text:
So, a large part of what you're going to see
here was worked on at UT Dallas, just want to give that little disclaimer but we're very
excited to be here at Michigan with electrical engineering and the Robotics Institute, and
so we'll be doing a lot of cool stuff here over the coming years. So the motivation behind
my talk is challenges to human mobility. And in particular, we're very interested in
challenges faced by lower limb amputees, so there's about a million Americans with lower
limb loss as well as general mobility limitations that can be caused by stroke, advanced age,
Osteoarthritis, lower back pain, musculoskeletal disorders, et cetera et cetera. In fact, it's
pretty staggering numbers about one in eight adults in the United States have some sort
of mobility disability. And so, the features of gait experienced by these individuals include
more frequent falling, more metabolic energy consumption walking from point A to point
B. And slower walking and so forth. And so there's certainly a lot of room for
improvement of conventional prosthetic and orthotic devices to enable greater mobility
in these populations. And so our approach, my group likes to think of legged robots as
a cycle of life for achieving these goals and so we like to borrow and develop concepts
in the area of legged robots, autonomous robots like Cassie and translate those into powered
prosthetic legs, learning how to cooperate and synchronize to the human with the robotic
device as well as in exoskeletons trying to augment an existing limb that may have some
sort of weakness or deficit to it. And then through the process of learning how to apply
these control methods to humans we actually learn a little bit more about how to make
more human like autonomous walking as well. So we can make these robots walk in a more
natural lifelike manner. So that's the cycle that we embrace. And so the organization of
this talk is as follows. I'm going to start by discussing our efforts in user synchronized
kinematic control of agile powered prosthesis. And so when I say kinematic control I mean
controlling joint position and velocity. Then we'll talk about energy aware actuator design
in order to enable greater mobility in these devices. And then we'll close with discussions
on energetic design and control for partially assisted exoskeletons that only provide some
support for an individual, not complete support. And so you'll see how we're kind of going
from this kinematic control paradigm towards this energetic control paradigm in this talk. So this is the state of the art in the field
of powered prosthetic legs. At least it was when I entered the field. And so the idea
is you look at the gait cycle and you notice it has several different phases of gaits which
are indicative of certain behaviors such as heel contact, push off during late stance
and then the swing phases. And so essentially the way that control engineers were designing
the powered devices for amputees in the past is to design a different controller for each
of these behaviors. So each of these boxes may have a proportional
derivative controller in it. Sometimes in the field we call it an impedance controller.
And then there would be some switching rules to go from one mode to the next. Now the problem
is that all of these things are subject dependent. So I walk differently than Rom, Rom walks
different than Gray, and so on. And so we actually end up having an explosion of parameters
that require patient specific tuning that is not intuitive because these things may
not necessarily have physical intuition behind them, especially the switching rules and some
of the parameters depending on which control methods you're using, and it takes a lot of
time. And the problem gets even worse when you think
about variable activity locomotion. So typically you'd have a higher level state machine where
you'd have let's say five different modalities you can use and each one of those things would
have its own lower level cycle here with its own parameters and so what ended up happening
is you'd spend, and I've done this during my post doctoral training, you'd spend hours,
sometimes days with one person trying to optimize these parameters to make them walk just right. And so it's not a clinically viable solution,
right? Medicare, insurance, whatever is not going to pay for five hours of tuning with
a team of engineers. And it's also not necessarily very accessible to people who haven't had
training in control theory such as clinicians. And so that's the challenge. And so I took
inspiration from the field of robot walking to address this challenge. Now, this is a
robot that was designed by Eric Westervelt who I believe is a Michigan alum, right? And
then later adopted by Jim Schmeideler at Notre Dame. And so Ernie, has he's called, you'll see
in this video is controlling its hip and its knee angles as a function of its hip progression,
okay? So it's measuring the progression of the center of mass of the hip. And so as the
robot's pushed forward, its leg joints will track a pattern in the forward direction and
when it's pushed backwards it tracks back in a backward direction. And then when you give it a nice push it can
actually fall into a nice self-fulfilling walking cycle were actuation energy injection
from the leg joins cause more forward propulsion which then keeps the joints moving forward
and so on. Now this idea actually initiated from Jessy Grizzle here at Michigan. And this
is the notion of a phase variable, okay? So it's a time invariant parametrization of the
joint trajectories. So let's say that you want to track this kinematic pattern, so this
is joint angle over time. But you want to track it in a time invariant manner so that
you can, so that the robot can always keep up with its progression, right? So that the
leg is never too far behind or too far ahead. And so what you do is you try to find, at
least during steady walking a monotonically increasing signal that you can measure, which
we call a phase variable. So this could be the hip position going forward
in space over time. And so then if you measure that phase variable you can then parametrize
your kinematics as a function of that. And the beauty of this is that if you're walking
and then suddenly someone grabs you and stops you from moving, then your joint angles which
are being controlled as a function of this phase variable will stop, right? Synchronizing
with your progression and then as soon as you let go of the robot then it will keep
moving again, right? And so you end up seeing this … so you see
this little phase shift here that's happening over time but because we've represented the
trajectories as a function of a phase variable it's as if nothing happened, right? Because
you never left the desired profile, you just simply slowed it down and then restarted it.
Okay? So that's the idea of the phase variable. And it's turned out to work really well for
walking robots. These things can walk and run and climb stairs and so forth. You can
push them and they'll recover. And that's still going on here at Michigan with Jesse
and Rom's groups. So we wanted to use this for controlling a
prothetic leg. But that then motivated the question of how can we measure a phase variable
that represents the progression of human walking? And so, my former PhD student, Dr. Villarreal
came up with this concept of the thigh phase angle which is a strong predictor of the distal
joint patterns. And so the idea here is that if you're measuring the angle of the thigh
with respect to gravity, so this is a global and inertial measurement then you look at
it over time, it has a sinusoidal trajectory. And so when you have a sinusoidal trajectory
like this you can build a phase orbit. This orbit in the phase portrait actually gives
you a clock, a sense of timing which is actually time invariant because it's based on the position
of the thigh moving over time. And so in this study, Dr. Villarreal even
showed that it's, the distal joint patterns are still highly correlated with the progression
of the thigh even across perturbations. So if you tripe someone, at least with a reasonably
magnitude perturbation you can still predict distal joint patterns with this measurement.
Now if you really trip someone and you're to the point of nearly falling over, then
there might be some reflexes that kick in that might not be well explained by this.
But at least subtle perturbations are well captured by this idea of a phase variable. And so we implemented this concept in our
first leg design, this is our gen one robotic leg. It wasn't designed for looks, okay? So
it's not the prettiest leg but it was designed, it was our first attempt at building a wearable
robot. So the key features here is that it has an inertial measurement unit at the top
of the knee joint which gives you the orientation of the thigh, okay? So it has an accelerometer
and gyro in there. And it has a knee actuator and an ankle actuator. And I'm pointing out
that it's highly geared, I'm not trying to brag about that. I'm just pointing out that
it's highly geared because that's going to become a problem later and I'm going to talk
about how we're going to solve that as well. Okay. Definitely I'm not bragging about that. And this was work by Dr. Quintero who is now
at SFSU. And so having this implementation in the prosthetic leg, we also need to figure
out how are we going to define the kinematic patterns that the leg will follow. And so
what we do is we start with able bodied, normative kinematics which we then reparametrize again
as a function of this phase variable. But then we allow the clinician to visually augment
that trajectory. So you can imagine that the patient puts on the robotic leg, starts walking
with it. But because every gait should be user specific, should be unique the clinician
may observe okay, they need a little bit more push off during late stance or maybe a little
bit more inflection during swing. And so then they can grab these control points
and manipulate the trajectory and then it re-encodes the function of the phase variable.
So essentially we have these functions of phi which is the phase variable and that then
leads you to an error vector where theta is the actual truly, the measured angles of the
leg. This is the desired angle of the leg, given the phase. And so you have an error
vector. And then the simplest way to control the leg is to control torque based on a proportional
derivative control law, right? That's the first thing we all learn. And so we do that, it works. But there's also
more rigorous formal methods such as hybrid zero dynamics and Dr. Martin has a really
nice paper on that theoretical approach but we're not going to use the theoretical approach
in the experiments just because it's difficult to model these things and it could result
in other challenges. So, and the experiments to follow were using partial derivative control. All right, so this was our very first amputee
subject. The very first time anyone had put on our, any patient had put on our leg and
this was just him acclimating him to it. And we were just recording the video while we
were shooting the breeze with this subject. And I highly recommend doing that, record
anything just in case something interesting happens, even if it's an outtake, it could
be useful. And so here, we're just chatting with him
and then we notice that he became kind of comfortable with the leg and started kind
of moving his weight, shifting it forwards and backwards. And then we asked him so what
are you doing here? And he was like well I understand that the foot's going to be where
I expect it to be based on my hip motion so I can actually trust that it's going to be
behind me when I need it to be. So he's not looking at it, he can't feel it,
right because he has no proprioception. But he has learned this mapping from his hip motion
to the prosthetic foot position. And so essentially he was able to then volitionally to a degree,
