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Tim Goodwin
Tim Goodwin is a member of the Yuin people of the South East Coast of New South Wales. Tim is currently a barrister in Melbourne. He graduated from the Australian National University with a Bachelor of Arts and Bachelor of Laws with Honours in 2007 and from Harvard Law School with a Master of Laws in 2012. Tim served as Associate to Justice North of the Federal Court of Australia from 2008-09, and as Associate to Justice Bromberg from 2009-10.
Tim is a Board Member of the Victorian Equal Opportunity and Human Rights Commission, the Australian Research Alliance for Children and Youth and the National Apology Foundation. Further, he is a Trustee of the Roberta Sykes Indigenous Education Foundation.
Amanda Milledge
Amanda Milledge is a former corporate lawyer, and Pro Bono Co-ordinator Amanda graduated from the University of Melbourne. Passionate about supporting the growth and development of vital social enterprises, Amanda completed a post-graduate course in Corporate Social Investment at Swinburne University of Technology. Amanda provides strategic guidance and inspired leadership to philanthropic and community organisations. She has served for four years on the Board of the Lord Mayors' Charitable Foundation, as Chair of the Arts and Heritage Panel and a member of its Governance and Audit and Risk Committees. Amanda has also been a director of Australian Prostate Cancer Research and President of The Penington Institute, a community organisation which rethinks how communities tackles drug use. In addition to serving as Chair of Sharing Stories Foundation and assisting with the Foundation's scale of its work, Amanda is currently a Trustee of the Collier Charitable Fund.
Daniel Browning
Daniel Browning is an Aboriginal journalist, radio broadcaster, documentary maker, sound artist and writer. Currently, he produces and presents Awaye!, the Indigenous art and culture program on ABC RN, a specialist radio network of Australia's national broadcaster.Awaye! surveys contemporary Indigenous cultural practice across the arts spectrum.
A visual arts graduate, Daniel is also a widely-published freelance arts writer. He is a former guest editor of Artlink Indigenous, an occasional series of the quarterly Australian contemporary arts journal. He is the curator of Blak Box, an immersive sound installation in the newly-redeveloped Barangaroo precinct on the western foreshore of Sydney Harbour. He studied English and Art History at the University of Queensland before graduating with a degree in visual arts from the Queensland University of Technology. Daniel is a descendant of the Bundjalung and Kullilli peoples of far northern New South Wales and south-western Queensland.
Dr Caroline Aebersold
Dr Caroline Aebersold has worked in leadership positions in the not-for-profit sector for over 20 years. She was the CEO of The Song Room, successfully leading the organisation for 12 years, providing face-to-face education programs to over 10,000 children weekly in high need communities, including new arrival refugees, indigenous children, those with special needs and other young people at risk, in addition to digital education programs to over 1 million children nationally. Prior to this, Caroline worked as a Psychologist, specialising in suicide prevention in a range of roles including managing mental health services, in direct client work, teaching and consulting to Government, Community and Corporate clients. Caroline is passionate about addressing social disadvantage, particularly with a focus on evidence-based programs and systemic reform to transform marginalised communities.
She holds degree and postgraduate qualifications in Sociology and Psychology, as well as a Doctor of Human Rights Law from Monash University, focused on human rights and foreign investment law. Aside from her executive experience, Caroline is a member of the Australian Institute of Company Directors and has served on several not-for-profit Boards, including the Diplomacy Training Program, Suicide Prevention Australia and the Australian Psychological Society, developing deep expertise in corporate governance and strategy.
Annie Nayina Milgin
Annie Nayina Milgin is a senior Nyikina custodian and lives in Jarlmadangah Burru Community in Western Australia. She is an expert in bush food and medicine as well as a qualified health worker who runs the local clinic. Her work includes:
Author of Living with the Land, a book that shares important knowledge and information about bush food and medicine of the Nyikina Mangala People.
Author of Woonyoomboo in the Sharing Our Stories book series. Woonyoomboo tells of the travels of the main creation ancestor for the Nyikina Mangala people. The series was Winner of the 2010 Australian Awards for Excellence in Educational Publishing and voted Best Primary Teaching and Learning Resource.
Cultural boss for Yiriman, an Indigenous organisation that returns young people to Country with their Elders to teach them about the stories, kinship, language and songs belonging to Country to which they're traditionally connected. It operates within the Nyikina, Mangala, Walmajarri and Karajarri language region, extending from Bidyadanga in the West Kimberley to Balgo in the south. In 2012 Annie travelled to Melbourne to receive the Indigenous Governance Award won by the Yiriman organisation.
Liz Thompson
Liz Thompson is deeply involved in guiding the work of the foundation within Indigenous communities and is the organisation's Executive Officer. She also works alongside Senior Knowledge Authorities and partner communities implementing community based cultural mapping programs.
A producer of media with over three decades experience creating stories for radio, television and print, often in collaboration with Indigenous communities, her work includes:
Sharing Our Stories, a series of books born created through a collaboration with 14 Aboriginal and Torres Strait Island communities. The series won the 2009 Australian Awards for Excellence in Educational Publishing and was voted the best resource produced across primary, secondary and tertiary publishing in the country.
She has directed documentary films for ABC/BBC including Breaking Bows and Arrows, an exploration of reconciliation in Bougainville after the civil war. The film won the United Nations Media Peace Award for Best Television, The AIBD World Award for the Promotion of Conflict Resolution and the Grand Jury Prize at the 3rd International Festival of Oceania Documentary Film. Liz has produced numerous feature length programs for ABC Radio National, online content, stories for international print media, and has published of over 30 books. She has a Phd from La Trobe University focusing on self-representational digital media practices in remote Indigenous communities.
Cliff Coulthard
Cliff Coulthard is a Senior Adnyamathanha cultural advisor at Iga Warta Aboriginal Corporation. Cliff served for 45 years as a cultural teacher in schools across South Australia and was involved in the introduction of Aboriginal studies in the South Australian Curriculum (1980s). He also worked as an Aboriginal Heritage Ranger and was featured in ABC TV's Six Australians. Awarded a scholarship from Monash University to study rock art and conservation in Southern France, Cliff continues to teach widely today, ensuring that all cultural interpretations are done properly by young people involved. He is actively engaged in supporting the creation of the storytellers of the future.
Taz Miller
With degrees in Accounting and Systems Management as well as Audio Engineering, Taz has been involved in all aspects of the SharingStories Foundation's operation, from overseeing finance to recording sound for radio documentaries, facilitating sound design in Digital Storytelling Programs to operating drones and shooting 360 degree footage for mapping projects.
As Program Director, she has co-ordinated the development of the Digital Storytelling Program framework, the Language Lightbox app, multi-touch book templates, interactive maps and display panels for exhibition. She is driven to cultivate effective collaborations with like minded organisations and support communities both on and off Country in the creation of cultural media and new digital tools which support cultural maintenance.
Victorian Production Manager
Daen Sansbury Smith
Daen Sansbury Smith of the Narungga (SA) and Trawoolwaway (TAS) nations is the Victorian Production Manager for SharingStories Foundation based in Melbourne. Daen has a background in audio engineering and content production, for many years he has participated in the creation and sharing of artistic content across a range of media nationally.
As SharingStories' Victorian Production Manager Daen has managed the relationship and production of content with several Victorian Aboriginal communities. He has additional been involved in delivering Professional Development workshops to teachers with a focus on how to respectfully utilise ATSI perspectives and resources in the classroom. Daen has worked and collaborated with language speakers and linguists to ensure that multiple stories recorded and interpreted as part of SharingStories Digital Storytelling Programs are available in their language of origin. He has trained in the use of Hype and iBook's author and is responsible for collating community produced content in easily accessible, interactive, bilingual multi touch books. Additionally Daen is skilled in audio editing and mixing and has worked as an audio facilitator on several SharingStories' Digital Storytelling Programs with partner communities across Australia.
Sheree Jacobs
Sheree is a Torres Strait Islander woman, born in Cairns Far North Queensland with family and ancestral links to Erub Island in the Torres Straits. Sheree has worked for a number of regional and international not-for-profit organisations delivering programs, in both grantmaking and fundraising to support social impact and outcomes.
From 2008-2011, Sheree worked for The Christensen Fund as an In Region Consultant and obtained postgraduate qualifications in Communications, from Griffith University. Commencing in early 2019, her role encompasses the creation of communication platforms for SharingStories to share the work of Indigenous people with all communities.
Language Worker
Jennifer Milgin
Jennifer Milgin grew up in Looma Community in Western Australia. Jennifer's mother's family is from Bidyadanga Community, and her father's family is from Looma Community. Jennifer is of the Nyikina, Mangala, Walmajarri and Julwaliny nations (WA).
After completing school in 2015, Jennifer went on to work at the Kimberley Interpreting Service, now known as the Aboriginal Interpreting Western Australia. Her role encompassed interpreting in both Mangala and Walmajarri languages.
Jennifer currently works at Nyikina Mangala Community School in Administration. Her new role as a SharingStories Language Mentee enables her to learn Nyikina, her Grandmother's language, and she is involved in the production of culturally rich language resources. Her work also involves overseeing the creation of an interactive audio visual Nyikina dictionary using the SharingStories Language App.
Dolrosa Carrington
Dolorosa is a Gija woman, currently living in Warmun. As a Media and Language mentee working with both Pilbara and Kimberley Aboriginal Media (PAKAM) and SharingStories, Dolorosa sits with the older generation to record Gija stories and language using the SharingStories Language App. Through her strong commitment to the passing on of knowledge and her work in this area, Dolorosa hopes to inspire other Aboriginal communities in the important work of maintaining and passing on language and culture.
Paula Delage Faria
Paula Delage Faria was born and raised in São Paulo, Brazil. Paula graduated from the Universidade de São Paulo with a Bachelor of Social Sciences and from London School of Economics with a Master of Non-Governmental Organisations & Development. Passionate about Social Impact and Research, Paula has worked in the Not-for-Profit sector for almost 8 years. In her previous role at Instituto Ayrton Senna, as a Project Analyst, she has collaborated towards the improvement of Public Education in Brazil. At Fundacion Telefônica she was involved in projects related to the protection and promotion of children's rights in Latin America.
Moving to Sydney a few years ago Paula volunteered at Habitat for Humanity and Mission Australia. Now working with Sharing Stories Paula supports development and implementation of the organisations evaluation strategy.
Madhu Narayan
Madhu commenced work as the Finance and Administration Manager in 2016. In the past, Madhu has worked as an Accountant in various commercial practices across New South Wales. She possesses a Bachelor of Mathematics from University of the South Pacific, and obtained her Masters in Accounting in 2009 from University of New England. She is a current CPA and supports the foundation through high level administrative and financial management.
Advisory Council and Cultural Facilitators
Patrick Butcher
Patrick Butcher is an Umpila man, living in Lockhart River. He works as a cultural faciliator on SharingStories workshops and sits on the Foundation's Advisory Council. "We are sand beach people because a big, long sand dune is part of our Country up at the Cape York Peninsula. Umpila Country stretches from Breakfast Creek to the outer reefs, and up to Cape Sidmouth."
Djungadjunga Yunupingu
Djungadjunga Yunupingu is a senior cultural custodian from the Gumatj clan of North East Arnhem Land. He assists as a cultural facilitator and advisor for SharingStories work on Elcho Island.
Murray Butcher
Murray Butcher is a Paakantji man who lives in Wilcannia, he works with SharingStories as a cultural facillitator and sits on the Advisory Council. " Paakantji means belonging to paaka, the river; we are the people that belong to the Darling River. We don't own this land, this land owns us – our river is our soul. It's where our ancestors grew up."
Johnene Watson
Johnene Watson is a Nyikina Mangala woman who lives in Jarlmadangah. She sits on SharingStories Advisory Council.
Wittadong and Mervin Mulardy
Wittadong Mulardy and her son Mervin Mulardy are from the Karajarri community, they both assist as cultural advisors during SharingStories workshops and projects in Bidyadanga.
Debbie Mabbindja
Debbie Mabbindja is a Ndjebbana woman from the Djukurrdji clan living in Maningrida. She assists as cultural advisor during SharingStories workshops and programs in Maningrida.
Alistair Djalolba James
Alistair Djalolba James is a Ndjebbana man from the Djukurrdji clan and assists as cultural advisor on SharingStories workshops in and programs in Maningrida.
Annie Milgin and
Annie Milgin and John Watson assist as Nyikina and Mangala cultural advisors on SharingStories workshops in Jarlmadangah.
Sheila Conway
and Jessie Roberts
Sheila Conway and Jessie Roberts both Mangarrayi women assist as cultural advisors on SharingStories workshops and programs in Jilkminggan.


