We describe a simple and reliable route for forming microscale droplets covered with amphiphilic gold nanoparticles (AuNPs) functionalized with mixed hydrophilic and hydrophobic ligands on the AuNP surface. When an aqueous solution of amphiphilic AuNPs was mixed with hexane, the hexane (or water) droplets covered with amphiphilic AuNPs in the water (or hexane) phase were created, in which amphiphilic AuNPs in water phase migrated to the hexane-water interface. The extent of AuNP migration to the interface could be tuned by the ratio of the hydrophobic to hydrophilic ligands on the AuNP surface and the overall concentration of AuNPs. Importantly, the extent of the AuNP migration to the interface depending on the AuNP concentration followed the Langmuir isotherm model well. The equilibrium constant and maximum uptake of AuNPs at the interface were estimated using the Langmuir isotherm model. To the best of our knowledge, this is the first report of the equilibrium constant determination of amphiphilic AuNPs at the liquid-liquid interface. Based on the maximum uptake of AuNPs at the hexane-water interface, we demonstrated that the AuNPs could be closely packed at the interface.


The Baker Brother's have relaunched their new Bloody Mary website. Now you can purchase our bloody mary mix online. View all the different kinds of recipes you can create with our bloody mary mix.
It makes a great gift for the holidays. View the site and purchase online today!
Gosh, I googled Awful Annie's BM mix on a whim. Never thought I'd get anywhere. Best Bloody Marys ever!


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Star Long '23 Student
Not only am I learning how to conduct research, but I'm getting a head start on my senior thesis, and it will all help with grad school.
Invaluable Research Experience
Star Long '23 came to DePauw with plans to major in kinesiology, go off to graduate school and become a physical therapist. And so far, she's right on track. With senior year – and grad school applications – fast approaching, Long has spent the past 10 weeks in one-on-one research with kinesiology professor Brian Wright, putting the final touches on her academic resume.
This summer, Long and Wright have been using motion capture to measure something familiar to almost anyone in Indiana: a free throw shot. By analyzing kinematic variables – how a free throw shooter's body moves through the shot motion – they could learn not only how to improve someone's technique, but also how to speed healing an injury that might affect performance.
"Not only am I learning how to conduct research," Long said, "but I'm getting a head start on my senior thesis, and it will all help with grad school."
When it comes to student-faculty research, Wright said he and his colleagues in kinesiology offer a wide range of opportunities for students. "My educational background is in cardiopulmonary physiology," he said. "But a lot of research experiences that I've had over the years have actually expanded into biomechanics. Having that flexibility has been really great to offer students the opportunity to have a little bit more choice in some of their projects."
Wright said student-faculty research in the department is a team effort, "and that's an important lesson for the student because that's how science works. My goal is always to try to ensure that the project gives the student an opportunity to present at a regional conference, which this project most certainly will."
Major: Kinesiology
Involvement: allocations board member; former women's basketball team member
More Faces
Bree Mahoney-Sutherland '25
I come from a long line of black and gold. With our lineage coming directly…read more.
Taylor Fleming '24
In addition to the gorgeous campus, I chose DePauw because I wanted to go where…read more.
Scott Wilkerson
Out of graduate school, I worked for 3.5 years gaining invaluable experience…read more.