it's not true volitional control but he's at least able to control the foot position
where he wants it to be. And so that was pretty nifty. And this was working in collaboration
with Susan Kapp. And so here's a sequence of experiments demonstrating
how walking with a conventional prosthesis which is what we're going to see first. This
is the leg that this subject uses every day and then comparing that with walking with
our powered leg. He's actually a pretty good walker with it. So it's a little loud and
we'll talk about that later. That has to do with the high gearing and the use of a ball
screw. Now walking backwards is hard because with
this conventional leg he has no control over foot position. But against with the powered
leg and this controller he can trust that the foot will be where it should be based
on his hip motion. So Bobby it looks like he's sort of snapping
the leg into place as he's swinging backwards? Yeah, that was because we have … I'll talk
about it in a second, yeah. Yeah, but you can go forward and backwards. And we can also
do things like crossing obstacles which the controller was not explicitly designed for
that. But we were able to, based again on this mapping from hip motion to foot position.
Okay, so Rom, the question about the snapping. So we, I'm kind of trivializing things a bit
here. We have some safety mechanisms in place so that the leg doesn't for example switch
from stance to swing erratically or when you don't want it to do it. So in order for the
leg to start flexing, before you actually take a step forward we require it to have
a certain amount of motion to actually engage we call it backwards stated. But it's all
based on the phase variable, though. It's just that there's some supervisory logic that
prevents it from switching too quickly. This one was a little more entertaining, so
we got a pretty good soccer kick out of this. Whoa, nice. So … better than I can do at least. All
right. So, and so here's steady walking. This participant does keep his hands on the hand
rails but this might have to do with the actual design of the device. So trust me on that
one. So you get more normative energy injection
into the gait cycle. And so on particular, for example while we're walking at multiple
speeds, normatively it would be the knee work gets more negative as you go faster because
your knee is doing more braking as you walk faster. And ankle work would go up because
your ankle is doing more propulsion as you go faster. And so we get that, whereas with
the passive conventional leg, this would be more or less level and it wouldn't be nearly
as high, either because it's a net zero mechanical work paradigm, right? I mean these prostheses
conventionally do have springiness in them so they can store and release energy but they
can't inject energy. And so this results in more normative biomechanics
and that's still a somewhat theoretical concept but this is where things really matter. So
we look at compensations of the amputee participant. And there are three that are very common in
amputees. So there's hip circumduction where they kind of rotate their hops so that their
foot doesn't drag the ground. There's hip hiking which is exactly what it sounds like,
again to prevent the foot from dragging on the ground. And then on the sound side they
have ankle vaulting where they kind of push off too early to again provide ground clearance.
And what we see compared to the passive, so the dotted line is the passive and the powered
is the blue. We see actually a reduction in these compensations. They're not completely eliminated and we wouldn't
expect that after one experiment but we do see an almost immediate reduction in them.
So this is relevant because these compensations are metabolically costly. So also they tend
to wear the joints, the intact joints fast. So amputees tend to have arthritic hips and
arthritic knees in the sound side and so forth because they are overusing their sound limbs. Okay, so at this point, I described a continuous
sense of phase, but we still have a discrete sense of task in the sense that we would have
to know what the task is, the activity in order to change the kinematic pattern of the
leg. Right? Because so far we've just made the kinematic pattern time and variant but
there's still a profile there that we're tracking. And so in order to do different things like
walking on inclines or stairs, you'd have to change those kinematic profiles somehow.
And so you could do that with a classifier. But my goal and the topic of our current R1
project is to have a continuous sense of activity, of task in order to allow navigation over
continuously varying speeds, inclines and other types of transitions to stairs and so
forth. And so the goal here is that we can define
a multidimensional activity space where for example, slope, the incline can be any real
number within some range, speed, can be any positive real number within some range. And
then for example stairs. Are you on a staircase? One. Are you not? Zero. Or are you transitioning
between them and that would be some number in between zero and one. And then our goal
is to have a kinematic model that given a point in this activity space will then give
us a prediction of what the kinematics should look like. Okay? And so you see here that for these three different
points in the activity space we have three different trajectories that we'd want to track
in the prosthesis. So that's the goal. And so we have some preliminary work in this direction
where we're trying to use samples of these … of this activity space. And so in this
study, our activity space is just variable inclines and speeds. And so we do a motion
capture study where you can, where we sample a certain number of these speeds and a certain
number of these inclines and combinations of the two. But we can't possibly sample the
continuous range, right? That's not possible. And so we need a model that can predict in
between those samples. And so in order to avoid over fitting, we
wish to use regularization to find a model that explains the underlying features in the
data in a way that can allow us to predict activities that you don't actually have samples
of from the motion capture study. Okay? And so for example, this function B here would
be a function of the phase variable, okay? And that would be, for example that would
come from a set of trigonometric polynomials, and C would be a function of a vector of describing
the inclination, and speed I guess. I projected away speed. But speed would also be in there
and so essentially we use group L1 regularization, which is a machine learning method for trying
to induce sparsity in the model. Okay? And so we're able to show that this is actually
a stronger predictor of unknown, of untrained activities compared to for example linear
interpolation which is exactly what we would all try first, right? So essentially our error,
our prediction error is statistically significantly better using our sparse model than just using
linear interpolation. And so the argument here is that then we can
reliably predict the desired kinematics for any incline or speed that we can detect from
the environment. Okay. Now detecting the incline and speed is a challenge in its own right,
which we're working on. But this is the idea. And so, we're currently working on modeling
and control of again, these continuously varying activities. But we also want to consider stairs
and maybe one day running. The ultimate goal of course having a control system that can
perform all of the activities of daily living in a seamless manner. And so we have a way of doing that theoretically
at least in terms of transitions between a certain set of activity modes, like stairs,
flat ground, sitting. And then each of those modes might be parametrized by an incline
and a speed that would then allow us to have this continuously varying set of activities.
So this is an early project that's still ongoing. However, in order to actually achieve this,
we're going to have to address the limitations in the hardware that some of you have already
pointed out. The hardware is loud, the hardware is heavy, it's got umbilical cords attached
to it. And it's very stiff. When we use these highly geared transmissions, it makes the
joints very stiff in the sense that they're not back drivable. You can't … they don't
naturally swing with dynamics and so the motor has to literally do everything for the robot
to move. And that's not how human joints work, right? And so this is where now we're looking at
using better hardware such as prosthetic legs that actually think about how they use energy.
In particular, the open source leg was designed by Elliot Rouse here at Michigan and we're
one of the lucky early recipients of it. And it has a series elastic actuator. So essentially
you put a spring in series between the gear box and the load which provides compliance
to impacts. It also allows you to store energy and release it. And so it has the potential
to reduce energy consumption in that manner. It also provides some back drivability and
lots of different potential benefits. But if we're going to be using this for controlling
variable activities, that begs the question of how should we select stiffness for the
series elastic actuator? And so in Elliot's design he has six different
selectable stiffness options you can choose, but you can't pull them out mid gait cycle,
right? You can't change the stiffness as the leg is being used. And so, at least not yet.
And so the question is how do we select an optimal stiffness that will allow energy efficient
electrical energy consumption as well as satisfying actuator constraints? For example you don't
want to bottom out the spring, because then it becomes a rigid actuator as soon as the
spring bottoms out. And also limitations like the peak torque
and velocity of the motor and so forth. And so that motivated a different NSF project
which is in its early stages where we're trying to have a method for robust design of series
elastic actuators. And so it turns out Edgar, Dr. Boulevard is here in the audience somewhere.
There were go. So was a PhD student with me and now a post-doc with me. So Edgar realized
that you can express the energy consumed by the motor as a quadratic function of the spring
compliance. So that's the inverse of stiffness, right? And so, what is energy consumption? Well it's
not the energy to move the load because that can't be reduced. That's just first principals.
But it includes energy losses due to a viscous friction. Okay, so friction results in loss.
And joule heating. So that's the heating that comes from Joule's law, the windings in the
motor. You put current through it and it heats up with, scales with current squared. And so we can potentially reduce those things
through the design of the spring. And so, in Edgar's analysis he was able to show that
you can actually express this as a quadratic function, energy consumption. And in the case
of a linear spring, meaning a constant stiffness, that means that you have a convex function
of energy over compliance. So you can very easily find the optimum that
minimizes energy consumption, right? Now if you're thinking about a non-linear spring,
well then X would be a trajectory of compliance that has certain constraints on it. For example,
you want your spring to have a monotonic relationship between displacement and torque, right? So
in order for it to be conservative. So we have inequalities that correspond to actuator
constraints and feasibility constraints. And we can also introduce uncertainty. Because
this is a convex problem, a convex optimization problem there are tools available for robust
optimization that can handle uncertainty. For example, our uncertainty in the case of
a legged robot would be for example the mass of the human user. We don't really know how