CONGRATULATIONS! You have made an incredible decision and things will change forever now.
Watch out for the emails in your email box which will give you access to the alliance as well as the weekly training which begins with 8 weeks of Get Your Message Out, Get More Buyers In.
I am looking forward to working with you to become more of the leader you are created to be.


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National park entrance fees to rise
By Gregg K. Kakesako gkakesako@staradvertiser.com
Beginning June 1, daily entrance fees at all national parks in Hawaii, including Haleakala National Park and Hawai'i Volcanoes National Park, will increase. Read more
Beginning June 1, daily entrance fees at all national parks in Hawaii, including Haleakala National Park and Hawai'i Volcanoes National Park, will increase.
The 2016 per-person fee (the rate bicyclists and pedestrians pay) will change from $8 to $10. The 2016 motorcycle fee will go from $10 to $15. The 2016 per-vehicle three-day pass will rise from $15 to $20.
The cost of the tri-park annual pass will remain $25 in 2016. It is considered a kamaaina pass because it permits unlimited entry for one year to Hawai'i Volcanoes National Park, Pu'uhonua o Honaunau National Historical Park and Haleakala National Park.
The price of the pass will increase to $30 in 2017.
Campsite changes
New fees are also planned for all Hawaii island backcountry and front-country campsites, including Kulanaokuaiki Campground — $10 per site per night.
Backcountry campsites will have a stay limit of three consecutive nights, while the front-country campsites are limited to seven consecutive nights.
Currently, camping is free, except at Namakanipaio Campground, which is managed by Hawaii Volcanoes Lodge Co. The new camping permit fees are similar to other public camping fees statewide.
In addition, entrance fees will rise for commercial tour companies. Road-based tour vans carrying one to six people now pay a $25 base fee and $8 per person to enter the park.
The commercial per-person entrance rates will increase to $10 on June 1 and $12 in 2017, and will remain at $12 through 2021. The base fee will not change. Nonroad-based tour companies such as hiking companies don't pay base rates but their per-person entrance fees will increase under the new rate plans.
Recreational entrance fees do not apply to people under 16, or holders of the tri-park pass or America the Beautiful National Parks and Federal Recreational Lands senior, access or military passes. These passes may be obtained at the parks or online.
Lab blast inquiry won't be finished until end of June
Graduates' fund for party helps community instead

redpajama_set_name: RedPajamaCommonCrawl


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There are a number of home remedies that can help ease the symptoms of a stomach upset and help your baby feel better. Reflux happens when the valve that is between the stomach and esophagus is not functioning as expected, making this gastric acid and food gurgle up into the throat from the stomach. Reflux.
Apr 4, 2014. Because consistent use of essential oils is key when treating any infection so make them convenient but safely out of reach from your little ones. Lavender has pain relieving properties as well. http://articles.mercola.com/sites/articles/ archive/2011/03/11/lavender-oil-has-potent-antifungal-effect.aspx.
Learn How To Treat Acid Reflux In Kids with Medication For Acid Reflux In Babies and Does Acid Reflux Cause Esophageal Cancer that Acid Reflux Lump In Throat Treatment Acid Reflux Lump In Throat Treatment between Signs And Symptoms Of Acid Reflux In Infants List Of What You Can Eat With Acid Reflux then What Not To Eat For Acid.
Jul 26, 2016. There are many natural ways of healing diaper rash in babies at home by using natural solutions such as herbs, vegetables, fruits, and other ingredients. In this article, Effective Remedies will show you the best home remedies for diaper rash in babies. The following writing collected information from.
An antacid may be a quick fix, but for many folks, that burning chest pain is a constant complaint and could be a symptom of a chronic condition called gastroesophageal reflux disease, or GERD, where acid and partially. therapy.
Before treating your infant's acid reflux, make sure to consult her doctor and get an accurate diagnosis of acid reflux as well as recommendations for treatment.
Learn about the signs and symptoms of acid reflux and GERD in infants. also suggest certain lifestyle changes that may help treat your baby's GERD or acid reflux.
Heart risk A class of drugs widely used to treat heartburn could raise heart attack risk, new research suggests. While the study results need to be confirmed, commentators say the research provides another reason to reduce.
Jan 20, 2017. Celiac disease is an autoimmune disorder that occurs in an estimated 1 in 100 people. Learn how to soothe the symptoms of celiac disease with a blend of these 7 essential oils.
I was diagnosed as having tertiary contractions of the esophagus and slight. Have you tried using antacids to see if they help your burning pain? If they help, it's another good indication that acid reflux is a large part of your problem.
Home remedies for acid reflux. acid reflux disorder. Aniseed and Lavender. A mixture of aniseed and lavender should be consumed with distilled water to treat acid.
Infants suffer from acid reflux at times, which makes them uncomfortable. This caused due to the backward motion of food in the stomach into the food canal.
5 Natural Ways To Treat Acid Reflux In Infants Video Link https:. A mixture of aniseeds and lavender is a good remedy for acid reflux in kids.
. drops of lavender oil. One Last Tip. Many babies who've. for treating an toddler with acid reflux? we. Use Baby Oil; How To Treat Infant Reflux.
Holistic beauty isn't anything new – people have used. for newbies is lavender, which boasts an anti-inflammatory and calming effect. "If you have a mosquito bite or something inflamed on your skin, you can use lavender oil to.
Dec 10, 2017. Essential oils can be a useful tool in dealing with the symptoms of your child's cough. 2.1 Oregano Essential Oil; 2.2 Lavender Essential Oil; 2.3 Basil Essential Oil; 2.4 Peppermint Essential Oil; 2.5 Ginger Essential Oil; 2.6 Eucalyptus Essential Oil. Acid reflux: Acid reflux can cause a cough in children.
▷ 17 Wonderful Uses of Chamomile Essential Oil – Organic Daily Post – Treat Acne. Wash your face twice each day with a mild face wash then apply chamomile with a gauze square or cotton ball. You can use it just like any other astringent for acne. If you have chamomile. Use chamomile EO for relief of acid reflux, general indigestion, gas, diarrhea, nausea, vomiting and leaky gut. It calms the.
Separating Fact from Fiction in Pediatric Medicine: Infant. Stop prescribing acid blockers and motility. recommended alternative treatment for infant reflux.
Like adults, infants additionally are inclined to undergo from acid reflux disorder, which causes them to spit up. Sadly, it may be relatively frequent.
Childhood Gastro-oesophageal Reflux. as this condition improves with time without any treatment. Your baby's. I have suffered from acid reflux on and off for.
Jan 4, 2017. Add few drops of lavender oil in your baby's bathtub which is filled with warm water. Bath your baby in this water for few minutes and gently massage their tummy to relieve painful trapped gas. Dry your baby's body using a soft towel and sleep them. Continue doing the same process regularly till they get.
Mar 27, 2013. Learn how to support your emotions naturally with Joy essential oil. I didn't give it much thought until I began using Young Living Essential Oils for other uses and saw how effective they were for treating other symptoms. I've felt two. I've done so with Lavender and it makes it so easy to use and dab on.
Oct 18, 2017. Some effective home remedies for infant colic and gripping stomach pain. How warm water and asafoetida helps cure infant stomach pain, flatulence and gas. How mustard oil massage benefits to baby.
5 Benefits Of Using Herbal Incense There are so many benefits of using herbal incense and to be honest with you, it will never be easy to cover all those benefits in.
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Mar 11, 2011. Digestion: Lavender oil is useful for digestion as it increases the mobility of the intestine. The oil also stimulates the production of gastric juices and bile and thus aids in treating indigestion, stomach pain, colic, flatulence, vomiting and diarrhoea. Immunity: Regular use of lavender essential oil provides.
Knowing how to use essential oils for babies is a must! Learn how to safely use essential oils for infants and toddlers. Tips for dilution, diffusing, and more.
Mar 6, 2014. There are hundreds of home remedies using essential oils to treat just about anything—insomnia, fatigue, gout, upset stomach, menstrual cramps, bruising, fungal infections, ADHD, and on and on and on… I don't have a problem with using essential oils for aromatherapy—maybe the scent of lavender.
Agrimony is a little known herb that works to relieve stomach upset and restore proper function to the gastrointestinal tract. Many people don't realize that acid reflux also causes vomiting, nausea, and diarrhea. If you suffer from these symptoms with acid reflux, you will find that agrimony is super helpful in these areas and.
Gastroesophageal Reflux Treatment. In some babies, though, the acid makes the lining of the. of the 80 drugs most commonly used to treat newborns and.
Omeprazole is used to treat symptoms of gastroesophageal reflux disease ( GERD) and other conditions caused by excess stomach acid. Omeprazole is also used to promote healing of erosive esophagitis (damage to your esophagus caused by stomach acid). Omeprazole may also be given together with antibiotics to treat.
Compare How To Treat Acid Reflux In Babies and How To Use Baking Soda For Acid Reflux and Flu And Acid Reflux Flu And Acid Reflux that Natural Home Remedy For Acid.
Apr 29, 2017. Extra virgin olive oil for eczema treatment lists 12 tips to use olive oil combined with other ingredients for treating eczema. you warm the mix before using. See more: How To Use Coconut Oil For Acid Reflux. The mixture including baby lotion and olive oil for eczema is a safe and simple remedy. Process:.
Create a warming, soothing massage by combining one to two drops of Black Pepper essential oil with Marjoram, Lavender, Peppermint, and doTERRA Fractionated Coconut Oil. DigestTab provides relief from the uncomfortable burning of occasional acid indigestion and helps reduce belching and bloating.
Chamomile has been valued as a digestive relaxant and has been used to treat various gastrointestinal disturbances including flatulence, indigestion, diarrhea, anorexia. STW5 extracts produced a dose dependent anti-ulcerogenic effect associated with a reduced acid output, an increased mucin secretion, an increase in.