redpajama_set_name: RedPajamaCommonCrawl


text:
Home Breaking News At the UN, the Emir of Qatar questions the world's inaction in...
At the UN, the Emir of Qatar questions the world's inaction in the face of the Israeli occupation | Middle East
The Emir of Qatar, Sheikh Tamim bin Hamad Al Thani, questioned the credibility of the international community as it "stands up, unable to take effective action to deal with Israeli intransigence and its occupation continuation of Palestinian and Arab land ".In his video address to the 75th session of the United Nations General Assembly, the emir questioned the role of countries and organizations for failing to comply with resolutions against the continued Israeli occupation of Palestinian territories and its expansion of settlement building.
He accused Israel of having committed "a flagrant violation of international resolutions and of the two-state solution agreed upon by the international community."
"The international community stands ready, unable to take effective action to deal with Israeli intransigence, its continued occupation of Palestinian and Arab lands, the imposition of a stifling siege on the Gaza Strip [and] expanding settlement policy, among others, "he said.
"Peace can only be achieved if Israel is fully committed to respecting the international mandate and resolutions accepted by the Arab countries and on which the Arab Peace Initiative is based.
The Arab Peace Initiative was a plan presented by Saudi Arabia in 2002 that called for the normalization of relations with Israel in exchange for ending its occupation of Palestinian territories, creating a Palestinian state based on borders. 1967 and with East Jerusalem as its capital, as well as a just solution for the Palestinian refugees.
The Qatari leader said Israel was trying to "circumvent these parameters" and that any arrangement that does not take these factors into account "will not achieve peace".
"The failure to find a just solution to the Palestinian cause, the pursuit of Israeli settlements, and forcing a reality on the ground without being deterred, is what raises the biggest question about the credibility of the community." international and its institutions, "added the Emir.
He called on the international community, in particular the UN Security Council, to shoulder its legal responsibilities and "compel Israel to lift the siege of the Gaza Strip and get the peace process back on track through credible negotiations based on international resolutions and not on Obliging ".
Speaking from outside the UN headquarters in New York, James Bays of Al Jazeera said it was interesting to see many Arab states in the Arab League remain consistent in their views on Israel and Palestine – which revolve around the international consensus that there should be two – state solution.
On September 15, the United Arab Emirates and Bahrain signed agreements to normalize relations with Israel as part of a strategic realignment of Middle Eastern countries against Iran.
The ceremony was hosted by US President Donald Trump at the White House, ending a dramatic month in which countries agreed to normalize their unresolved relations in the decades-old conflict between Israel and the Palestinians, who condemned the accords.
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SIM-Swap Victim Sues Crypto Exchange Bittrex for $1M Bitcoin Theft
By CoinTelegraphIn Bitcoin, Cryptocurrencies, Markets, NewsPosted November 4, 2019 0 Comment(s)
Gregg Bennett, a SIM-swap hack victim and angel investor, sued cryptocurrency exchange Bittrex over allegedly allowing the theft of nearly $1 million in Bitcoin (BTC).
According to a press release published on Oct. 30, Bennett believes the exchange violated its own security standards and allowed hackers to steal his cryptocurrency in April. The lawsuit, filed in King County Superior Court, suggests that the exchange committed "unfair and deceptive acts that misrepresented its level of security."
A SIM-swapping attack
The hackers reportedly took control of Bennett's mobile number and then used it to access his online accounts, including Bittrex, on April 15. The cybercriminals then allegedly sold the Bitcoin for other crypto assets at below-market prices and transferred the funds to an account under their control.
Bennett claims that he realized that he was under attack, but the exchange failed to react for nearly two hours, which allegedly allowed the attackers to steal his funds. Per the release, the hackers tried to withdraw more funds, but by then the exchange had already reacted to Bennett's emails — the only way the exchange can be contacted, according to the lawsuit.
Red flags allegedly ignored
Dan Kittle, who works at Lane Powell — the law firm representing Bennett — said:
"As alleged in our complaint, Bittrex ignored a number of red flags warning Bittrex that the person initiating the withdrawal was not Gregg Bennett. […] We plan to show in court that Bittrex either ignored or was unaware of standard industry safeguards to prevent hacks just like this."
The exchange reportedly ignored that the hacker used a different operating system and a suspicious IP address. Furthermore, the exchange allegedly did not impose a 24-hour hold period on the account's funds after the password change. Bennett commented:
"Bittrex was bamboozled by hackers who should have been as visible as thieves wearing masks and carrying guns. […] I am asking for Bittrex to do the right thing by plugging what I see as gaping holes in their approach to security, and to return my coin to me."
Bennett also explained that Bittrex and its owner Bill Shihara were difficult to convince that he was actually hacked, stating:
"I am going to do everything I can to hold those responsible accountable for their actions, so other people aren't victims of similar negligence."
As Cointelegraph reported last month, SIM swapping victim Michael Terpin wrote an open letter to the United States Federal Communication Commission Chairman Ajit Pai requesting action to render such attacks impossible in the future.
See also Nigerian Crypto Educator Returns $80K in Bitcoin Received by Mistake
Crypto Under Attack: The Five Worst Hacks That Shook the Crypto World
Bitcoin Price: Big Move Brewing as $9.5K Becomes Next Key Battleground


ROSEVILLE, Calif., March 28, 2018 (GLOBE NEWSWIRE) -- Sunworks, Inc. (Nasdaq:SUNW), a premier provider of high performance solar power solutions for agriculture, commercial, industrial (ACI), public works and residential markets, today announced that Daniel Gross, a private equity and infrastructure expert focused on renewable energy and clean technology, has been appointed to its Board of Directors, effective April 2, 2018. In connection with this appointment, the Company also announced that Shane Mace, who has served as a director since October 2015, will resign from the Board on the same date.
Mr. Gross has served as a Managing Director at Oaktree Capital Management and was one of the founding Partners of Hudson Clean Energy, a private equity firm with over $1 billion in assets under management. Prior to Hudson, Mr. Gross worked in the U.S. alternative energy investment group at Goldman Sachs as well as GE Capital's Energy Financial Services unit, where he founded the renewable energy investment business.
Mr. Gross is a Fulbright Scholar and holds a Master's Degree in Environmental Management, Master's in Business Administration and Bachelor of Arts Degree (Phi Beta Kappa) from Yale University. He also holds an appointment at Yale University where he teaches a course on the finance of renewable energy.