much each person weighs or if they're wearing a backpack. You put a bunch of books in there
to go to class or whatever. Or iPads these days, right? And the position might be a little bit uncertain
right? Because the environment might result in differences in kinematics and so forth.
The efficiency of the actuator itself might be uncertain and there could be all sorts
of unmodeled dynamics as well. So now this allows us to again minimize energy consumption
and also guarantee that we still satisfy actuator constraints as the activity might change. Now there's another approach that we've been
investigating which is not using series elasticity but instead using quasi direct drive actuators.
This is a different way of achieving compliance, it's just that it's not compliance through
a spring, it's compliance through a lack of inertia in the actuator. So the actuator does
not have significant dynamics of its own. So you can just almost freely rotate the motor
from the load. It's called back driving, all right? So the way we do this is we have to
have a very low gear ratio because the inertia reflected, the inertia of the rotor, of the
motor reflected through the transmission scales with the square of the gear ratio. And so the whole game comes down to getting
this gear ratio down as small as possible in order to reduce the inertia of the actuator.
But then when you reduce the gear ratio then you have to deal with making sure you have
sufficient torque coming out of the actuator as well. And so that's where the high torque
motors come in. We have to use high torque motors that typically are pancake motors because
they have higher torque density. And these two things combined allow us to do some pretty
nifty things with our Gen-2 leg. So, you can see it's very back drivable. This
is powered off. It requires one to three newton meters of torque to back drive the knee or
the ankle, so it's very back drivable. And the goal there is to allow more dynamic motion
and also energy harvesting. Because when this leg is doing negative work, when its braking,
the motor is doing that. And that results in a charge going to the battery to prolong
battery life and so forth. Also, there's fewer moving, meshing parts and those parts are
moving slower than a highly geared transmission which results in less noise. So we can finally
address that problem with the lawn mower sounds coming from the prosthetic leg. All right, so here's the video I promised
you where the subject will wake without the hand rails at some point. So here it has very
compliant impacts with the ground because there's almost no inertia at the joint. Of
course the limb itself has inertia. And it's also able to have a very fast push off to
swing transition because it has a very high bandwidth. It's one of the benefits of a quasi
direct drive actuator is very high bandwidth. So you can go from high force at push off
to high velocity at early swing in almost no time. The battery is right here. Yeah.
And it's enough for about I believe, it depends on walking speed but it's enough for around
5000 steps or more. Oh, 50 decibels adjusted is about the noise level of a household refrigerator,
so very quiet. Something that at least we find acceptable at home, right? And again
we're not stuck to treadmill walking. And one of the other benefits of the quasi
direct drive actuator is again I mentioned earlier energy regeneration and energy sharing
between the joints. So when the knee is doing negative work and the ankle is doing positive
work they'll share that energy rather than the battery having to provide all of it. And
that resulted in a specific power of about 50% less specific power than the state of
the art Vanderbilt prosthetic leg. So we've cut energy consumption in about a half. So in the last part of this talk I want to
switch topics to exoskeletons. However, still very related to the latest leg I showed you
in the sense of its actuation paradigm. And so the state of the art for exoskeletons is
they're primarily designed for spinal cord injury applications where the human can do
very little to move their own limbs. And so the exoskeleton has to do everything. And
so in this context it makes sense to design very stiff actuators so that the weight of
the human subject doesn't drive the actuator, the joints so they don't collapse, right? However, that stiffness means that these are
not very useful for working with stroke or anyone who has voluntary control of their
limbs. And so, where my lab is going with this is going towards a more partial assistive
paradigm where instead of having stiff actuators, rigid actuators we have back drivable actuators
and we use quasi direct drive designs to achieve that. And also, we don't want to use kinematic
control in the context of partial assistance because again even with a back drivable actuator,
you need the controller to not be creating forces that oppose the human's intention,
right? So if you're controlling kinematics then the
human must still follow the kinematic trajectory that the robot tells them to follow. And so
that's why we're heading towards energetic control objectives. And so our patient populations
of interest are stroke, OA, advanced age and overuse injuries. So as I hinted at we have
this quasi direct drive paradigm where we have a 24 to one gear ratio in this particular
exoskeleton which has a powered knee and a powered ankle. Yet, we're still able to produce
large torques at each actuator, so about half of what they would need in everyday life.
So this is actually still a quite powerful exoskeleton in terms of partial assistance.
But only about one newton meter of back drive torque. And it appeared on the cover of IEEE
Control Systems Magazine a couple of years ago. And so in terms of how we control it, we are
using a method called energy shaping, otherwise known as Lagrangian or Hamiltonian shaping.
And the idea here is that we model the human body as a Lagrangian. Okay, the Lagrangian
is a scalar function that is kinetic energy minus potential energy. And the reason that matters is because if
you put it into the Euler-Lagrange equations it spits out the equations of motion, which
we see here. So the m for example is the matrix of masses and inertias and how they depend
on joint angles. C is the matrix of Coriolis centripetal terms and g is the vector or gravitational
terms. And we have orthosis torques which of course
influence the dynamics. And so in energy shaping, at least the way we're using it, we are designing
the control input, u, such that when you close the control loop, the close loop system dynamics
behave like a different mechanical system, okay? So now this mechanical system corresponds
to a different Lagrangian where mass and inertia have been reduced. That's the idea. We use the control torques at the orthosis
joints to reduce the perceived mass gravity inertia of the human body so that they can
use less muscle effort to move their limbs and to fight gravity and so forth. So this
is the idea. And in the case of under actuation which we do deal with here, this is challenging.
There's something called the matching conditions that need to be satisfied to show that there
exists a control law that gives you this closed loop system. And that's not trivial, it's
a set of partial differential equations. But we have some clever ways to deal with
that and Jinping is in the room somewhere and working on that hard. And so here's a
demonstration of our knee and ankle exoskeleton doing energy shaping on the human user. And
you can see that he's able to sit, stand, walk freely. Now this is an able bodied user,
so he could do this normally. But the fact that the exoskeleton isn't stopping him says
a lot. Okay, because it's very back drival, he's
able to continue to be in control of his movements while being supported by the exoskeleton.
And so we've done some analyses of this. We look at EMG activation. VM means vastus medialis
and we are able to show that with the assistance, the active mode, so blue is the EMG activity
when the exoskeleton is on and powered on we see that it's lower than the case of bare,
without the exoskeleton and passive is wearing the exoskeleton but without the motors on.
So we actually see a pretty substantial drop in the EMG activity of this particular muscle.
And red is the torque showing that it's doing something, to do that, right? So this is for sitting, sit to stand and we
see also promising results for walking. Where again we see in blue, this is the EMG activity
of the soleus muscle which is reduced during, especially during push off with the assistance.
Okay, so this is my last exoskeleton I want to talk about. And so this is a powered knee
only and it's a much smaller scale exoskeleton than the one I showed you earlier. And so
this is meant to be a conservative treatment for OA and also to prevent lower back strains.
So for example when people have to lift things repetitively in warehouses, in the military,
assembly lines, et cetera. We want an exoskeleton that can assist that so that they don't fatigue
and then use their back in an unsafe manner. And so here because we're primarily targeting
individuals who are more able bodied, who have very minor impairments if any at all,
we took this to the next extreme where we have only a seven to one gear ratio. And in
order to reduce the gear ratio that much we had to come up with a custom design for an
electric motor that can product higher torque for longer periods of time. And so in order
to do that we use encapsulated windings which have a more efficient heat transmission so
that the heat around the windings of the motor get distributed to the environment in a more
efficient manner. So that way we can have a higher continuous torque. So this is less than half a newton meter of
back drive torque and up to 20 … now I should update this. Now it's up to 25, right Chris?
25 Newton meters because we improved the magnets. Okay, so this just demonstrates it's very
easy to move around with this thing. And one of the applications is assisting stair ascent
because that's a potential home use application, especially for advanced age. And he's the
lifting and lowering experiment that Nikhil conducted where we have a … how heavy was
this? 20 pounds? Yes. 20 pounds. And we have a force plate to make
sure that the subject isn't biasing one leg versus the other and then we're recording
EMG activity of multiple muscles but we're only going to show one of them. And so this is bare mode, this is just a baseline.
This is passive mode, so wearing the device but it's powered off. You see very minimal
difference which is actually kind of good in itself, it's very back drivable. And this
is active mode. And blue is the EMG, red is the torque coming from the exoskeleton. And
so you see that EMG has dropped. And this is the rectus femoris, yes. So. All right, so this a clear picture of this
plot. So you're able to see again a reduction in the muscle activation. And the goal again
is to prevent fatigue so that proper lifting form is maintained for longer. So in closing
we have several ongoing studies that are more towards clinical outcomes so we're looking
at functional outcomes for stroke subjects, assessing muscle tension and posture during
lifting, lowering and carrying and assessing muscle tension and pain in knee OA subjects.
We have enrolled one OA subject but the results, we're still looking at the data. We haven't
really processed it yet. And then a very quick overview of some other
projects and I'm sorry that I'm missing some people from this presentation but we have
several other collaborative projects back at UT Dallas as well as Virginia Tech and
UT Arlington. So in closing I just want to recognize the contributions of my lab members,
and this is just a subset of the lab. But this was the last photo we took in Dallas
before the big move and then the funding agencies NH, the NSF and the Burroughs Welcome fund.
So I'm happy to answer your questions.