Public Services Card - Last Chance!!!
The Department of Social Protection will be in C.C.S. again next week (Tue 2nd May) to complete the TY applications for the Public Services Card. I will contact the pupils who have already submitted their documentation. Anyone who has taken their documentation back for whatever reason, but wishes to apply for a Public Services Card should return the documentation to me immediately in R.132.
It's that time of year again when the quest begins for the highly coveted positions of Attendant during the State Exams. The duties of Attendant include manning the entrance to the exam centre and barring entry to the centre to all but State Examinations personnel with valid ID and/or school authorities. The Attendant must be available to carry out any task required of them by the Supervisor in the course of their duties, together with ensuring that there is no noise outside the centre. Tea/coffee will have to be brought to the Supervisor twice daily. Only TYs with an excellent record for attendance and punctuality should apply. Applicants should prepare a C.V. and cover letter outlining their contribution to C.C.S. generally and specifically during TY, together with details of their engagement with the opportunities offered during Transition Year. All documentation should be brought to Ms McGeehin in R.132 on or before Fri 12th May 2017. Shortlisting of candidates will occur. Successful applicants will be notified before the end of May. Best of luck!
Congratulations to the CCS TY National Mock Trial Team who won all three of their cases in the Criminal Courts of Justice, Dublin on Sat 8th April 2017. As one of the top four teams in the country,the CCS team now proceeds to the Semi-Finals on Sat 6th May. But that's not all! The final four teams in the competition are invited to represent Ireland in the US Mock Trial Competition in New York in October!! Well done to everyone! The 18 member team consists of Adam Mullins, Aidan Doherty, Aimee Donaghey, Aisling McCarron, Ben Nelson, Bridget Doherty, Chantelle McLaughlin, Ciara McGonagle, Daniel McCormick, Danielle Houghton, Ellen Keyes, Ellen Simmons, Evan McLaughlin, Jordan Doherty, Kate Hunter, Nathan Crumlish, Rori Doherty & Shaun Hirrell. A HUGE thank you to Mr Dónal McGuinness BL for all his guidance and support. We are very grateful. Thanks also to Garda Sean McLaughlin for lending us Garda props and to Mr Dessie Doherty for lending us his lucky bell!


In this phone crazy, social media world it can be difficult to switch off. I have rounded up some ways that help me.
Bringing a newborn home to a dog can be a very daunting thought. I've written some of our tips since they are the best of friends.


The Bullet King may be dead, but that doesn't mean The Division players have been unable to find new farming strategies to exploit. The latest popular strategy is about as elaborate an approach as I've seen.
Get a full team of high-level friends and start the Russian Consulate level on Challenging difficulty.
Make sure your scavenging stat is as high as you can get it.
Fight all the way to the final battle in the courtyard.
When you get to the courtyard, kill the first few enemies without going out into the courtyard. (Watch the video to make sure you don't screw this part up, it's at around 1:00).
After that, three players backtrack all the way out to the street looking in on the courtyard while one player stays behind.
The players outside set up mobile cover in a certain way, which lets them pass through the fence and into the courtyard.
The inside player runs through the courtyard to the mobile cover the other players set up, passing back out and onto the street. The battle continues inside the courtyard.
Everyone brings down the named boss, Hornet.
One player walks up to the fence while the others stay back. That player dies, which tells the game that everyone in the instance died. The battle will reset and that player will warp back inside.
Rinse and repeat: Run through, kill the boss, one player dies, do it again. With the increased challenge mode drop rates, you should amass a tidy collection of specialized and high-end gear in not too much time.
I've yet to try this method myself, but I admire the approach mostly for how involved it is. The Division is currently hurting a bit for endgame content, so players have been getting more and more creative in finding ways to maximize the rewards for their effort.
It's almost certainly not the most fun way to play the game, but in some ways it depends on your definition of "fun." It sure seems like it'll get you a lot of high-end gear, anyway. I kind of want to put a team together just to say we did it.


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we enter the zone of supersonic flight.
we enter the Dark Age zone of death.
The story, The Shockwave Effect, comprises a chapter of the novel, Winning without Victory, by Rolf A. F. Witzsche. The novel is Episode 3 of the series of novels, The Lodging for the Rose. The series is designed to explore the great renaissance principle, the Principle of Universal Love, the foundation for civilization. The fictional story, The Shockwave Effect, plays in the mid-1980s at a hotel in Berlin exploring the principles for averting a world crisis. The exploration is focused onto the boundary zone, the zone that the world is presently in with potentially enormous changes on the horizon. Supersonic shockwaves already begin in boundary zone and have been observed and photographed at Mach 0.95. Likewise have some early economic and political shockwaves been observed.


It's been a hell of a past few months, but rest assured things are getting back to normal around here and I am more driven than ever to keep growing this amazing community we've built! While this particular issue has to make up for the missed game jam announcements, I will also be changing up the format a little bit.
The past few issues were far too large, and I received some comments about email clients truncating them, so to mitigate this problem I've decided to put a much bigger emphasis on the content that is created by the members of The MUD Coders Guild, rather than just the content that is shared by them.
As always, if you have something you'd like to share with the community, please join us on Slack and shoot me a DM or post a message to the #newsletter channel. I love seeing what our community members can do!
A procedurally generated mazelike MUD set in a science fantasy hellscape.
A multi user dungeon game by CorporateDoge and JackOatley.
TMCG mod @swiftausterity has recently announced a new MUD-oriented podcast project. In a nutshell, you share your stories, and they will be performed in the style of a classic radio drama. I dunno about you, but I'm personally incredibly excited about it!
The last month of ExVenture was mostly the overworld, which I posted about previously. There were a lot of other smaller tweaks too.
Seeing as we have some Mudlet maintainers in TMCG, it feels only right to share their version releases! A new Mudlet is here!
The Ecto branch of Universa, a Multi User Dungeon codebase written in Elixir and designed for extensiblity.
Havic is a multiplayer RPG Game Server in node.js. In other words, it's a MUD!
ExFigment is an Elixir based system focused on interacting with simulated worlds.
A collection of tintin++ scripts for playing MateriaMagica, everyone's favorite command-line MUD client.
The command pattern (ish) in Ruby, using a DSL.
TextSpaced is a Facebook Messenger based text-based game. The sandbox nature of the game leaves you, the player, the freedom to decide at any point what to do next. The narrative of TextSpaced unfolds organically, so you can choose to uncover the mysterious past of Old Earth, affiliate and forge relationships meeting both real and non-player characters - or simply pirate yourself to fame and fortune.
It's EverQuest Day today at MMORPG.com and we have a pair of features that should bring a starry tear of remembrance to our readers' eyes. In our second feature, we had the pleasure to sit down with Brad McQuaid to talk about the earliest days of EverQuest. It's an exciting interview that you won't want to miss. Read on!
Can you produce an AI program which manages to play the old Norwegian text-based online game VikingMUD?
While not at all MUD related, this post is worth sharing because it features a screenshot of The MUD Coders Guild Slack! On the official Ubuntu blog! This is way too cool!
Quitting. Hope to see you again, soon.


