3, S4 on the helmet 114 in a local coordinant system of the sensors. FIG. 7 illustrates the local coordinate system with three sensors S1, S2, S3 lying in the X-Y plane of the coordinate system while FIG. 8 illustrates the local coordinate system with four sensors S1, S2, S3, S4. In FIG. 8, the sensors S1, S2, S3 lie in the X-Y plane while the sensor S4 is out of the X-Y plane and lies on the Z axis.
The D matrix mentioned in the previous paragraph is an array of difference vectors. Each difference vector is the difference di1 between (A) a displacement vector di locating a respective one Si of the sensors S2, S3, S4 in the local coordinate system and (B) the displacement vector d1 locating the sensor S1. The elements of each displacement vector di are its projections along the local coordinate system axes (X, Y, Z):
d1 =|d1x d1y d1z |,
d2 =|d2x d2y d2z |,
d3 =|d3x d3y d3z |,
d4 =|d4x d4y d4z |.
If dij =di -dj, then the difference matrix D may be defined as: ##EQU2##
A simple version of the D matrix is defined with respect to the four-sensor array illustrated in FIG. 9 in which the sensor S1 is located at the origin of the local coordinate system while the remaining sensors S2, S3, S4 are located on the X, Y and Z axes, respectively displaced by the same distance L from the origin. In this especially simple example, the matrix D is given by: ##EQU3##
The matrix K stored in the memory 1090 is computed from the matrix D as follows:
K=[c/2pif][DT DDT ]-1.
Referring again to FIGS. 7 and 8, the orientation of the transmitter 100 relative to the local coordinate system of the sensors S1, S2, S3, S4 on the helmet 114 is given by the azimuth angle (Θ) and the elevation angle (φ). The unit vector parallel to the vector R locating the transmitter 100 in the sensor local coordinate system is: ##EQU4## The unit vector u is the (unknown) orientation of the transmitter in the sensor local coordinate system of FIG. 8. It is computed from the matrix K stored in the memory and from the phase difference vector P by a matrix multiplication process carried out in a matrix multiplier 1150 as follows:
ti u=KP.
The matrix multiplier 1150 obtains the elements of the vector P from the outputs of the subtractors 1110, 1120, and obtains the K matrix from the memory 1140. An algebraic processor 1160 employs ordinary trigonometric relationships to solve for the individual azimuth and elevation angles Θ and φ from the three elements of u (ux, uy, uz) obtained from the output of the matrix multiplier 1150. The values of Θ and φ are updated as fast as the DSP's 1050, 1060, 1070, 1080 can compute new values of the phase angles of the signals from the ultrasonic sensors.
The range is also obtained from the ultrasonic signal of frequency f from the single transmitter 100. For this purpose, a conventional phase shift key (PSK) encoder 1300 encodes the output of the ultrasonic signal generator 250 in the manner illustrated in FIGS. 10A-D. In the example of FIGS. 10A-D, three cycles of the ultrasonic signal from the signal generator 250 are used to represent the states of three binary bits. As indicated in the drawing, the first, second and third cycles of the signal correspond to bits 0, 1 and 2, respectively. In FIG. 10A, none of the three cycles is changed in phase, so that the three cycles together represent a binary value of zero. In FIG. 10B, only the first cycle (corresponding to bit zero) is shifted in phase by 180 degrees, so that the three cycles together represent a binary value of one. In FIG. 10C, only the second cycle (corresponding to bit one) is shifted in phase by 180 degrees, so that the three cycles together represent a binary value of two. In FIG. 10D, both the first and second cycles (corresponding to binary bits zero and one) are shifted in phase by 180 degrees, so that the three cycles together represent a binary value of three. In this way, the three cycles can represent any number from zero to seven. Of course the number N of cycles of the ultrasonic signal used to represent a value or "byte" may be larger than 3, so that the maximum value is 2N -1. Thus, every N cycles of the ultrasonic signal produced by the generator 250, a complete binary number having N bits has been transmitted by the transmitter 100. This number is detected by a conventional PSK decoder 1400 whose input is connected to the output of the A/D converter 1010. In the embodiment of FIG. 6, the PSK decoder 1400 converts the PSK encoded signal received by the sensor S1 to a binary count every N cycles of the ultrasonic signal at the frequency f.
The output of the PSK encoder 1300 is a series of monotonically increasing decoder counts (depicted on the ordinant of the graph of FIG. 11) over time (depicted on the abscissa of the graph of FIG. 11. As shown in FIG. 11, a series of encoder counts nei is produced by the encoder 1400 at successive times Ti, where i increases from 0 to N, after which the encoder counts repeat. The time between successive encoder counts is N/f, where N is the number of cycles or bits of the PSK code and f is the frequency of the ultrasonic signal from the generator 250. The output of the PSK decoder 1400 is the same as that of the PSK encoder illustrated in FIG. 11, except that it is shifted in time by the time-of-flight, R/c, from the transmitter 100 to the sensor S1 (where R is the distance and c is the ultrasonic propagation speed). Moreover, due to noise in the environment surrounding the sensor array or helmet, there may be drop-outs in the received signal at the sensor S1, as suggested in the drawing of FIG. 11 between times Ti-1 and Ti.