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Ride Safe Ride Smart
Off-Road Use
Driver must be at least 12 years of age unless under the direct supervision of an adult.
ATV must be registered and display a licence plate to the rear except in exempt areas such as far northern
Ontario.
ATV must be insured under a motor vehicle liability policy.
Driver and passenger must wear an approved motorcycle helmet that is securely fastened under the chin with a chin strap.
Driver can directly cross a highway where permitted, provided the driver is at least 16 years of age and holds a valid driver's licence. A list of highways in Ontario where ATVs and Off-Road Vehicles (ORVs) are prohibited from crossing can be found in the Off-Road Vehicles Act, Ontario Regulation 863, Schedule 1.
On-Road Use
An ATV that has four wheels (all of which contact the ground), is equipped with steering handlebars, a seat designed to be straddled by the driver, and is designed for a driver only and no passenger, is permitted to travel along some provincial highways.
It must weigh 450 kilograms or less and have an overall width not greater than 1.35 m excluding mirrors.
An ATV is prohibited from traveling on 400 series highways and some sections of the Trans-Canada Highway. Generally, ATVs are allowed to travel on Highways 500 to 899, 7000 series highways and highways with low traffic volumes. Refer to the Highway Traffic Act, Regulation 316/03 for a complete list of permitted and prohibited highways.
An ATV that has the above features is prohibited from operating on a municipal road, unless the municipality has a bylaw permitting the use of ATVs.
An ATV must be registered and insured as outlined in "Off-Road Use" section.
Driver must be at least 16 years of age and hold a valid G2/ M2 licence or greater.
Driver must wear an approved motorcycle helmet that is securely fastened under the chin with a chin strap.
Passengers are prohibited.
An ATV driver must travel at speeds that are less than the posted speed limit. The maximum speed an ATV can travel on roads with a limit of 50 km/hr or less is 20 km/hr, and the maximum speed on roads with a limit of more than 50 km/hr is 50 km/hr. Municipalities may set lower speed limits or additional rules for ATVs.
An ATV must be driven in the same direction as traffic and travel on the shoulder of the road. If the shoulder is unsafe or impassable, it can be driven on the travelled portion of the road.
An ATV travelling along a road must have its headlights and taillights on.
Two-Up ATVs
A two-up ATV that is designed and manufactured for a driver and passenger is defined as an Off-Road
Vehicle (ORV) under the Off-Road Vehicles Act.
It is prohibited from use on provincial highways and municipal roads, even if the driver is not carrying a passenger. However it can be driven directly across a highway were permitted, provided the driver is 16 years of age and holds a valid driver's licence. A list of highways in Ontario that ATVS and ORVs are prohibited from crossing can be found in the Off-Road Vehicles Act, Ontario Regulation 863, Schedule 1.
Only ATVs that meet the safety and equipment standards of the federal Motor Vehicle Safety Act are allowed to travel on some Ontario highways.
A two-up ATV must be registered and display a licence plate to the rear.
It must be insured under a motor vehicle liability policy.
Side-By-Side Off-Road Vehicles
A side-by-side is a type of ORV in which the seating for the driver and passenger are beside each other, similar to a car. It is usually built with a hood and uses a steering wheel and foot pedals instead of a motorcycle type handle bar and thumb throttle.
A side-by-side ORV is prohibited from use on provincial highways and municipal roads.
It must be registered and display a licence plate to the rear, except in exempt areas such as far northern
It can travel directly across a highway where permitted, provided the driver is at least 16 years of age and holds a valid driver's licence. A list of highways in Ontario that ATVs and ORVs are prohibited from crossing can be found in the Off-Road Vehicles Act, Ontario Regulation 863, Schedule 1.
ATVs, two-up ATVs and side-by-sides driven on the registered owner's land are exempt from the following requirements:
The minimum operating age of 12 years
Helmet use, although it is strongly recommended that drivers and passengers wear a helmet at all times while operating or riding on these types of vehicles.
Alcohol and ATVs
When operating an ATV along a roadway, drivers must obey Ontario's drinking and driving laws under the
HTA as well as those under the Criminal Code of Canada (CCC).
Drivers caught with a blood alcohol concentration (BAC) level greater than .08, or who fail to provide a breath/blood sample to police, will be charged under the CCC in addition to the following consequences under the HTA:
o Driver's licence suspended at roadside for 90 days;
o Vehicle impounded at roadside for 7 days;
o $150 administrative monetary penalty;
o Further suspension period upon conviction (one year for first offence); and
o Complete the Back on Track remedial measures program, followed by a minimum of one year when they must have an ignition interlock device installed in any vehicle they drive.
Drivers with a SAC level in the "warn range" of .05 to .08 face escalating roadside licence suspensions from
3 to 30 days, a $150 administrative monetary penalty, remedial alcohol education or treatment programs (for second or subsequent occurrences), and a six month ignition interlock condition on their driver's licence (for a third offence).
All drivers 21 and younger are required to have a SAC of zero at all times when driving. Drivers caught with any amount of alcohol in their system face an immediate 24-hour licence suspension, and a 30-day suspension and fine of up to $500 on conviction.
Drivers operating an ATV, two-up ATV or side-by-side on Crown land, private property or a trail system who are impaired and/or have a SAC level greater than .08 will face criminal charges if stopped by police.
ATV Safety Courses
Check with your local ATV club for rider safety courses in your area.
Need More Information on ATV Safety or the Legal Requirements?
Visit: ontario.ca/transportation or e-laws.gov.on.ca/index.html
This entry was posted in FAQ by dmadore. Bookmark the permalink.