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Try Zendonew
Robust Barrier Functions for a Fully Autonomous, Remotely Accessible Swarm-Robotics Testbed
by Yousef Emam, et al.
The Robotarium, a remotely accessible swarm-robotics testbed, has provided free, open access to robotics and controls research for hundreds of users in thousands of experiments. This high level of usage requires autonomy in the system, which mainly corresponds to constraint satisfaction in the context of users' submissions. In other words, in case that the users' inputs to the robots may lead to collisions, these inputs must be altered to avoid these collisions automatically. However, these alterations must be minimal so as to preserve the users' objective in the experiment. Toward this end, the system has utilized barrier functions, which admit a minimally invasive controller-synthesis procedure. However, barrier functions are yet to be robustified with respect to unmodeled disturbances (e.g., wheel slip or packet loss) in a manner conducive to real-time synthesis. As such, this paper formulates robust barrier functions for a general class of disturbed control-affine systems that, in turn, is key for the Robotarium to operate fully autonomously (i.e., without human supervision). Experimental results showcase the effectiveness of this robust formulation in a long-term experiment in the Robotarium.
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Yousef Emam
Paul Glotfelter
Magnus Egerstedt
∙ 04/15/2021
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I Introduction
The Robotarium, a remotely accessible swarm-robotics testbed, located at the Georgia Institute of Technology, provides free, open access to a large number of differential-drive robots [pickem2017robotarium] , alleviating the cost, in terms of both time and money, of starting a robotics testbed. To date, hundreds of people have utilized the Robotarium for over thousands of experiments. In turn, this high level of usage necessarily requires the automatic and continuous execution of these experiments, as manually executing this large number of experiments is infeasible.
For the system to be autonomous, it must be endowed with the capabilities to enforce constraints in the context of users' submissions. For example, the robots must avoid inter-robot collisions. However, since the primary goal of the Robotarium is to enable controls research for a wide class of users, which may include nontraditional controls researchers (e.g., biologists), these constraints must be enforced in a manner that guarantees safety but also minimally interferes with users' experiments.
Toward this end, the Robotarium has extensively utilized barrier functions, as they are amenable to controller synthesis [ames2014, xu2015, xu2018, wang2016, wang2016-2, PaulNBF, glotfelter2018] . In particular, they do not encode objectives, such as may be the case for Lyapunov or potential functions (e.g., [rimon1992] ), which results in a minimally invasive formulation. Formally, barrier functions satisfy constraints by guaranteeing forward invariance of a particular set that represents the constraint (e.g., the robots must always remain in the testbed).
The Robotarium has successfully executed thousands of experiments while using barrier functions to enforce constraints [pickem2017robotarium] ; however, uncertainty stemming from unmodeled behavior, such as packet loss or wheel slip, poses a continuing issue by preventing fully autonomous operation (i.e., with no human supervision). For example, in its current state, a human operator must manually flag an experiment for re-execution if collisions occur. As such, the Robotarium has a need for a formulation of barrier functions that can account for disturbances in an efficient manner.
Prior work on barrier functions has mainly addressed smooth barrier functions, formulating the associated forward-invariance results with respect to continuous dynamical systems. Moreover, some work has focused on robust barrier functions for uncertain systems [nguyen2016optimal, gurriet2018invariance] . However, as formulated in these works, accounting for the disturbance in real-time controller synthesis involves solving a nonlinear optimization program, making the approach too costly for the Robotarium, which must quickly synthesize controllers for large groups of robots (e.g., at 60 Hz for 40 robots). Since disturbed control systems may be represented by differential inclusions, the publications [PaulNBF, glotfelter2018] , which utilize differential inclusions to develop a class of nonsmooth barrier functions, relate to this work on a theoretical level. However, these results (e.g., [PaulNBF] ) have not been specialized for disturbed systems.
As such, this work extends barrier functions to disturbed control systems, resulting in robust Control Barrier Functions (CBFs). To do so, this work utilizes some results from [PaulNBF] by reformulating them in the context of disturbed control systems. Specifically, this work addresses a particular class of disturbed control affine systems for which general disturbances may be addressed with linear computational complexity. Additionally, we show that this class of robust barrier functions admits a controller-synthesis procedure via Quadratic Program (QP), ensuring that it can be run in real time, even on resource-limited systems. Subsequently, this work specifically examines the case in which the control system is a nonlinear differential-drive robot, for usage in the Robotarium, and specializes the robust CBF framework to this context. This paper also presents a long-term experiment that demonstrates the increased autonomy afforded by the robust formulation.
The paper is organized as follows. Section II introduces the necessary background material and notation for the paper. In Section III, we model the disturbances as the convex hull of a finite set of points and derive sufficient conditions for the robustness of the forward invariance property with respect to the disturbed control system. Furthermore, Section IV provides some controller-synthesis results with respect to disturbed control systems. Lastly, in Sections V and VI, we formulate the controller-synthesis procedure for differential-drive robots and apply the proposed method to the Robotarium in a long-term experiment. Section VII concludes the paper.
Ii Background Material
The main contribution of this work pertains to Control Barrier Functions (CBFs) in the context of uncertain systems. As such, the theory of CBFs and differential inclusions is introduced as the main tools to address this problem.
Ii-a Notation
The notation R≥a represents the set of nonnegative real numbers greater or equal to a. The expression B(x′,δ) denotes an open ball of radius δ centered on a point x′∈Rn. The operation co represents the convex hull of a set. A function α:R→R is extended class-K if α is continuous, strictly increasing, and α(0)=0. A function β:R≥0×R≥0→R≥0 is class-KL if it is class-K in its first argument and, for each fixed r, β(r,⋅) is continuous, strictly decreasing, and lims→∞β(r,s)=0.
Ii-B Control Barrier Functions
Control Barrier Functions (CBFs) are formulated with respect to control systems [ames2014, xu2015, AmesBarriers] , and this work considers control-affine systems
˙x(t)=f(x(t))+g(x(t))u(x(t)),x(0)=x0, (1)
where f:Rn→Rn, g:Rn→Rn×m, and u:Rn→Rm are continuous. These types of systems capture most robotic systems (e.g., differential-drive robots, quadrotors, autonomous vehicles) and remain amenable to controller synthesis, which is demonstrated later. A set C is called forward invariant with respect to (1) if given a solution (potentially nonunique) to (1) x:[0,t1]→Rn
x0∈C⟹x(t)∈C,∀t∈[0,t1]. (2)
Barrier functions ensure forward invariance of a particular set that typically represents a constraint in a robotic system, such as collision avoidance or connectivity maintenance. Specifically, a barrier function is a continuously differentiable function h:Rn→R (sometimes referred to as a candidate barrier function), and the so-called safe set C⊂Rn is defined as the super-zero level set to h
C={x′∈R:h(x′)≥0}. (3)
Now, the goal becomes to ensure the forward set invariance of C, which can be done equivalently by guaranteeing positivity of h along trajectories.
Positivity can be shown if there exists a locally Lipschitz extended class-K function α:R→R and a continuous function u:Rn→Rm such that
∇h(x′)⊤(f(x′)+g(x′)u(x′))≥−α(h(x′)),∀x′∈Rn. (4)
Then, h is called a valid CBF for (1) [AmesBarriers] . Note that (4) does not explicitly account for any uncertainty in the system. As such, real-world disturbances (e.g., packet loss or wheel slip) can cause the system to violate the constraint. Toward resolving this issue, the next section formulates an analogous result in the context of uncertain control systems.
Ii-C Differential Inclusions
Differential inclusions are a generalization of differential equations that have been used to represent a variety of problems including perturbed Ordinary Differential Equations (ODEs) as in (
1) and discontinuous dynamical systems [PaulNBF] . Uncertain or disturbed systems, in the context of this paper, fall into a particular class of differential inclusions. As such, this section presents the high-level theory of differential inclusions, and later sections formulate the disturbed system that this work considers.
In general, differential inclusions are formulated as
˙x(t)∈F(x(t)),x(0)=x0, (5)
where F:Rn→2Rn is an upper semi-continuous set-valued map that takes nonempty, convex, and compact values. A set-valued map is called upper semi-continuous if for every ϵ>0, x′∈Rn there exists δ>0 such that
F(y)⊂F(x′)+B(0,ϵ),∀y∈B(x′,δ). (6)
Note that the term F(⋅)+B(0,ϵ) is meant to be taken as a set-valued addition. That is,
F(⋅)+B(0,ϵ)={v+e:v∈F(⋅),∥e∥≤ϵ}. (7)
Under the given assumptions for F in (5), existence of a particular type of solution, a Carathéodory solution, may be guaranteed [cortes2008] . A Carathéodory solution to (5) is an absolutely continuous trajectory x : [0,t1]→Rn such that ˙x(t)∈F(x(t)) almost everywhere on [0,t1] and x(0)=x0. In this case, uniqueness can by no means be guaranteed. For a more comprehensive survey of differential inclusions, see [cortes2008discontinuous] .
Forward invariance in the context of differential inclusions typically admits two standard definitions, stemming from the nonuniqueness of solutions [cortes2008discontinuous] . Weak invariance insists that, given an initial condition in C, at least one solution remains in the set for all time. Strong invariance requests that, given an initial condition in C, all solutions stay in the set for all time. This paper provides results for strong invariance and simply refers to this quality as invariance.
Ii-D Barrier Functions for Differential Inclusions
The work in [PaulNBF] generalizes the result in (4) to nonsmooth barrier functions and differential inclusions. However, in the case that the barrier function is smooth, the same result applies to a system described by a differential inclusion. As such, this result becomes useful for this work, and it is subsequently stated in a form that has been modified to fit the terminology of this work. In the next section, we specialize this result for the purpose of robust control and apply it to validate CBFs for disturbed control systems. Note that the results here are originally phrased for uncontrolled systems in [PaulNBF] ; however, for brevity, we still refer to barrier functions as CBFs, as the same results hold by considering the closed-loop system.
Definition 1.
[PaulNBF, Definition 4] A locally Lipschitz function h:Rn→R is a valid Control Barrier Function (CBF) for (5) if and only if x0∈C implies that there exists a class-KL function β:R≥0×R≥0→R≥0 such that
h(x(t))≥β(h(x0),t),∀t∈[0,t1], (8)
for every Carathéodory solution x:[0,t1]→Rn starting from x0.
Theorem 1.
[PaulNBF, Theorem 1] Let h:Rn→R be a continuously differentiable function. If there exists a locally Lipschitz extended class-K function α:R→R such that
min∇h(x′)⊤F(x′)≥−α(h(x′)),∀x′∈Rn, (9)
then h is a valid CBF for (5).
Remark 1.
In [PaulNBF] , the gradient ∇h is replaced with the Clarke generalized gradient ∂ch:Rn→2Rn (see [clarke1990] ) and h is only assumed to be locally Lipschitz continuous. However, in the case that h is continuously differentiable, these two objects are equivalent. Hence, Theorem 1 is equivalent to [PaulNBF, Theorem 1] in the context of this work.
Iii Barrier Functions for Disturbed Dynamical Systems
This section discusses a formulation of CBFs that can account for a large class of disturbances in an efficient manner. In particular, this section contains an extension of Theorem 1 to disturbed control-affine systems. Then, a class of systems with disturbances described by convex sets is presented along with efficient methods for validating the associated CBFs.
In this paper, we will focus on disturbed control-affine systems that can be modelled through the following differential inclusion
˙x(t)∈f(x(t))+g(x(t))u(x(t))+D(x(t)),x(0)=x0, (10)
where D:Rn→2Rn (the disturbance) is an upper semi-continuous set-valued map that takes nonempty, convex, and compact values; and f, g, u are as in (1). The assumption on the convexity of D may be seen as restrictive, but we later show that this assumption is actually highly nonrestrictive. Following from Theorem 1, we can state a corollary that specifically targets (10).
Corollary 1.1.
Let h:Rn→R be a continuously differentiable function. If there exists a continuous function u:Rn→Rm and a locally Lipschitz extended class-K function α:R→R such that
min∇h(x′)⊤(f(x′)+g(x′)u(x′)+D(x′))≥−α(h(x′)),∀x′∈Rn, (11)
then h is a valid CBF for (10).
By using the corollary above, the main contribution of this paper utilizes the properties of convex hulls to generate a control law robust to set-valued disturbances (i.e., as in (10)). Specifically, we assume that a convex hull of p>0 continuous functions ψi:Rn→Rn, i∈{1,…,p} captures the disturbance. That is,
D(x′)=coΨ(x′)=co{ψ1(x′)…ψp(x′)},∀x′∈Rn. (12)
In this case, the differential inclusion in (10) can be re-written as
˙x(t)∈f(x(t))+g(x(t))u(x(t))+coΨ(x(t)), (13)
and the first main result of this paper pertains to validating CBFs with respect to (13).
Lemma 1.
Let ψi:Rn→Rn, i∈{1,…,p} be a set of p>0 continuous functions. Then, D:Rn→2Rn defined as
D(x′)=coΨ(x′)=co{ψi(x′):i∈{1,…,p}},∀x′∈Rn (14)
is an upper semi-continuous set-valued map that takes compact, nonempty, and convex values.
Let x′∈Rn. Then, by definition, D(x′) is convex and nonempty, since p>0. Moreover, D(x′) is compact, since it is the convex hull of a finite number of points.
Now, it remains to show upper semi-continuity. Let ϵ>0. Because each ψi is continuous, there exists corresponding δi>0 such that
∥ψi(y)−ψi(x′)∥≤ϵ,∀y∈B(x′,δi), (15)
meaning that
ψi(y)∈ψi(x′)+B(0,ϵ),∀y∈B(x′,δi). (16)
δ=miniδi, (17)
which satisfies δ>0, because p is finite.
D(⋅)=co{ψi(⋅):i∈{1,…,p}}, (18)
it now suffices to show that
Ψ(y)⊂Ψ(x′)+B(),ϵ),∀y∈B(x′,δ). (19)
Let i∈{1,…,p} and consider ψi(y). By choice of δ,
ψi(y)∈ψi(x′)+B(0,ϵ), (20)
as such
ψi(y)∈Ψ(x′)+B(0,ϵ). (21)
Accordingly, D is upper semi-continuous. ∎
Let h:Rn→R be a continuously differentiable function. Let ψi:Rn→Rn, i∈{1,…,p} be a set of p>0 continuous functions, and define the disturbance D:Rn→2Rn as
If there exists a continuous function u:Rn→Rm and a locally Lipschitz extended class-K function α:R→R such that
∇h(x′)⊤(f(x′)+g(x′)u(x′))≥−α(h(x′))−min∇h(x′)⊤Ψ(x′),∀x′∈Rn, (23)
We begin by substituting the definition of D(x′) from (12) into the result from Corollary 1.1. In particular, it must be shown that
min∇h(x′)⊤(f(x′)+g(x′)u(x′)+coΨ(x′))≥−α(h(x′)),∀x′∈Rn. (24)
By Lemma 1, coΨ is an upper semi-continuous set-valued map that takes nonempty, convex, and compact values, so the results of Corollary 1.1 may be applied.
Note that, for any x′∈Rn, the condition above is equivalent to
∇h(x′)⊤(f(x′)+g(x′)u(x′))≥−α(h(x′))−min∇h(x′)⊤coΨ(x′). (25)
We can then take advantage of the properties of the convex hull (see [PaulNBF, Lemma 3] ) through the following equality
min∇h(x′)⊤coΨ(x′)=min∇h(x′)⊤Ψ(x′). (26)
Thus, by substituting (26) into (25), we obtain (23). ∎
Note that the function
x′↦min∇h(x′)⊤coΨ(x′)=mini={1,…,p}∇h(x′)⊤ψi(x′)
is continuous, since it is a minimum of continuous functions.
An interesting aspect of Theorem III is that only the extreme points of coΨ(⋅) must be evaluated (i.e., each ψi(⋅)). This evaluation remains equivalent to checking every disturbance in coΨ(⋅). Thus, infinitely many disturbances are addressed by checking a finite number of points. As such, Theorem III can be directly used for synthesizing controllers robust to disturbance, because the computational cost of min∇h(x′)⊤Ψ(x′) is linear with respect to the size of the set Ψ(x′).
Notably, in Theorem III, it may not be the case that:
0n∈D(x′),∀x′∈Rn, (27)