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subset: commoncrawl


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Anger and You
Numerous people are prone to angerfrequently. Surely, this life is not easy and there are manydifferent things which make us angry and frustrated. However, thereare many other aspects of existence which are absolutely beautifuland you should not spend your life being angry and frustrated.Moreover, people who care about you do not deserve your anger spouts,nor does your health. Therefore, for these and many other reasons,make sure you take some action against constant anger you might befeeling and fight it off by choosing a different way of living.
Fighting Anger
Attitude is crucial. You should not getfrustrated over any given aspect of life. Of course, our world and weourselves are far from perfect. Therefore, things are bound to getcomplicated and meaningless from time to time. However, you aresupposed to rise above these kinds of situations and keep yourself calm,not losing your temper no matter what. This goes for things liketraffic jams, sleepy and aggressive clerks and colleagues as well asall those little things capable of making you lose your calmness andexplode with anger. Do not get frustrated over things you cannotchange. Rather, cope with them as calmly as possible and saveyourself from unnecessary worrying and tension.
Next, analyze yourself. If you arealready prone to anger, keep track of your actions. Then, as soon asyou start losing your grip, take a time out and spend some timealone, cooling your head. Do not get it out on innocent bystanders,creating collateral damage which can get back at you sooner or later.Learn how to manipulate you anger constructively, and work graduallytowards its complete removal.
Step by step anger management is thebest possible option. Becoming a silent pacifist overnight will onlymake you more frustrated since you will be pretending you are someoneyou are not. Thus, start by yelling less and reducing your angerspouts a bit. Once this takes an effect and becomes constant, reducethe anger even more, until, in the long run, you manage to deal withyourself perfectly, being a calm and positive person.
Finally, reward yourself whenever youadvance into being a less angry person. Set goals and uponaccomplishing them give yourself a pre-established treat like a newpiece of garment or a high tech device. Also, being communicative andletting other people know how you feel can be of great assistance,since you can use other people's help for solving your problems whichaffect them as well.