Thank you for your interest in scheduling an Interactive Distance Learning (IDL) enrichment lesson for your students.
Program topic(s), 1st choice date/time, 2nd choice date/time.
Encourage students to discover how things work by engaging in exploring engineering concepts using something as simple as paper. This will be a hand-on, minds-on lesson that tests their creativity.
Why is an inch an inch long? What would happen if we all measured differently? Through the use of literature and a variety of hands-on activities students will discover the importance of using standard units of measurement.
Students will have the opportunity to explore changing states of matter and will use this information to make a sweet treat. Teachers will be asked to supply milk, sugar, vanilla, and plastic bags.
Do you have budding meteorologists in your class? This program will allow them to learn about and create weather tools they can use to predict weather patterns.
What can documents and letters tell us? Learn how to analyze a photograph from the collection and discover the clues archival photos hold. Also, investigate a letter that a young Bob Dole sent home to his family in Kansas during his training for WWII. These activities hone observation and visual skills while thinking critically about primary sources. This lesson will be taught by Julie Bergene from the The Dole Institute of Politics in Lawrence, which honors Senator Dole's legacy of bipartisan leadership as a celebrated veteran, legislator, and statesman. Please note that this lesson is only taught on May 6 and 7.
ELA-LITERACY.RI.4.1 Refer to details and examples in a text when explaining what the text says explicitly and when drawing inferences from the text.
ELA-LITERACY.RI.4.3 Explain events, procedures, ideas, or concepts in a historical, scientific, or technical text, including what happened and why, based on specific information in the text.
Students will dig into learning about weathering and erosion and create sedimentation jars to explore different types of soil. Teachers will need to supply soil and sand samples and jars or bottles.
ELA-LITERACY.RI.5.1 Quote accurately from a text when explaining what the text says explicitly and when drawing inferences from the text.
Learn the principals of flight and how to make several types of paper airplanes in this fun, hands-on lesson. Students will develop an experiment to test which airplane is really the best.
Interact with primary sources from Senator Bob Dole's archive and have a thrilling discussion on the right to vote at age 18 vs. 21. Debate as a senator and read constituent mail from before the 26th Amendment. This lesson will be taught by Julie Bergene from the The Dole Institute of Politics in Lawrence, which honors Senator Dole's legacy of bipartisan leadership as a celebrated veteran, legislator, and statesman. Please note that this lesson is only taught on May 6 and 7.
ELA-Literacy.RH.6-8.1 Cite specific textual evidence to support analysis of primary and secondary sources.
ELA-Literacy.RH.6-8.2 Determine the central ideas or information of a primary or secondary source; provide an accurate summary of the source distinct from prior knowledge or opinions.
Standard 3 – Societies are shaped by beliefs, idea, and diversity.


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A Developer's Experience

The romantic image of an über-programmer is someone who fires up Emacs, types like a machine gun, and delivers a flawless final product from scratch. A more accurate image would be someone who stares quietly into space for a few minutes and then says Hmm. I think I've seen something like this before – John D. Cook

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          Extension Methods – A Polished C++ Feature !!!

          <time datetime="2008-04-09T06:31:39Z">Apr 9, 2008</time> · 4 min read

          Extension Methods is an excellent feature in C# 3.

          Read More

          The Surprising Finalize Call !!!

          <time datetime="2007-02-21T20:27:00Z">Feb 21, 2007</time> · 2 min read

          Guess the output of the following program:-
class SomeClass : IDisposable { public SomeClass() { Trace.

          Read More

          Learning Type Access Modifiers Basics !!!

          <time datetime="2006-12-20T18:01:00Z">Dec 20, 2006</time> · 2 min read

          When I started developing my module, I had an interface IParamCountBasedAlgo declared as a nested type in a class AlgorithmOneExecutor, declared as follows:- namespace DataStructuresAndAlgo

          Read More

          First Google Gadget(s) !!!

          <time datetime="2006-12-20T17:53:00Z">Dec 20, 2006</time> · 1 min read

          I did some cool stuff here with google. I wrote my first “Hello World” sort of google gadget.

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          Follow the trail…….Join the Concurrency Revolution !!!

          <time datetime="2006-12-20T17:50:00Z">Dec 20, 2006</time> · 1 min read

          I could not stop writing this post after I read this article by Herb Sutter.

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          The New Looking Post !!!