and therefore undisturbed trajectories may be unmodeled. However, if (27) holds, then the undisturbed solutions that start within C also remain within C. Additionally, Theorem III readily generalizes to the case where D is the union of the convex hulls of a finite number of function-valued points, as shown by the following proposition.
Proposition 1.
D(x′)=q⋃i=1co(Ψi(x′)),∀x′∈Rn (28)
such that
Ψi(x′)={ψi1(x′),…,ψipi(x′)},∀i∈{1,…,q}, (29)
where each ψij(⋅) is continuous. Let h:Rn→R be a continuously differentiable function. If there exists a continuous function u:Rn→Rm and a locally Lipschitz extended class-K function α:R→R such that
∇h(x′)⊤(f(x′)+g(x′)u(x′))≥−α(h(x′))−min∇h(x′)⊤Ψi(x′),∀i∈{1,…,q}, (30)
This proposition is directly obtained by applying Theorem III q times. Given that inequality (23) holds for each Di(x′)=coΨi(x′) then it follows that it holds for D(x′)=q⋃i=1Di(x′), since
min(q⋃i=1Yi)=min({min(Y1),…,min(Yq)}), (31)
where each Yi is a compact set containing an arbitrary number of scalar values. ∎
The line of reasoning in the proof above illustrates the fact that h is a valid CBF for
D(x′)=q⋃i=1coΨi(x′),∀x′∈Rn (32)
if and only if it is also valid for
D(x′)=coq⋃i=1Ψi(x′),∀x′∈Rn (33)
The nonconvexity of D, as given in Proposition 1, may appear to pose a problem, as the sufficient conditions for the existence of solutions to a differential inclusion requires that the set-valued map takes convex values (see (5)). However, as noted by Remark 3, D may be equivalently defined as
D(x′)=coq⋃i=1Ψi(x′),∀x′∈Rn, (34)
which is indeed convex.
Describing disturbances as a finite union of convex sets encodes a very wide class of disturbances. However, Remark 3 implies that considering this nonconvex disturbance is actually completely equivalent to considering the convex hull of the disturbance. As such, this result indicates that utilizing convex hulls to approximate a disturbance equivalently addresses a wide class of nonconvex disturbances.
The simplicity of the condition presented in Theorem III allows for the synthesis of a controller that satisfies (23) for a given system in real time, since only a finite number of points need to be evaluated. In the next section, we present a QP for the purposes of controller synthesis, which we apply to the Robotarium as presented in Section V.
Iv Controller Synthesis via Quadratic Program
Many of the Robotarium's users do not incorporate collision avoidance into their algorithms (e.g. [Hatanaka2009, Park2016] ). This may be due to lack of knowledge, since access to the Robotarium is not restricted to roboticists and controls researchers, and/or the fact that many of these algorithms are designed for higher level objectives. To mitigate this issue, we minimally alter the robots' control inputs so as to avoid collisions through the application of the framework presented below. The choice of using CBFs instead of its alternatives (e.g. potential functions, Lyapunov functions) stems from the fact that CBFs do not encode any underlying assumptions about the user's objective, making them the ideal choice for this application. Moreover, since differential-drive robots are susceptible to issues such as wheel slip and network latency, by incorporating noise into the CBFs, we render this framework robust to these various risks of collision. In this section, we will introduce the QP used to synthesize the minimally invasive controller with respect to a nominal input.
The dynamics of the robots are modeled as follows,
˙x(t)∈f(x(t))+g(x(t))(u(x(t))+coΨ), (35)
where Ψ={ψ1,…,ψp}⊂Rn, for some p>0.
Note that the disturbance appears in the control input. Referring to (10), we can re-write the latter as
˙x(t)∈f(x(t))+g(x(t))u(x(t))+D(x(t)), (36)
where D(x(t))=cog(x(t))Ψ, via properties of the convex hull operation in multiplication. Note that each function x′↦g(x′)ψi is a continuous function, because g is assumed to be continuous and Ψ
is a collection of constant vectors. The reason that we choose to model the disturbance as such is because various issues (e.g., wheel slip) can be modelled as offsets to the input motor velocities.
Let h:Rn→R be a continuously differentiable function, and let ψi∈Rn, i∈{1,…,p} be a set of p>0 constant vectors. Define
D(x′)=cog(x′)Ψ=cog(x′){ψi:i∈{1,…,p}}, (37)
for all x′∈Rn. If u∗:Rn→Rm defined as
u∗(x′)=argminu∈Rm∥unom(x′)−u∥2 (38)
s.t. ∇h(x′)⊤(f(x′)+g(x′)u(x′))≥−α(h(x′)) (39)
−min∇h(x′)⊤g(x′)Ψ(x′) (40)
is continuous, then h is valid CBF for (10).
Note that since each x′↦g(x′)ψi(x′) and ∇h are continuous, so is x′↦min∇h(x′)⊤g(x′)Ψ(x′) (see Remark 2). Proposition 2 assumes continuity of u∗; however, under continuity of x′↦min∇h(x′)⊤g(x′)Ψ, certain constraint-qualification assumptions lead to continuity of u∗. As such, continuity of u∗ may be guaranteed under one of these conditions (e.g., see [morris2013] ). Assuming we are given a nominal control unom and a CBF h for (41), this QP has the objective of minimally changing unom such that h is a valid CBF for (41). In terms of application, we assume that the QP above is solved at each point in time t∈[0,t1].
The QP contained in Proposition 2 is strongly convex. As such, most solvers admit a polynomial-time solution in the number of decision variables (i.e., control inputs) O(m3). Accounting for the disturbances only requires the computation of min∇h(⋅)⊤g(⋅)Ψ(⋅), which is linear in the number of function from which Ψ is composed and has a runtime of O(p). Thus, the overall runtime of the synthesis procedure in Proposition 2 is O(m3+p).
V Robust Collision Avoidance for the Robotarium
Figure 1: A picture of the GRITSbot, the differential-drive robot used by the Robotarium.
In this section, we specialize the robust CBFs detailed in Section III and the controller-synthesis framework in Section IV for differential-drive robots for use in the Robotarium. Specifically, the controller-synthesis procedure is formulated with respect to collision-avoidance CBFs. For the sake of clarity, we omit the explicit dependence on time for brevity.
Consider N differential-drive robots, where each robot has state xi∈R3 composed of its global position in the plane and heading
xi\coloneqq[xi,1 xi,2 θi]⊤. (41)
Each robot has dynamics
˙xi∈⎡⎢⎣cosθi0sinθi001⎤⎥⎦G(ui(xi)+coΨ), (42)
Ψ={[ψψ],[ψ−ψ],[−ψψ],[−ψ−ψ]},ψ∈R+.
The matrix G is given by
G=[r/2r/2−r/lbr/lb], (44)
where r and lb are the wheel radius and the robot's base length respectively, and the differential-drive input is given by
ui=[ωRi, ωLi]⊤, (45)
where ωRi and ωLi are the right and left wheels' angular velocities, respectively. This geometric model, illustrated in Figure 2, is representative of the control methodology of the Robotarium's robots shown in Figure 1, for which the control inputs are velocity commands to the DC motors of the robot. As such, this formulation allows one to account for the actuation limits during controller synthesis.
Figure 2: Diagram of the GRITSbot. The symbol lb denotes the base length, r the wheel radius, lp the projection distance, δ the diameter of the GRITSbot, and p the center of the robot. Note that lp projects the wheel-axle's center-line, denoted by the red-line, to the center-line of the robot.
Figure 3: In the Robotarium, a group of 22 GRITSbots complete an iteration of the repeated experiment detailed in Section VI. The robots are initially arranged on a circle (left) and attempt to traverse to the opposite side (right). The Robotarium utilizes the robust-CBF-based controller synthesis (see (61)) to prevent collisions (middle) and ensure that each robot reaches the opposite side of the circle (right).
The Robotarium's differential-drive robots' wheels are located toward the back of the robot. To permit the formulation of a collision-avoidance constraint from the centroid of the robot, we introduce the following output of the state. This technique considers a point at a distance lp≥0 ahead of the robot and orthogonal to the wheel axis. In deployment, this parameter is chosen to lie on the centroid of the robot as shown in Figure 2.
In particular, define the output (i.e., the point ahead of the robot) pi:R3→R2 as
pi(xi)=[xi1xi2]+lp[cosθisinθi]. (46)
Differentiating pi along the differential-drive dynamics yields that
˙pi(xi)=gi(xi)ui(xi), (47)
L=[100lp]. (49)
Note that both Ri(⋅) and L are always invertible, so choosing pi in this manner yields an invertible mapping between ˙pi and ui. For later convenience, define the ensemble variables
u=[u⊤1…u⊤N]⊤, x=[x⊤1…x⊤N]⊤ (50)
p=[p⊤1…p⊤N]⊤ (51)
Using the fact that lp is chosen so that pi is at the centroid of each robot, the following CBF encodes a collision-avoidance constraint between robots i and j
hij(p(x))=∥∥pi(xi)−pj(xj)∥∥2−δ2, (52)
where δ>0 denotes the diameter of the robot (see Figure 2). Note that
∇pihij(p(x))=(pi(xi)−pj(xi))=−∇pjhij(p(x)). (53)
' The CBF in (52) models each robot as a circle of diameter δ. Again, note that the center of each robot's wheel axle is shifted from the center of the circle. Conveniently, this issue can be easily mitigated by setting the look-ahead distance lp to map the point pi to the center of the robot.
The barrier certificate that needs to be satisfied for each pair (i,j) of robots is obtained via Proposition 2
∇pihij(p(x))⊤gi(x)ui+∇pjhij(p(x))⊤gj(x)uj≥ (54)
−γhij(x)3 (55)
−min(∇pihij(p(x))⊤gi(x)+∇pjhij(p(x))⊤gj(x))Ψ, (56)
where hij(x)↦γhij(x)3 is the extended class-K function, for some γ>0.
Now, it remains to formulate (54) as in a form conducive to an optimization program (i.e., as an inequality constraint). It is then convenient to define a matrix-valued function A and a vector-valued function b so that the constraint can take the ensemble form A(x)u≥b(x). We do so by defining the following row-vector A(i,j)(x) and scalar b(i,j)(x) for each pair (i,j) of robots
A(i,j)(x)=[a(i,j)1…a(i,j)N] (57)
b(i,j)(x)=−γh3ij(x) (58)
−min(∇pihij(p(x))⊤gi(x)+∇pjhij(p(x))⊤gj(x))Ψ (59)
where a(i,j)k∈R1×2 is defined w.r.t. each A(i,j)(x) as
a(i,j)k=⎧⎪⎨⎪⎩∇pihij(p(x))⊤gi(x), if% k=i∇pjhij(p(x))⊤gj(x), if k=j0, o.w. (60)
Note that this process is repeated ∀i∈{1,…,N−1} and ∀j∈{i+1,…,N} to account for all possible pairwise-collisions, and the A and b matrices are then obtained by vertically stacking all the generated A(i,j) and b(i,j), respectively. At last, by using all the variables introduced so far, we can formulate a similar QP to the one in Proposition 2 as
u∗=argmin.u∈Rm ||LcGc(unom(x)−u)||2 (61)
s.t. ∥u∥∞≤umax (62)
A(x)u≥b(x), (63)
Gc=IN⊗G, Lc=IN⊗L, (64)
where ⊗ denotes the Kronecker product. This formulation ensures that the barrier functions minimally alter unom to render the input safe while taking actuation limits into account. The matrix Gc is introduced to transform the differential-drive inputs to linear and angular velocities, and Lc is a weighting matrix that alleviates dead-lock situations by encouraging alterations in the angular velocities rather than the linear velocities. To account for actuator limits, (61) includes the constraint ∥u∥≤umax, which does not change results of Proposition 2. In the next section, we present extensive experimentation demonstrating how the robust CBF formulation decreases the number of collisions during autonomous operation of the Robotarium.
Vi Experiments
To highlight the fact that the work in this paper is a milestone toward achieving autonomy in the Robotarium, we present the results yielded by extended experimentation. This scenario showcases how the robust CBF formulation drastically decreases the frequency of collisions at almost no additional computational cost.
The setup is as follows. The experiment utilizes 22 GRITSbots, and their parameterisation is shown in Table I. In the case of the non-robust CBF experiment, ψ is simply changed to 0. We run an experiment repeatedly for a given period of time using the non-robust CBF formulation to serve as a base case. Then, the same experiment is run repeatedly using the robust CBF formulation, and we compare the frequency of collisions in both experiments. The initialization of the experiment involves driving the 22 GRITSbots to a circular formation as shown in Figure 3. Upon the termination of the initialization, each robot is commanded to drive to the opposite end of the circle relative to their current position through the use of a proportional controller. Note that this procedure results in all the robots' paths crossing at the center of the circle as highlighted in Figure 3. This experiment is then run repeatedly for an extended period for each of the two formulations.
lp (m)
lb (m)
r (m)
δ (m)
umax (rad/s)
ψ (rad/s)
0.03 0.105 0.016 0.12 150 25 5
Table I: Values of the relevant GRITSbot's and experiments' parameters.
Robust CBF
Non-Robust CBF
Avg. WCT (ms)
Var. of WCTs (ms2)
Avg. Freq. (Hz)
Time Violated (s)
Table II: Comparison of the Wall-Clock Times (WCTs) for solving the Quadratic Programs with and without the robust CBF formulation. The last entry is the duration during which the constraint was violated for each experiment.
Figure 4: Plots of min(hij(t)) over time for the experiments with and without the robust CBF formulation (left and right, respectively). At each point in time, if the value min(hij(t)) is below the dashed line (i.e. value is negative) then the collision-avoidance constraint is violated. The robust CBF formulation (left) encounters 0 collisions whereas the non-robust CBF formulation (right) periodically encounters collisions as shown in Table II.
The metrics upon which we compare the performance of the non-robust and robust CBF formulations is the frequency of collisions occurring in each experiment and the wall-clock times associated with solving each formulation's QP. Specifically, we record the minimum hij value at each time step and check if it is negative (i.e. an occurrence of a collision). The plot of the minimum value of hij over time is shown in Figure 4. It is clear by inspection that 0 collisions occur during the robust CBF formulation. On the other hand, Figure 4 displays the result of the non-robust formulation where the minimum value of hij frequently drops below 0. This violation mainly occurs when the robots are clustered near the center of the circle.
Focusing on the run time, solving the robust CBF QP averaged a wall-clock time of 4.5 ms, translating to a frequency of approximately 220 Hz, resulting in only a 25 Hz decrease compared to solving the non-robust CBF QP. The reason the frequency decreases slightly is that the only computation added is a min operation over p values, which is linear with respect to p (O(p)), where p is the number of points forming the convex hull of the disturbance. The comparison of the wall-clock times of both experiments is shown in Table II.
This experiment demonstrates how the robust CBF formulation drastically reduces the number of collisions during the Robotarium's operation, which in turn aids in the process of fully automating the Robotarium. For example, in its current state, a human operator must manually flag an experiment for re-execution if a collision occurs. The robust CBFs decrease the need for this human operator and increase the throughput of successful experiments via the reduction of collisions.
Vii Conclusion
This paper extended barrier functions to control systems with an additive disturbance, resulting in robust control barrier functions. Moreover, this work showed that checking a finite number of points actually accounts for a wide class of disturbances. As such, these robust control barrier functions remain amenable to controller synthesis via quadratic programming. Experimental results showcased the efficacy of the approach in a long-term experiment in the Robotarium.
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Iron ore prices sprung back to life on Wednesday, logging the largest increase seen in two weeks.
The price for benchmark 62% fines soared by 2.79% to $52.29 a tonne, according to Metal Bulletin, leaving the price at the highest level since June 13.
It was also the largest one-day percentage increase since June 7, and left the year to date gain at 20%.
According to Reuters, the gains were led by strength in Chinese steel futures which rose to a one-week high as a pickup in orders and steady inventory levels encouraged investors to wade back into the market.
"Investors have raised hopes that downside risk for prices is small after a big slump in May while steel mills' orders unexpectedly picked up and market inventories did not pile up," Zhao Chaoyue, an analyst with Merchant Futures in Shenzhen, told Reuters.
Zhao also noted that inventory levels, something that tends to rise between June and August as hot weather hinders construction activity, had not been witnessed this year due to the government's stimulus measures.
Following Wednesday's steel-led surge, it appears that the iron ore rally may find additional legs on Thursday.
The most actively traded September 2016 futures contract on the Dalian Commodities Exchange rose by 2.36% to 390 yuan overnight, outpacing a 1.84% gain in rebar futures traded on the Shanghai Futures Exchange.
This suggests that another significant gain in the spot price appears likely should futures maintain or extend their gains today.