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Dale Sorensen Real Estate Thanks Community for Support of SorensenRealEstate.com Tennis Classic
Posted by Jen Bailey — May 14, 2012
When we at Dale Sorensen Real Estate (DSRE) announced our intent to be the title sponsor of this year's local USTA Tennis Classic, we had no idea the amount of support the community would show this event. Vero Beach is a "tennis community" and many of us at DSRE are players and fans of the game ourselves. But we were pleasantly surprised at how many residents came out to cheer on not only the international stars, but also our own local players.
Two of our local players, Robert Kowalczyk and Kriegler Brink played an extremely exciting match in front of their hometown crowd. And although they were ultimately defeated, the crowd loved watching "two of their own" play. Of course, the last couple days saw an expected amount of excitement as it came down to the final play. On the final day of the Tournament, Australian John-Patrick Smith won the singles and doubles titles. But in our minds, in the end, everyone walked away a winner.
As we watched the players give their all for themselves and the crowd, the crowd showed their appreciation to the players for putting on such a good show. The weather was perfect during the entire 10 days of play and the Boulevard Village and Tennis Club was the perfect location, yet again, for this annual event.
We at DSRE sponsor a lot of non-profit organizations and charity events throughout the year, giving back to this community that we call home. But being the title sponsor of this sporting event showed us again why we love this community so much. The fans are gracious, loyal and supportive; the players show the best in sportsmanship; the organizer of this local event, Mike Rahaley is a true professional; and the staff and residents at the Boulevard are friendly, cordial and courteous, making everyone feel welcome.
Thanks to everyone who came out to watch, thanks to all the players, thank you to the Boulevard Village and Tennis Club for hosting the event, and a special thank you to Mike Rahaley and the US Tennis Association for allowing us to sponsor this wonderful event. We hope to see you all again next year.
About Dale Sorensen Real Estate
Dale Sorensen Real Estate, founded in 1978, has grown to become the most successful real estate company in Vero Beach and Indian River County. Dale Sorensen Real Estate is family owned and managed and is committed to the future of the Vero Beach community. The firm is dedicated to superior service and to serving the needs of both buyers and sellers of property in Indian River County. It continually commits the resources to stay at the forefront of cutting edge technology to ensure it will always be a leader in the marketplace and number one to its customers. Our 70 plus sales associates are the most experienced and successful in the Vero Beach market. They continually deliver the results that exceed our customers' expectations.
Vero Beach Realtor Dale Sorensen Real Estate has a dominant internet presence, global marketing penetration, and has earned affiliations with Who's Who in Luxury Real Estate, Leading Real Estate Companies of the World, Luxury Portfolio International, and Mayfair International Realty. Through the use of our global network, innovative marketing strategies, social networking tools and innovative search engine optimization techniques it provides its customers with the best marketing exposure possible.
Visit Dale Sorensen Real Estate on the web at www.SorensenRealEstate.com or at any of these locations: North A1A Office, 5065 North A1A; Commercial Group, 5065 North A1A; Cardinal Drive Office, 3206 Cardinal Drive; Ocean Park Office, 1020 Easter Lily Lane; Downtown Office, 1961 14th Avenue; or by telephone: 772.231.4712.


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A lovely book celebrating the similarities in the stories of two faiths.
Janine M Fraser is a children's author and poet who lives on Phillip Island in Victoria for most of the year. The majority of books she has published reflect her love of travel and deal with multicultural themes.
HélèneMagisson began her artistic endeavours as a painting restorer in Paris. She has lived all over the world, but now calls Australia home. As an illustrator of books, she is best known for the book The Velveteen Rabbit.
Their collaboration in Sarah's Two Nativities reflects their love of all things multicultural.
Sarah has two grandmothers who she loves dearly. There is Grandmother Azar and Grandmother Maria. When Grandmother Azar comes to visit, she cooks feasts with Sarah and tells her stories form the Holy Koran. Grandmother Maria makes cupcakes and tells stories from the Bible. Both books sit side by side on the bookshelf in Sarah's house. Sarah loves all the stories her grandmothers tell her, but mostly she loves the stories about the nativities.
This is a heart-warming story about family and love, and the blending together of two cultures. As our world becomes smaller and travel more frequent, marriages between people of different faiths is becoming more common. This book tells us that it is possible to live in harmony despite our differences. Sarah doesn't need to choose between the different sides of her family. She can enjoy the love and culture of both. She also discovers there are more similarities than differences, and it is more important to celebrate these similarities.
Adding to the text are beautiful water colour illustrations full of warmth and love.
Sarah's Two Nativities has a timely release, ready for Christmas. It is a story that will help children understand that there are many different customs and beliefs, but listening and taking time to understand people's differences will help us find the things we have in common. It is so very important. In a world where we have more and more distrust for those we see as threatening our way of life, it helps us realise that we are all able to live together if we just listen to each other's stories.
This is a story suitable for children aged 4 and above. It would be a great catalyst for a good discussion in a classroom, especially in a world where teachers need to be careful to be inclusive of different faiths.
Reviewed by Sue Mauger
Distributed by: Walker Books Australia
Released: September 2019


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The practice of criminal law is complex: in addition to the guidelines, rules, statutes, case law and evidentiary requirements, you must also be prepared for the nuances of each individual case. In other words, there may be more than one right way to handle a particular criminal matter.
This comprehensive resource is a great starting point for those who may be new to the area of criminal law. It delves into the key areas of criminal practice, including:
Written by seasoned criminal law attorneys, this guide offers an invaluable culmination of expertise earned through years of practice and research that is not easily or quickly obtained (until now)!
Click on the "In Depth" tab for biographies and additional product details.
Page Count: 498 pp.
Page Dimensions: 8.5" x 11"
Book Binding: Custom 3-ring binder
Forms: To open any form/appendix in the book without leaving the main document, simply click on the interactive button ("Click to Open"), which will open either a PDF form with fillable fields or a fully editable MS Word form. Customize and save the form to your desktop or other device!
Side-Panel TOC: Located side-by-side with the page view, convenient hyperlinks to each major section allow you to easily navigate the book without flipping back and forth to the front matter.
Fully Searchable: Quickly find all instances of a word or phrase that occur within the book.
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This week, the geologists on quake alert, stopping HIV in its tracks, and a volcano that wreaked havoc on the climate 1500 years ago. For information regarding your data privacy, visit acast.com/privacy
Pastime is not the owner of the podcast content presented on this page. Pastime is not affiliated with nor endorses this content. © 2017 Pastime


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I-Witness is holding the First I-Witness Docu-Making Competition! Grab this chance to showcase your skills in documentary production!
Participants must be:
- College students (registered this semester in any undergraduate course in any school in the Philippines)
- Individual entrants or a group with a maximum of four (4) members
- Documentary must be of an INSPIRING THEME (an inspiring story on anyone or anything)
- Documentary must be 10 to 15 minutes long
- Entry must be submitted on DVD format along with the script
- Participants must submit: 1) Resume and 2) Any proof of registration to a college or university for this semester
- Participants must submit a signed Contest Participation Agreement (all members must sign if entering as a group).