          <time datetime="2006-12-20T17:44:00Z">Dec 20, 2006</time> · 1 min read

          I am very much fond of tools, updates and stuff. So I keep updating my softwares and hear/learn about new tools etc.

          Read More

          where enum does not work !!!

          <time datetime="2006-12-20T12:25:00Z">Dec 20, 2006</time> · 2 min read

          I was writing a generic method with enum as the Constraint, and the compiler spat a few errors that did not directly convey me that enums cannot used as generic constraints.

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          Overloading - A Matter Of Taste !!!

          <time datetime="2006-12-20T12:21:00Z">Dec 20, 2006</time> · 3 min read

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text:
\section{Introduction}
\label{sec:intro}

Visual localization plays a central role in many computer vision and robotics applications, such as loop closure detection \cite{7989618} and re-localization \cite{li2010location} in SLAM \cite{mur2015orb}, Structure-from-Motion (SfM) \cite{schonberger2016structure}, augmented reality \cite{castle2008video}, and autonomous vehicles, which has recently drawn a lot of attentions.

Currently, there are three main types of approaches to the localization problem. \textbf{3D structure-based methods} \cite{sattler2017efficient, liu2017efficient, zeisl2015camera, svarm2017city} establish matches between 2D local features in the query image and 3D points in the model and use these correspondences to recover the 6DoF camera pose. \textbf{2D image-based localization methods} \cite{arandjelovic2016netvlad, lowry2016visual, sattler2016large, torii201524} cast the localization problem as an image retrieval problem. The camera pose of the most relevant retrieved database image is used as an approximation to the query image position. \textbf{Learning-based methods} \cite{chen2017deep, cao2013graph, kendall2015posenet} use the learned model for descriptor learning \cite{chen2017deep} or use the model to regress the camera pose directly\cite{kendall2015posenet}. All of the three types of approaches have advantages and disadvantages. The structure-based approach is more accurate than the other two methods, but it becomes very time-consuming as the scale of the scene increases. Although image-based methods are faster, they are often considered inaccurate since they only approximate the positions of query images. Combining two types of above approaches, \cite{sattler2015hyperpoints, sattler2012image} improve the structure-based methods by restricting features only matched to the 3D points that are visible in the top retrieved images. In this paper, we also incorporate these two types of methods to ensure both accuracy and efficiency.

When query and database images are taken under similar scenes and conditions, existing structure-based methods for visual localization tend to work well. However, since they rely heavily on local feature descriptors, which are vulnerable to the changes in illumination, weather, etc., it has been becoming a bottleneck restricting the robustness of existing localization algorithms. When images are taken under significantly different conditions or far apart in time, existing methods often fail to recover camera poses because feature descriptors are drastically changed. Fortunately, the high-level semantic information of image is more robust and invariant than the underlying local image features. Therefore, it is reasonable to fuse the underlying textural information and high-level semantic information for visual localization.

In this paper, we propose a robust method for visual localization by utilizing semantic information. As the semantic information is comparatively invariant under different conditions, it can be used as a supervisor to distinguish correct retrieved images from all retrieved database images. At first, we obtain the 3D model by running SfM algorithm on all database images and assign each 3D model point a semantic label. For a query image, we compute its semantic segmentation and search its top-$k$ similar database images. Then, we compute the query image's temporary pose using 2D-3D matches produced by matches between the query image and each one of the retrieved images, and assign semantic consistency scores for these 2D-3D matches belonging to the selected retrieved image. Finally, we put all 2D-3D matches together with their semantic consistency scores as weights and run a weighted RANSAC-based PnP solver to recover the final query pose. Thanks to the usage of high-level semantic information in both 3D model and the query image, the proposed method could achieve robust and accurate visual localization results on benchmark dataset \cite{sattler2018benchmarking}.

Compared to recent semantic localization approaches \cite{8578819, toft2017long, toft2018semantic}, our paper makes the following contributions: 1) We propose a new localization pipeline that incorporates structure-based method and image-based method while utilizing semantic information at the same time. 2) We do not need any additional restrictions (known camera height and gravity direction from ground truth) compared with the state-of-the-art semantic visual localization method \cite{toft2018semantic}.

\section{Related work}
\label{sec:RW}

\noindent\textbf{Localization with semantics.} Recently, several visual localization methods using semantic information have been proposed. Sch{\"o}nberger \textit{et al.} \cite{8578819} use generative model to learn descriptors and the model was trained to complete the semantic scene. Learned descriptors are used for establishing 3D-3D matches and estimating an alignment to define the query image pose. Toft \textit{et al.} \cite{toft2017long} use optimization method to refine pose estimation by improving semantic consistency of the curve segments and the projected 3D points. The most similar work to ours is \cite{toft2018semantic}. Toft \textit{et al.} measure semantic consistency for each 2D-3D correspondence by projecting 3D semantic points into the query semantic images. Yet, they use gravity direction and camera height as prior knowledge which is not required in our method.