Scrumble's range of natural pet food is made in the UK with natural, nuritious ingredients. Carefully tailored for cats and dogs.
From our modest beginnings in Enfield as a single store in 1971, Jollyes has grown into one of the largest chains of pet food superstores with 61 Jollyes and Jollyes Petzone stores across the UK and Northern Ireland. You can find anything for your pet, from pet food, pet toys and an array of pet accessories.
Northampton Reptile Centre was established 20 years ago and is regarded as one of the country's leading reptile specialist stores. When you walk around Northampton Reptile Centre, talking to the team, it's evident that the animal welfare is taken personally.
They educate and guide all customers on habitats, welfare and correct dietary needs to ensure their reptile pet prospers.
The UK's only value garden centre. Homeware, Garden & Outdoors, Pet Supplies, Toys & Games and Electrical Appliances.
At Waitrose we always strive to bring you the finest products from caring, quality suppliers. Waitrose Pet in partnership with Monster Pet Supplies is an online pet store that has everything for your pet, from food supplies to the latest must-have products and accessories.


Short Story Pro Market is a reference book created to assist you in the publication process of your short stories. It will help guide you in finding a publisher by providing you with the necessary information needed. There are over 150 publishers listed inside. Think of this book as a "tool", one you can constantly look back on with any questions you may have. This book is designed to provide as detailed information about each publisher as possible, as long as the information is necessary in submitting to a given publisher.
Short Story Pro Market provides authors a huge head start in finding a publisher by helping you avoid agonizing over countless grueling hours of online searches, comparisons, queries, and complications. You save precious time by having everything in one place from publisher names and websites to the accepted document format. It's all inside.
This book is an absolute MUST for any author or anyone even thinking about writing short stories. Short Story Pro Market 2017 provides a list of potential publishers in various genres helping you avoid those countless hours of online searches and comparisons. Only top paying publishers are listed. Also, tips on how to submit your short story and other bits you need to know are all right here. Easy to use and understand!
I highly recommend this book to anyone thinking about writing short stories.
Note: A complimentary advanced copy was provided in exchange for an honest review. All thoughts, opinions and ratings are my own.
TC Michael was born and raised in small town USA where he grew up with a large family. He's always been an epic daydreamer with a wild imagination. He currently lives in northern Utah where he's working on his next great novel and enjoying life. When he's not writing, he's hanging out with family, reading, or enjoying the outdoors. TC has wanted to be an author his whole life, but never thought it would happen. Now, he is working hard on making his dream come true.
1. Short Story Pro Market is a reference book created to assist you in the publication process of your short stories. It will help guide you in finding a publisher by providing you with the necessary information needed. There are over 150 publishers listed inside. Think of this book as a "tool", one you can constantly look back on with any questions you may have. This book is designed to provide as detailed information about each publisher as possible, as long as the information is necessary in submitting to a given publisher.
2. This reference guide differs from other popular guides in several ways. First and foremost, this book is narrowed down specifically for short story writers who only want to submit to publishers who pay a professional rate. This means that lower paying markets are not listed. Writers should always submit to the best and highest paying publishers first. Short Story Pro Market is written to be short, because I do not list novel publishers, poetry publishers, specific trade journals, contests or literary agencies. It is organized for short story publishers only. Also, you will not find writing tips, author brand information, promotional material, etc. This makes it easier for you to get straight to the submissions without being bogged down by extra information, which is often unnecessary in short story submissions. Due to this book being short and directly to the point, it is cheaper than competitors' guides.
3. Short Story Pro Market provides authors a huge head start in finding a publisher by helping you avoid agonizing over countless grueling hours of online searches, comparisons, queries, and complications. You save precious time by having everything in one place from publisher names and websites to the accepted document format. It's all inside.