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Week 3 of Chicago Training is in the books! Monday - Drills, 1 mile warm up @ 8:59, 6 sets of 800s: 3:02/2:59/3:01/3:01/3:01/3:06 w/800 cool downs in between and a cool down mile @ 9:07 - …
About Me
I'm a running obsessed foodie with exceptionally bad dancing skills. I have separation anxiety from my dog and a bad case of sarcasm. Thanks for listening to my ramblings about training and life.
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Tag Archives: effective
Nobody really wants to talk about bankruptcy. And why would you? It's a distasteful subject laced with feelings of failure, depression, embarrassment, and anger. This is not the realm of cheery announcers pitching the wonders of the latest half price sale. Not by a long shot. This is a challenge from the word go: getting people to consider that option of truly… Read more »
From the Department of Gratuitous Gratuities and Redundant Redundancy Reclamations
If you've been writing radio ads for any length of time, you've had the joy – nay, the unbridled pleasure – of formulating an ad for a government agency, or government-sponsored event. Maybe even a well-meaning client who can't get beyond their own industry jargon. Billion dollar, multi-syllabic, thesaurus-sourced, committee-approved, Google search-inducing words are your worst enemy. Well, one of… Read more »
Find The Weirdness
Remember that fact sheet, lovingly handed to you by your favourite marketing consultant, for that über exciting event? You know the one. What was it … the drying paint expo? No, that's not it. Um, snail races! Yeah! It really doesn't matter. For today's example, we're going to use a museum for the client, with the world's most exotic of… Read more »
I Got Nothin'
Sometimes (we're going to go with sometimes, no matter how frequently you actually experience this) … even with the world's greatest sales rep trying their very best … you simply have nothing useful to work with. Here's an example of what I'm talking about: Ad for sports bar Random band nobody has heard of playing tonight We have no idea what… Read more »


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Clean Energia provides you a complete study along with consultation which will include a site survey along with a financial analysis.
Clean Energia will design, install and connect the complete solar system to the utility grid at genuine cost. Whatever cost you will invest for solar plant, this gets recovered within six years.
You will pay for the power which you will consume at a rate which is typically less than you are paying now to utility company.
Clean Energia continues to monitor and look after the maintenance of the product so that you have to pay nominal or zero utility bill.
(1) Solar Panels
The solar panels are made up of photovoltaic (PV) cells, which convert sunlight into direct current (DC) electricity throughout the day.
(4) Utility Meter
The utility meter measures your energy use. It actually goes backward when your system generates more power than you immediately need. This excess solar energy offsets the energy you use at night.
(2) Inverter
his device converts the DC electricity generated by the solar panels into the alternating current (AC) electricity.
(5) Utility Grid
Your business is still connected to the grid. You'll need that power from the utility company at night, but don't worry. The cost is offset by any excess solar energy you put into the grid during the day.
(3) Electrical Panel
The AC electricity is sent from the inverter to your electrical panel to power your lights and appliances with solar energy. The electrical panel is often called a "breaker box."


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Helping a new author
Recent Posts
Future Posts
The Ten Commandments
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Darrell Jones is a board-certified oil and gas lawyer whose practice covers the entire spectrum of the upstream oil and gas industry. Darrell is experienced with oil and gas asset management matters such as field operations, asset valuation, petroleum land management and hydrocarbon transportation and marketing. Darrell was a shareholder at the law firm of Cox Smith in San Antonio prior to becoming in-house senior legal counsel at Newfield Exploration Company.
- Represented NYSE-listed midstream energy company in purchase of multiple natural gas gathering systems and related facilities in the Gulf of Mexico from independent exploration and production company
- Represented major logistics subsidiary of NYSE-listed global petroleum refining company in numerous acquisition and divestiture transactions involving natural gas and products transportation and storage assets
- Represented NYSE-listed master limited partnership in joint venture arrangement with Fortune 500 midstream company involving contribution and repurposing of pipeline assets to joint venture for use in long-term project
- Represented exploration and production company in reorganization and $52,000,000 disposition of interests to private equity acquirer, and establishment of $100,000,000 reserves-based lending facility
- Represented equity/debt finance provider in the sale of upstream oil and gas assets spanning five counties in connection with a refinancing of the company's capital structure and asset management team changes
- Represented Fortune 500 exploration and production company in its negotiation and documentation of unique long-term crude oil sales contracts with refiners, totaling then-present value of over $3,000,000,000
- Represented clients in over $7,000,000,000 in exploration and production and hydrocarbon storage facility A&D transactions
- Advised borrower-side clients and negotiated loan and security documentation in dozens of reserves-backed loans
- Represented clients in numerous field-wide crude oil and natural gas gathering and processing arrangements, including sophisticated royalty compliance mechanisms
- Texas Bar Association
- American Association of Professional Landmen
- Houston Association of Professional Landmen
- Board of Stewards – HopePointe Anglican Church
- Sponsoring Advisor – Love Fosters Hope
Sophisticated leasing and land work, title diligence and surface use matters
Negotiation and documentation of industry trade agreements (e.g., JV agreements, farmouts, participation agreements, JOAs and seismic shoot programs)
A&D transactions
Gathering, transportation and processing agreements
Risk analysis, strategy development and case management for complex, high-stakes energy litigation, combining commercial experience and asset value management to arrive at favorable outcomes
Valuation expertise with strong substantive knowledge of oil and gas law to achieve client objectives
Operational contracts, such as drilling contracts and MSAs
Reserves-based lending transactions
Insolvency and credit risk management
- J.D., cum laude, The University of Houston Law Center, 2000
- M.S., high honors, Criminal Justice, Northeastern University, Boston, 1991
- B.S., magna cum laude, Criminal Justice, St. Mary's University, San Antonio, 1990


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- 89616 miles
- £143.00 6m Tax
- 132 CO² (g/km)
- Diesel
- £260.00 12m Tax
- Manual
- 56.5 Avg. MPG
- Ins. Group: 3
- 89616 miles
- £143.00 6m Tax
- 132 CO² (g/km)
- Diesel
- £260.00 12m Tax
- Manual
- 56.5 Avg. MPG
- Ins. Group: 3
- Details
- Features
- Finance
- Gallery
- Price£3,500+VAT
- Fuel TypeDiesel
- Body StylePANEL VAN
- Engine Size1560
- Number of Doors4
- Exterior ColourWhite
- Registered2015
- TransmissionManual
- Mileage89616 *
- OwnersTBC
- Emissions132 CO² (g/km)
- Road Fund£143.00 6m Tax
- Road Fund£260.00 12m Tax
- Max Power89 bhp
- Max Torque158 lbft
- Max Speed99 mph
- 0-60 Time14.6 secs
- MPG Extra60.1 mpg
- MPG Combined56.5 mpg
- MPG Urban49.6 mpg
For more info on this vehicle call our showroom on 01621 868374
Every effort has been made to ensure the accuracy of the above information but errors may occur. Please check with a salesperson.
For more info on this vehicle call our showroom on 01621 868374
Due to the outbreak of COVID 19 Coronavirus, until further notice, are operating on a appointment only basis. If you come to our premises without prior notice we will NOT be able to help you. DO NOT MAKE ANY JOURNEY TO US WITHOUT PRIOR NOTICE. If you, or anyone within your household has symptoms of Coronavirus we would ask you kindly not to visit our premises. This is to protect our staff, past, present & future customers. We can provide video or WhatsApp of any van you are considering purchasing. When feasible we can also arrange delivery direct to your door. Buying your used van from us should be an enjoyable experience & we are working hard to maintain this during this difficult time. We are putting some provisions in place to allow you to purchase from the comfort of your own home. Please feel free to call us to ask any questions regarding the particular van that you are interested in. Finance can be arranged remotely, along with any paperwork - we can e-mail any relevant documents regarding the van. Payments can be made remotely via debit card (terms apply) or Bank transfer. Finally, we do wish you well & please stay safe. One owner from new. FINANCE AVAILABLE. Guaranteed mileage with FULL SERVICE HISTORY. Electric windows, electric mirrors, side loading doors, full (half mesh bulkhead), fully ply lined, remote central locking. Good condition throughout. PART EXCHANGE WELCOME. Clock, Digital trip recorder, Door open warning light, Lights on warning buzzer, Locking fuel cap, Remote headlamp adjustment, Seatbelt warning indicator, Service indicator, Trip computer, Variable PAS, Auto hazard lights, Automatic fuel cut off & door unlocking, Collapsible steering column, Drivers airbag, Front seatbelt pre-tensioners + force limiters, Height adjustable front seatbelts, Auto door locking, Central locking push button on dash, Rolling code transponder immobiliser, Selective cab/cargo area central locking, 2 speakers, Radio/CD and mp3 player, Steering wheel controls for remote audio, 6 hooks in load area, Air recirculation system, Carpet in front cabin, Centre console storage compartment, Cigarette lighter, Cloth upholstery, Courtesy light, Cup holders, Dash mounted gear lever, Dashboard storage areas, Door mounted armrests, Driver and passenger sunvisors + vanity mirrors, Driver seat armrest, Drivers seat adjustable for reach and rake, Front door pockets with bottle holder, Heater with 4 dashboard air vents, Height adjustable drivers seat, Height adjustable head restraints, Height and reach adjustable steering wheel, Overhead driver and front passenger storage, Pre heater warning, Rear load area light, Single passenger seat with armrest, Sliding drawer under driver's seat, 2 speed intermittent front wipers, Black bumpers, Black side rubbing strips, Roof mounted aerial, Tinted glass, 15" steel wheels, Full size spare wheel, 12V accessory socket, ABS + EBA + EBD, ESP
Every effort has been made to ensure the accuracy of the above information but errors may occur. Please check with a salesperson.
The following documents are available for this vehicle:


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The experimental lightfield production Unfolding was discussed by Prof. Dr.-Ing. Thorsten Herfet, Simon Spielmann and Jonas Trottnow as part of the FMX Track Tools of Tomorrow.
SAUCE was also showcased at the Filmakademie booth:
This project has received funding from the European Union's Horizon 2020 Research and Innovation Programme under Grant Agreement No 780470.
Email us at firstname.lastname@example.com


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Consultation groups will support your capacity to be with parents through guided conversation and group discussion aimed to help you gain awareness of your strengths and struggles as a COS-P Facilitator. Facilitators will attend consultation for 8 consecutive weeks (1 hour each week) and complete their fidelity journal after each class. This consultation will not address logistical/technical issues such as what to charge for classes or how to increase class enrollments. Group size is limited to 8 Facilitators.
Please download and use the fidelity journal as soon as your class begins, because of the scheduling of the groups you may be several weeks into your class before the group begins. Utilizing the journal will help you get the most out of the consultation group!


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A dual-purpose moisturiser which entwines sun protection with skin health to ensure your daily moisturiser acts as a three-in-one age blocker, wrinkle preventer and collagen saver.
Combining five protection filters, this broad spectrum UVA/UVB moisturiser is recommended for all skin types.
DIRECTIONS: Apply liberally and evenly to all unprotected areas 20 minutes prior to exposure to the sun.
Re-apply after swimming, towel drying, exercise and excessive perspiration.


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Read more
RIGTOOLS is a pioneering company founded 2010 in Denmark. We are a team of highly specialized drilling experts. Based on decades of hands-on experience, know-how and ingenuity RIGTOOLS have developed a product line of unique and innovative tools and equipment made for drilling. Safety and Efficiency go hand in hand.
Group VH is an authorised Repair Center and Service Partner for Bosch Rexroth. Uniquely, Bosch Rexroth has granted the rights to Group VH, as the only company in the world outside the Rexroth family, to build units for the aftermarket worldwide – also for not standard units. Read more
Offshore Denmark organises Danish Pavilions at the following upcoming exhibitions. For more information and booking forms, see here:
OTC 2020, Houston 4 - 7 May 2020 Read more
Make sure you never miss out on the latest news from Offshore Denmark, just enter your details and we will keep you updated.
OFFSHORE DENMARK ApS | Stationsvangen 5 | DK-8541 Skødstrup | Denmark | Tel. +45 30 28 99 75 | E-mail firstname.lastname@example.com | CVR DK29389942


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Abloom with an elaborate display of intertwining floral vines, reminiscent of Sheikh Zayed Grand Mosque and the extravagant Mughal dynasty, this porcelain dinnerware set glistens with opulent 22-karat gold detailing. Boasting a sophisticated and bold color palette, it exudes grace and extravagance come dinner party time.
13 Piece Dinnerware Set - Includes 4 of each plate and 1 serving platter.
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I think the secret to success with something like this is a combo of simplicity, discipline, and quantifiable data.
Keeping things simple makes it easier for everyone both to produce and consume.
Having all participants be disciplined about doing so after every (qualified) match ensures there is enough content...
...and enough content also means that the reports contain quantifiable data that is useful. By that I mean what aspects of the game are most impactful to the players and readers? This takes a bit of skill to discern since saying "Grey Knights beat Iron Hands" could lead to people drawing the conclusion that GK are now OP or such....when in fact, the actual battle would assert just the opposite and show just how heroic the GK player's efforts were etc...
I've written BR's that are practically essays and I've written some that were one paragraph. Finding that happy medium is always the trick. Sometimes we have a story we want to tell and sometime we jut want to get the mot basic details across.
I have a cool idea for the club!
An area for players to gather and communicate about the club or Warhammer in general. If you aren't sure where a topic should go, start here.
- Indy
- Member
- Posts: 424
- Joined: Tue Dec 20, 2016 12:57 pm
- Name: JP Anderson
- Experience Level: Intermediate
- Play Style: Casual+Competitive
- Armies: Blood Angels + Iron Warriors
- Location: Beverly
Re: I have a cool idea for the club!
"Fairy tales do not give the child his first idea of bogey. What fairy tales give the child is his first clear idea of the possible defeat of bogey. The baby has known the dragon intimately ever since he had an imagination. What the fairy tale provides for him is a St. George to kill the dragon."
-G.K. Chesteron
-G.K. Chesteron


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Keep Your Car Running Well With This Advice.
It can be very expensive to get your car fixed. It becomes so expensive because you are paying for both parts and labor. Wouldn't you like to save money and do the repairs yourself? The advice in this article will teach you how.
When doing your own work on your automobile, you want to make sure you never take things too far in error. You're saving yourself some money by doing it yourself, but if you're not sure about something, you need to find out or let a professional handle the matter. You could end up costing yourself so much money.
Check the transmission fluid every two to three months. Let your engine run and open the hood of your car. Use the transmission dipstick to check the fluid levels. If there is not enough fluid in your transmission you probably have a leak somewhere in your system. It is best to take the car to a mechanic so he can locate the leak.
If your headlights look dimmer than they used to, be sure they're clean. Dirt from driving can build up on your headlights and block some light. Use a reputable glass cleaner to get the job done …


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Want To Upgrade Your Wardrobe? Try These Ideas
Everyone wants to look great, no matter what their age. Looking good can offer you many opportunities. While the details may change, certain fashion truths remain consistent. For some helpful fashion advice, read on. When choosing accessories, stick to one large, statement piece. Dangling earrings, a big necklace, and a chunkyRead More