\noindent\textbf{Localization benchmarks.} Although notable datasets such as North Campus Long-Term (NCLT) \cite{carlevaris2016university} and KITTI \cite{geiger2013vision} provide visual localization benchmark with images captured over long period, they do not contain large viewing condition changes or only few scenes are visited multiple times. Recently, Sattler \textit{et al.} \cite{sattler2018benchmarking} create a benchmarking    RobotCar Seasons dataset for long-term visual localization under all kinds of challenging conditions including day-night changes, illumination changes (dawn/noon), as well as weather (dust/sun/rain/snow) and seasonal (winter/summer) variations. They manually labelled 2D-3D matches in some tough cases to overcome the impact of large condition variations for obtaining the ground truth. Therefore, we evaluate our method on this dataset.

\section{localization Using semantic 3D map}
\label{sec:method}

The main bottleneck of feature based visual localization methods is that they are fragile under large condition variations in lighting, weather, season, etc. By contrast, semantic information is comparatively invariant under different conditions. In this paper, we propose a new localization pipeline and we do not need any strict prior as \cite{toft2018semantic} did. The pipeline of our method is illustrated in Fig.\ref{fig:1}: 1) We first run a standard SfM algorithm to construct a sparse 3D model of the scene. 2) Given semantic segmentation about each database image, every 3D point can be assigned a semantic label so that the 3D model becomes a sparse semantic 3D map  $ M_{S} $. 3) We then use image retrieval method to get a set of candidate database images $ \textbf{I}_{\textbf{R}}=\lbrace I_{R}^{i} , i=1,2,...,k  \rbrace$ for the query image $ I_{Q} $. 4) For each pair of $ I_{Q} $ and $ I_{R}^{i} $, We establish 2D-3D matches between $ I_{Q} $ and $ M_{S} $ through 2D-2D feature matches indirectly. Using these matches we can recover a temporary camera pose for $ I_{Q} $ (related to $ I_{R}^{i} $). 5) Given the estimated pose and semantic segmentation of $ I_{Q} $, all 3D model points are projected into $ I_{Q} $. We measure the semantic consistency between the 3D points and the projections on $ I_{Q} $, and use it as the weight for all the 2D-3D matches related to image $ I_{R}^{i} $. 6) Finally we use 2D-3D matches related to all retrieved images together with their consistency weights to bias sampling during RANSAC-based pose estimation.

\subsection{Sparse semantic 3D map}
\label{ssec:submethod1}
We run a regular SfM pipeline using all database images to construct a sparse 3D model of the scene. After SfM, the location as well as the visible images of each 3D point are obtained. Given semantic segmentation for all database images using off-the-shelf segmentation CNNs (DeepLabv3+ network \cite{deeplabv3plus2018} in this paper), we assign each 3D point a semantic label by maximum voting with reprojection pixel labels in all its visible images. By exploiting semantics, we can remove dynamic objects in the 3D point cloud such as person, car, bicycle, rider, bus and so on. Finally, we can obtain a cleaner sparse semantic 3D map $ M_{S} $ than the original one.

\begin{figure}[htb]
	\centering
	\includegraphics[width=7cm,height=4cm]{ff2.eps}
	\caption{Feature matching. The blue dotted lines are the feature matches between $I_{Q}$ and $ I_{R}^{i} $. The green solid lines are the 2D-3D correspondences between $ I_{R}^{i} $ and $ M_{S} $. The red solid lines are the 2D-3D matches between $ I_{Q} $ and $ M_{S} $. }
	\label{fig:2}
\end{figure}

\subsection{Semantic scores}
\label{ssec:submethod2}
Unlike \cite{toft2018semantic}, which measures the quality of 2D-3D matches directly through strict restrictions as prior, the main idea of our method is to measure the quality of each $ I_{R}^{i} $ without using any prior information.

We use NetVLAD \cite{arandjelovic2016netvlad} to obtain top-$k$ ranked database images $ \textbf{I}_{\textbf{R}} $ for each query image $I_{Q}$. The size of parameter $k$ depends on the computational efficiency and computing resources, and is set to 20-50 in our experiments. Due to the environment variance, erroneous retrieved images are inevitable. Fortunately, with the help of semantic information, we can alleviate the negative effect in most cases.

We use one $ I_{R}^{i} $ at a time for feature matching with $ I_{Q} $. Using KNN search and Lowe's ratio test \cite{lowe2004distinctive}, 2D-2D matches (blue dotted lines in Fig.\ref{fig:2}) are computed. We use a relaxed ratio threshold of 0.9 to avoid rejecting possibly correct matches. The SfM model provides the 2D-3D correspondences (green solid lines in Fig.\ref{fig:2}) between the image points on $ I_{R}^{i} $ and the 3D points in $ M_{S} $. Therefore, we can obtain the 2D-3D matches (red solid lines in Fig.\ref{fig:2}) between $ I_{Q} $ and $ M_{S} $ through the 2D-2D matches and the SfM model. Then, these 2D-3D matches are used to recover a temporary query pose by applying a PnP solver. Given semantic segmentation about  $ I_{Q} $, we project all 3D points into $ I_{Q} $ by the estimated temporary query pose to check the number of consistent semantic points. Before we project all 3D points, we need to handle the situations of occlusion.