A range processor 1500 receives via electrical conductors or optical fibers the encoder counts ne from the PSK encoder 1300 and decoder counts nd from the PSK decoder 1400. Compared to the time-of-flight from the transmitter 100 to the sensor S1, the transmission of the encoder and decoder counts, ne and nd, may be considered as instantaneous. Therefore, the range processor can compare the two counts to compute the range R.
FIG. 12 illustrates one algorithm carried out by the range processor 1500 to compute the range. The range processor 1500 stores the current N-bit encoder count nei (block 1610 of FIG. 12) from the PSK encoder 1300 and calls it "ne1 ". The range processor 1500 then monitors subsequent N-bit decoder counts nd from the PSK decoder 1400 (block 1620 of FIG. 12). Until a decoder count nd is detected that equals (or exceeds) the value of the encoder count nei previously stored in the step of block 1610, the range processor continues to monitor the decoder counts nd (NO branch of block 1630). As soon as the decoder count nd reaches the value of the previously stored encoder count nei (YES branch of block 1630), the range processor immediately stores the value of the latest (now-current) encoder count ne received from the PSK encoder 1300 and stores it as "ne2 " (block 1640). The range processor then computes the range from ne1 and ne2 as follows:
R=[Nc/f][ne2 -ne1 ],
where N is the number of bits in the PSK code, c is the propagation speed of the ultrasonic signal from the transmitter 100 to the sensor S1 and f is the frequency of the ultrasonic signal.
An advantage of using only a single ultrasonic transmitter and ultrasonic frequency for all ultrasonic sensors is the lack of noise and reliability of the signal processing. The matrix multiplication process carried out with the matrix multiplier 1150 provides azimuth and elevation using only the single ultrasonic frequency signal from the transmitter 100. An advantage of the PSK ranging process of the invention is that it too requires only the single ultrasonic frequency signal from the transmitter 100.
Another advantage of the invention is that the orientation measurement is updated at fast as the DSP's can compute new phase angles, while the range measurement can be updated every N cycles of the ultrasonic signal. A further advantage is that the computation of the range is not affected by any dropouts in the received ultrasonic signal before the decoder count nd reaches the stored encoder count ne1. Also, the range processor simultaneously stores many encoder counts so as to compute an new range with every encoder count.
While the invention has been described with reference to a preferred embodiment in which the differences in the P vector and the D matrix are all computed relative to sensor S1, there are four ultrasonic sensors, N=3 and the PSK code employs 180-degree phase shifts, the invention may also be implemented with variations from the foregoing choices. For example, the differences in the P vector and the D matrix may be computed relative to any one of the ultrasonic sensors, the number of ultrasonic sensors may be any number greater than two, N may be greater than 3 and the PSK code may employ a phase shift other than 180 degrees (e.g., such as 90 degrees). Moreover, other encoding schemes, such as Reed-Solomon error correction codes, may be concatenated with the modulation code, while modulation codes other than PSK encoding may be employed, provided they may be superimposed on the ultrasonic signal of frequency f.
While the invention has been described in detail by specific reference to preferred embodiments thereof, it is understood that variations and modifications may be made without departing from the true spirit and scope of the invention.
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Zak Penn has scripted superhero movies like X-Men: The Last Stand, The Incredible Hulk and Electra and has the story-by credit for the upcoming The Avengers. Now he is creating his own superhero for comic books: Avatar Press said Penn's series Hero Worship will launch in July. The six issues will be co-written with Star Wars: The Clone Wars screenwriter Scott Murphy and drawn by Michael DiPascale. It centers on Zenith, an indestructible hero who has legions of fans following every disaster, trying to catch a glimpse of the ultimate celebrity and risking their own lives in the process. One of his fans becomes so obsessed it leads to the development of his own powers. Penn is the co-creator of Syfy's Alphas, which has been renewed for a second season to premiere this year.
Zak Penn To Make Comic Book Debut With Six-Issue Series 'Hero Worship'
6 Comments
Zak? Why didn't you do this with Image Comics?
Because Avatar Press Is Better
There already is a super hero with five graphic novels called Zenith by Grant Morrison.
Really Herman? Where can you buy these graphic novels?
Hahaha most comic book people are trying to move up to movie money, Zak goes the other way.
Self-publishing in this climate is kinda risky. But if he's got the cash, given his name, it's worth a shot.