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Producing Internet Content Helps In Business Prospects Of A Company
Fortunately for me as a full-time remain at house, work at home mom, I Love my job. My first priority is my household and part of that is to make an additional income for everyone. So, when I find a profitable stay at home mommies business opportunity that is designed to do the lion share of the work for me, well I am all for that!
I prefer to recommend that you comprise an avatar of your common consumer. List everything there is to find out about that person. Offer them a name, how old are they?, are they male or female?, what would they normally currently learn about your products and services?, how much money do they make a year?, do they have youngsters and anything else you can consider. The more genuine you make your avatar, the better. As soon as you have actually done this, you can start to compose content for your site as if you were writing for your avatar to learn and check out from. This will result in far more helpful, interesting and educational material on your website. Individuals will be able to connect to your details and are most likely to call you for more details.
Market. There is no way that you'll have the ability to connect to your leads unless you market. Use PPC advertisements, banner advertisements, paid links, and search engine marketing so your website and your services will certainly come up on search page results each time an appropriate search is made. If you distribute info to capture the attention of your potential customers, it would likewise help. You can do this through blogging, post marketing, ezine publishing, and by hosting pertinent teleseminars and webinars.
How rapidly did they react to you after your first inquiry-whether through phone or email? search engine optimization When you reach search engine optimization out to copywriters Time is everything. If they take 2 days of getting back to you, they may take 2 extra days previous set deadlines to deliver your copy. You want a copywriter that delivers when she or he promises to provide.
There are 2 primary forms of SEM that can be used, they are Ppc (PPC) marketing and Search Engine Optimisation (SEO). It appears that individuals are typically not sure regarding which kind of SEM to pick when promoting their company.Use memorable headings. It's extremely important that you utilize eye-catching headings so you can boost your open rate. Bear in mind, your headings must give your readers a precise summary of your content. These individuals should know precisely what's in store for them the minute they see your titles.|Exactly what is actually fantastic is how the very first step in enhancing a site or blog site is absolutely disregarded, overlooked, or just plain missed. What am I talking about? I'm talking about the URL. This is actually the first and possibly the most crucial chance to practice excellent SEO strategies. Many of us consider this to be the most affordable of all the low hanging fruit. Prior to you get your domain, you need to currently know exactly what your primary and secondary keywords will certainly be for your new blog site or web site. One of those keywords ought to be included in your domain.|Sell images: Photographs, photos and videos can be sold online. If you can create an image try your hand at offering imagery. Here you have the advantage of having no shipping cost and the exact same product can be sold over and over once again.|Web site Optimized for Browse (On-Page Search Engine Optimization): Is your website developed properly so it can be found by major online search engine? Do you have proper keywords and meta tags utilized throughout the pages of your website? Do you even know what this implies?|Alt and Target Tags - When you're publishing image sand putting code into your blog to showcase the details, make sure that you're including the alternative tag and the target tag as well to the image itself.|C. Calculate the variety of backlinks of the aged domain. An aged domain needs to have a few hundred backlinks. Step on to acquiring another aged domain if the backlinks are not adequate or are of poor quality.|If you desire fantastic search engine placement is to choose 30 keywords and expressions that best explain your primary site, the very first thing you need to do. These are the words that when people type them into a search engine, your site will certainly appear initially.|Occasionally, a backrest is a different component from the seat. If this is the case, get one that you could change quickly for height in addition to angle. A one-piece backrest is simply great if it can change forward and backward.|, if you need the conversions you 'd get with PPC by carrying out natural seo you will want to end up being getting truly targeted traffic.. Say you will certainly have a site about apples therefore you deliver natural apples to customers. The quantity of conversions do you believe you 'd make if you tried your best self to rank high for that keyword -apple-? Not likely that various and right here's why. Initially, that's a really generic term as well as the person looking it up will certainly not be believing of purchasing apples. Some might only be searching for an apple photo and for Apple's site to get a mp3 player. So right here's what you need to do.|B. URL's are economical. You can sign up multiple keywords rich URL and reroute them to the primary domain. As a result, a lot of traffic will certainly be directed to the major website.|One is that a web optimization guide devotes all of their energies and sources into studying their craft. Their skills are particularly used for website rankings. They'll work together with your design group from the ground up to make it possible for your website not just makes most utilize of SEO methods but in addition to save lots of you time and consequently cash in the long term by guaranteeing it is lugged out right the primary time. This by itself will certainly conserve you not just time nevertheless pricey upgrading later.|Exactly what does their sample work disclose? Browse some samples of previous work. With a good copywriter, it does not matter whether or not he or she has actually blogged about your industry since it is a copywriter's job to investigate your company and understand everything about your business before a single word is written. The important thing to search for is whether the individual has the ability to effectively interact to the target audience.|All is reasonable in love and war! And war is getting you to Rank Better on YouTube. Log onto a couple of competitors' sites. You've currently done it, but things modification. If the website has comments on it, read them carefully. Their clients' remarks can supply handy details, activate brand-new ideas or at least provide some insight. These people are clearly thinking about the exact same product as yours, so essentially your rivals' customers are informing you what to do and not do, based upon exactly what they want.|Making money from internet marketing include specific degree of technical abilities. If you are not interested to build your site from zero, you can always outsource the task.|Compose, however write quality information to address a problem. Do not write simply for the sake of composing. Put a lot of thought in every short article and utilize the keywords you desire to rank highly for. Nobody wishes to read scrap, so ensure exactly what you write is really worth reading, or it won't be read. Composing to fix a problem is without a doubt the most efficient way to get a starving audience online.|Even when you outsource this work, you still have to understand the basics in order to make certain you are not tossing your cash away. You have to see that you are not getting benefited from and the only way to do that is to make it clear to the professional that you are no dummy.|The 2nd factor for my perpetual look for info is to keep myself motivated. Let's face it.we're all human beings as well as I, as favorable and energetic as I am, burns out or feel like I have actually failed. Most importantly, as a person, I make mistakes and when I do, I feel dissuaded; thus, among the ways that I cope is to encourage myself with reading other individuals's success stories or some type of inspirational book.|That leads me to the buzz expression "Turnkey". It appears that alot of remain at house mothers earn money programs actually yell out things at you like "you just work Thirty Minutes a day" or "we have a full turnkey system that does all the work for you". OK, so reveal me!}
Try utilizing an advocate producing great links that go with your blog site. This is an excellent thing that you can do for your blog site, and it will get you lots of traffic for your website. This will likewise provide you the opportunity to obtain lots of cash through your ventures in blogging.
Another essential aspect of web site design for Nottingham SEO is link structure. Every website requires to have good connect to other websites. There should also be links from other websites to your very own websites. One excellent method to rank high up on search engines is to have great backlinks and outlinks. Since it shows that there is a lot of activity on your site and this is great for SEO purposes, link structure is essential. Obviously, this needs to be done the right method so that Google will certainly not penalize your site.
Viral Internet Marketing - going Viral is where you got the word out to anyone and everyone about your blog site. Meantion it to good friends, family and aquantances. Offering out business cards with your blog URL is another terrific option.
It actually just takes research study and a great Search Engine Optimization Business to draw you out from the ground. Search Engine Optimization Melbourne offers are some of the highest quality work, beside bigger cities like Miami and New york city. Any educated SEO Company is going to have you price quote just a couple of hours after getting in to call, and you'll be on your way to making your company a really effective one, and this time with the assistance of specialists!
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