Apparently, not all 3D points are visible for a camera. Hence, we should only project the visible 3D points into the query image $ I_{Q} $. Similar to \cite{toft2018semantic}, we only consider the 3D point $\textbf{X}$ that satisfies:
\begin{equation}
\label{equ:1}
d_{l}<\Vert \textbf{v}\Vert<d_{u} ,  \angle(\textbf{v},\textbf{v}_{m})<\theta   .
\end{equation}

\noindent where $ \textbf{v}= \textbf{C}_{Q}-\textbf{X}$. $\textbf{C}_{Q}$ is the estimated camera center of $ I_{Q} $.  $d_{l}$ denotes the minimum distance between the 3D point $ \textbf{X}$ and the position of all database cameras which could observe it, while $d_{u}$ denotes the maximum distance. $\theta$ is the angle between the two extreme viewpoints from which the 3D point $\textbf{X}$ was triangulated and the unit vector $\textbf{v}_{m}$ is in the middle between the two extreme viewpoints. This means that 3D points used for projection should be seen by the query image from similar distance and direction as the 3D points are viewed from database images in the SfM procedure.

We count the number of 3D points whose labels are the same as their projections in the query image. We use the number as the semantic score of $ I_{R}^{i} $. Since we use all 3D model points, not only the 2D-3D matches, the quality of the semantic scores can be ensured. A high semantic score means the pose estimated by $ I_{R}^{i} $ tends more likely to be correct from the perspective of projection semantic consistency. In other words, the retrieved database images with high semantic scores can be considered as correct retrieved images, while those with low scores means erroneous retrieved images to some extent. In this way, each $ I_{R}^{i} $ can obtain a semantic score during the above procedure independently.

\begin{table*}
\small
\caption{Evaluation on the long-term visual localization dataset (RobotCar Seasons)}
\centering
\resizebox{\textwidth}{!}{
\begin{tabular}{|c|c|c|c|c|c|c|c||c|c|}
\hline
\multirow{2}*{ } & \multicolumn{7}{c||}{\textbf{Day conditions}} & \multicolumn{2}{c|}{\textbf{Night conditions}}\\
\cline{2-10}
&dawn&dusk&OC-summer&OC-winter&rain&snow&sun&night&night-rain \\
\cline{2-10}
m & { .25/.50/5.0} & { .25/.50/5.0}& { .25/.50/5.0}& { .25/.50/5.0}& { .25/.50/5.0}& { .25/.50/5.0}& { .25/.50/5.0 }&  { .25/.50/5.0}& { .25/.50/5.0}\\
deg & { 2/5/10} & { 2/5/10}& { 2/5/10}& { 2/5/10}& { 2/5/10}& { 2/5/10}&{  2/5/10}& { 2/5/10}& { 2/5/10}\\
\hline

{ ActiveSearch} & { 36.2/68.9/89.4} & { 44.7/74.6/95.9} &{ 24.8/63.9/95.5} &{ 33.1/71.5/93.8} &{ 51.3/79.8/96.9} & { 36.6/72.2/93.7} & { 25.0/46.5/69.1} &{  0.5/1.1/3.4} & { 1.4/3.0/5.2}\\

\hline
{ CSL} & { 47.2/73.3/90.1} & { 56.6/82.7/\textbf{95.9}} &{ 34.1/71.1/93.5} &{ 39.5/75.9/92.3} &{ 59.6/83.1/97.6} & { 53.2/83.6/92.4} & { 28.0/47.0/70.4} &{  0.2/0.9/5.3} & { 0.9/4.3/9.1}\\

\hline

{ DenseVLAD} & { 8.7/36.9/92.5} & { 10.2/38.8/94.2} &{ 6.0/29.8/92.0} &{ 4.1/26.9/93.3} &{ 10.2/40.6/96.9} & { 8.6/30.1/90.2} & { 5.7/16.3/80.2} &{ 0.9/3.4/19.9} & { 1.1/5.5/25.5}\\

\hline

{ NetVLAD} & { 6.2/22.8/82.6} & { 7.4/29.7/92.9} &{ 6.5/29.6/95.2} &{ 2.8/26.2/92.6} &{ 9.0/35.9/96.0} & { 7.0/25.2/91.8} & { 5.7/16.5/86.7} &{ 0.2/1.8/15.5} & { 0.5/2.7/16.4}\\