What is the abbreviation for Weapons of Mass Destruction and their means of Delivery?
A: What does WMD/D stand for?
WMD/D stands for "Weapons of Mass Destruction and their means of Delivery".
A: How to abbreviate "Weapons of Mass Destruction and their means of Delivery"?
"Weapons of Mass Destruction and their means of Delivery" can be abbreviated as WMD/D.
A: What is the meaning of WMD/D abbreviation?
The meaning of WMD/D abbreviation is "Weapons of Mass Destruction and their means of Delivery".
A: What is WMD/D abbreviation?
One of the definitions of WMD/D is "Weapons of Mass Destruction and their means of Delivery".
A: What does WMD/D mean?
WMD/D as abbreviation means "Weapons of Mass Destruction and their means of Delivery".
A: What is shorthand of Weapons of Mass Destruction and their means of Delivery?
The most common shorthand of "Weapons of Mass Destruction and their means of Delivery" is WMD/D.


Ireland's premier sub tropical botanical gardens situated overlooking Dingle Bay on the Ring of Kerry. The Victorian gardens are on over 40 acres. The gardens include a Walled Garden, Primeval Forest, Bamboo Glade, River Walk, Dinosaur Walk amongst over 3km of walks.
Assisting the on-going restoration, maintenance and development of the gardens.


ok well i went to the store and got some styrene sheets.
so i started to cut!
got some panel type styrene too to replace the vents.
then i moved on to the gun.
wow this is harder than i thought , takes so much to cut , and i offten slip and cut stuff i dont want too.
more to come tomorrow , by then i wont have these bags under my eyes and ill be able to concentrate.
ok did just a few things today.
well there are so many parts!
not following the order of the instructions i started on the body first.
there are more parts to the body but ill do that tomorrow.
i marked the kit with a marker.
ok got this kit a week ago but didnt post anything about it .
for the looks of it this is going to be a really cool kit .
i really like how the mecha looks and all the pieces looks like they got really good detail.
all the points are sharp , which is nice , so you dont have to putty them and then sand.
im not sure what mods i am going to do becuase i like this kit so much there might not be anythiing i want to make. but well will see wonce i start to prebuild it.
ill work on it this week end.
and i dont plane on making this a full WIP , just a few photos.
ok so JUST got this in today.
this is my entry for Hobbyfanatics gundam wing group build.
so im going to do some modification to it , but i dont know where ! so im pre buildinging it with out sanding. so just cut from sprue and cut the flash. and i will be marking the kit up with a Mark it Marker to see what im going to do so i dont forget.
i like the image onthe box i might do some mods off that.
ok this is really cool! ok instead of a sticker for a eye , it game me a jewle!
its like one prepy girls put on there phone!
ok so i might work on it some more tonight , but ill probly mark it up with some marking.
OK this is Finaly done!
i think it looks so cool.
i found out that i had trubles with my AB , well it wasnt my brush it was the compressor , it made my ab only do that spitty thing, but i figured out that i didnt have the pressure valuve closed all the way, i left it open a little cuse the instructions said thats what you do when you first start it up , but it didnt sayanything after that. but i fixed it and now it sparys very clean , not GREAT for detailing but i think it still does the job.
as you can tell i spent awile on the shading , i really like it.
and i really like this model! though sh.. crap kept on not saying in place ( un gluable places). so it took me like 20 mins JUSt putting it into waverider mode, and im gona keep it there cuse im not toching it , really its still on the floor ( where i was taking the pics ) I really wanted to do some drybrushing but i dont have any matalic paint ... but ill get some this week or so ( when ever im ready with the models i got) but i wont retake the pics so youll have to improvise . And i had to adjust the color so it would look gray, but idk what it turn out to. well i dont think anything more need to be said i think the pictures will answer the questions.


The Palestra, often called the Cathedral of College Basketball, is a historic arena and the home gym of the University of Pennsylvania Quakers men's and women's basketball teams, volleyball teams, wrestling team, and Philadelphia Big 5 basketball. Located on the University of Pennsylvania campus, The Palestra was given its name by Greek professor Dr. William N. Bates, who felt the name logical because in ancient Greece, young men would compete in a variety of events in a rectangular enclosure attached to the gymnasium to the view of all who would come -- a Palestra. The name was widely accepted by the organizing committee for it fit the specifications: authenticity, dignity, descriptive, and novel. So, in 1927, The Palestra was opened.
Take any Regional Rail Line into 30th Street Station. From there walk West on Market Street to 33rd Street, then turn left and follow 33rd Street to The Palestra (behind Shoemaker Green).
Take the Market-Frankford Line to the 34th Street Station. Walk East on Market Street to 33rd Street. Turn right, and follow 33rd Street to The Palestra (behind Shoemaker Green).
Take the Broad Street Line to City Hall. Make a free interchange at City Hall to the Market-Frankford Line Westbound towards 69th Street. Follow Market-Frankford Line directions above to reach The Palestra.
Take any Trolley Route to the 33rd Street Station. Walk South on 33rd Street to The Palestra (behind Shoemaker Green).
Hop Bus Routes 21, 31, 40, 42, or 49.
The Palestra Ticket Office is open on game nights one hour before tip off and is located in the West Lobby. Will Call is located in Hutchinson Gymnasium, adjacent to the Palestra.
Please call the Penn Athletics Ticket Office at (215) 898-6151 for specific event hours and information.
The Palestra has hosted more games and more visiting teams than any other facility.


text:
Charlotte Brathwaite
Charlotte Brathwaite is a New York City-based director of Barbadian descent. At 16, she came to New York and worked as a performer with La MaMa. Today, she is a director known for her unique approach to classical and unconventional texts, music, dance, visual arts, installation and performance events presented globally. Her work considers the current moment while dealing with subject matter from the historical past to the distant future, illuminating issues of social justice, race, sex, power, and complexities of the human condition. Brathwaite highlights unheard and unseen stories of the realities, threats, and dreams of the marginalized while offering new perspectives in content and form. She contrasts ideas of beauty and violence, history and fiction, fantasy and reality, engaging with the complex diasporatic identity through modes of agency rather than oppression. Brathwaite received her BA from Amsterdam School for the Arts, her MFA from Yale, and is an assistant professor at MIT.
Director's Reel - Charlotte Brathwaite
Shasta Geaux Pop - Live Performance
No More Water/The Fire Next Time: The Gospel According to James Baldwin
Prophetika: An Oratorio
Forgotten Paradise: Gazette's Sun
Charlotte Brathwaite uses her multidisciplinary directorial talents to highlight unheard, unseen, and overlooked stories of the realities, the threats, and dreams of the marginalized while offering new perspectives in content and form.
Forgotten Paradise: Gazette's Sun is an experiment in creative nonfiction filmmaking, installation and live performance. It traces the lineage of Director Charlotte Brathwaite's family history against the backdrop of the trans-Atlantic slave trade.
Multimedia Performance
Memory & Personal History


text:
El Tossalet és una muntanya de 766 metres que es troba al municipi de Pinós, a la comarca del Solsonès.

Referències

Muntanyes de Pinós

redpajama_set_name: RedPajamaWikipedia


RightLost | Trail Mix – What's in a Name?
So trail mix is pretty popular amongst outdoor enthusiasts, right? It's nutritious, versatile and convenient. The snack has been around for over 50 years but where did it really get its name? Through a little research – or rather field work – we may have found the answer.
Andy and I were headed to Dartmoor National Park in Devon, England. We had a long weekend and packed our packs with everything we needed for 3 days of unsupported hiking and wild camping: a lightweight tent, sleeping bags, a stove, clothes and our usual excessive amount of camera gear. Our food consisted of oatmeal for breakfast, ready to eat lunches and simple one pot meals for dinner (and a can of beans at Verena's insistence – Andy). We also had plenty of snacks, a bit of fruit, beef jerky and trail mix.
The Ziploc bags, in which the trail mix was packed, were poorly constructed and opening along the seams. For the most part, as long as you held onto them carefully, you were able to preserve the structural integrity of the bags. On the last day, with the last bit of trail mix, my technique faltered and the remainder of our delicious snack fell onto the ground. Being on our third day of walking and not having packed extra, Andy and I immediately began to salvage what we could of our scattered peanuts, raisins and m&m's. Luckily, aside from the various animals – sheep, cows and horses – we met almost no one that weekend. We must have been quite the sight bent over, not even stopping to remove our packs, eating our mixed peanuts, raisins and m&m's off the sheep trail… And that my friends, is how we believe trail mix got its name.


The doors will open on Zyro's Giro, Easton, Bell, Blackburn and CamelBak 2014 Product Launch events next week.
These events will give retailers the chance to learn about the new products, speak directly to suppliers and get their hands on the full 2014 product range.
Brand workshops will give retailers chance to give feedback on products and gain in-depth knowledge of the new line-up.
Product highlights include Giro's 2014 range of footwear, featuring the Empire shoe and the new Terraduro, created to navigate the demands of all-MTB riding. Their helmet range now includes the new Cipher full face helmet.
Easton is launching a brand new road wheel line, featuring the Echo hub for high performance and high durability. The all-new Aero 55 is, says Easton, the world's most aerodynamic wheel in all conditions.
Bell's helmet range retains the Full-9 and Super helmets, now complemented by the all-new Transfer-9 and Stoker helmets, giving the brand even more depth in these two popular categories.
Blackburn's new pannier range has been designed for urban and adventure riding. The Barrier series is pitched at long journeys, while the Central series offers commute bags combined with streamlined styling and organisational features of globe-trotting travel gear.


text:
Rudîkiv (în ) este un sat în comuna Bilencenkivka din raionul Hadeaci, regiunea Poltava, Ucraina.

Demografie

Conform recensământului din 2001, toată populația localității Rudîkiv era vorbitoare de ucraineană (100%).

Note

Rudîkiv, Bilencenkivka, Hadeaci, Poltava
Rudîkiv, Bilencenkivka, Hadeaci, Poltava
Rudîkiv, Bilencenkivka, Hadeaci, Poltava


text:
Assault at Ilkeston v Worcester match during 'disorder' between fans
Do you recognise this man?
Jon PritchardDeputy digital news editor
Do you recognise this man? (Image: Derbyshire Police)
Never miss a crime story with our free email updates
Police officers are investigating reports of an assault at a non-league game in Ilkeston.
Derbyshire Police's football unit have released an image of a man they want to speak to in connection with an alleged assault.
It is believed to have happened during an outbreak of disorder at the Ilkeston Town v Worcester City game on January 26 at the New Manor Ground.
A spokesman for Derbyshire Police said: "We believe the man pictured may be able to help officers with their investigation."
Anyone who recognises the man in the picture is asked to get in touch with Derbyshire Police on 101, quoting reference number 19*73652 and the name of the officer in the case, PC Allan Guy, in any correspondence.
You can also call Crimestoppers anonymously on 0800 555 111.
To receive one WhatsApp message a day with the main headlines, as well as breaking news alerts, text NEWS to 07790 586202. Then add the number to your phone contacts book as 'Nottingham Post'. Your phone number won't be shared with other members of the group.
Mum won't let son, 7, go into men's toilets on his own, making him use the ladies instead


JoshTigerheart's Department of Useful Plugs, with help from EVWeb, release the updated version of Ski Slope, the 1.2.1 version! Ski Slope is a very simple track, simply a big downhill with a uphill jump at the end. The object is not to reach the finish line first, but to jump farther than anyone else. The track is non-looping and is not meant to be played in reverse. Questions? Comments? Bug Reports? Fire an email to the address found in the readme. Credits to specific parts about the track and what you can and cannot use for free are also found in there.
Here is an updated version of my BL track. I had always wanted to make my own BL track, and so here is the result. I hope you like it.
Ehra-Lessien is the test track in Germany where Top Gear's James May Drove the Bugatti Veyron to its top speed. Laps are 20 Km in length and it features a 9 KM unbroken, perfectly level straight. According to Wikipedia, "the track is owned by Volkswagen it is thus open to all its subsidiaries like Audi, Lamborghini, Bentley, Bugatti, SEAT, Skoda as well as to Porsche, which has a 30% share in the firm." In this version the bankings and scenery are not done, but it is still a useful too to determine speed and performance.