\hline

{ FABMAP} & { 1.2/5.6/14.9} & { 4.1/18.3/55.1} &{ 0.9/8.9/39.3} &{ 2.6/13.3/44.1} &{ 8.8/32.1/86.5} & { 2.0/8.2/28.4} & { 0.0/0.0/2.4} &{ 0.0/0.0/0.0} & { 0.0/0.0/0.0}\\

\hline

{Non-semantics} & { 32.5/58.6/82.6} & { 38.3/71.8/94.2} &{ 23.5/56.2/85.5} &{ 27.9/64.1/87.2} &{ 49.9/77.2/96.9} & { 34.4/65.2/83.6} & { 13.2/25.2/45.0} &{ 0.0/0.0/1.8} & { 0.0/0.0/2.0}\\

\hline

{  Ours} & { \textbf{54.2}/\textbf{79.9}/\textbf{95.2}} & { \textbf{60.9}/\textbf{83.2}/95.7} &{ \textbf{43.8}/\textbf{79.5}/\textbf{99.1}} &{ \textbf{46.9}/\textbf{82.1}/\textbf{96.2}} &{ \textbf{62.9}/\textbf{84.1}/\textbf{97.6}} & { \textbf{61.1}/\textbf{85.9}/\textbf{96.1}} & { \textbf{50.7}/\textbf{76.3}/\textbf{95.4}} &{ \textbf{9.1}/\textbf{21.2}/\textbf{41.3}} & { \textbf{13.9}/\textbf{32.0}/\textbf{43.6}}\\

\hline

\end{tabular}
\label{tab1}}
\end{table*}

\begin{table}
\footnotesize
\caption{Comparison with \cite{toft2018semantic}}
\centering
\setlength{\tabcolsep}{7mm}{
\begin{tabular}{|c|c|}

\hline
 & all day \\

\cline{2-2}

m &  .25/.50/5.0  \\

deg &  2/5/10  \\

\hline
{ Semantic Match Consistency} & 50.6/79.8/95.1 \\
\hline
Ours & \textbf{54.4}/\textbf{81.5}/\textbf{96.5}  \\
\hline

\end{tabular}
\label{tab2}}
\end{table}

\subsection{Weighted RANSAC pose estimation}
\label{ssec:submethod3}
Finally, we put all 2D-3D matches produced by each $ I_{R}^{i} $ and $ I_{Q} $ together to run a final PnP solver, inside a RANSAC loop. The 2D-3D matches produced by the same $ I_{R}^{i} $ are assigned a same score which equals to the semantic score of $ I_{R}^{i} $. We normalize each score by the sum of scores of all 2D-3D matches and use the normalized score as a weight $ p $ for RANSAC's sampling. A 2D-3D match is selected with the probability $ p $ inside the RANSAC loop. This means if $ I_{R}^{i} $ has a high semantic score (correct retrieved image), the 2D-3D matches produced by $ I_{R}^{i} $ will be selected with the same high probability in the RANSAC loop . Compared with directly removing 2D-3D matches with low semantic scores, this semantic weighted RANSAC strategy guarantees that we only use semantic information as a soft constraint and makes our approach more robust in semantically ambiguous situations.

\section{Experimental Evaluation}
\label{sec:exper}

We evaluate the proposed method on benchmark visual localization dataset RobotCar Seasons \cite{sattler2018benchmarking}. In the following, we will introduce the dataset and make a detailed comparison with other existing approaches.

The long-term visual localization RobotCar Seasons dataset \cite{sattler2018benchmarking} is based on a subset of the Oxford RobotCar dataset \cite{maddern20171}. It contains 20,862 database images and 11,934 query images, which covers a wide range of environmental condition variations including season changes, weather variations, even day-night changes. Besides, some images contain motion blur which causes more difficulties for accurate visual localization.

The SfM model of the dataset is provided by \cite{sattler2018benchmarking} which is produced by state-of-the-art opensource 3D system COLMAP \cite{schonberger2016structure}. To augment this SfM model with semantics, we use DeepLabv3+ network \cite{deeplabv3plus2018} to segment all dataset images and assign a label to each 3D point by maximum voting with reprojection pixel labels in all its visible database images. The DeepLabv3+ network \cite{deeplabv3plus2018} is pre-trained on the Cityscapes \cite{cordts2016cityscapes} dataset. Additionally, we manually annotate 20 night condition images from the origin RobotCar dataset \cite{maddern20171} and use them to fine-tune the pre-trained model in order to improve the segmentation performance for all conditions. The semantic classes we use are the same as Cityscapes.

In the image retrieval step, we use NetVLAD \cite{arandjelovic2016netvlad} and the pre-trained Pitts30K model to generate 4096-dimensional descriptor vectors for each query and database image. Then, normalized L2 distances of the descriptors are computed, the top-$k$ best database matching images are chosen as candidate images. We set the retrieval number, $k$, to 30 in day conditions and 50 in night conditions. We record the percentage of query images which are localized within $X$m and $Y^{\circ}$  compared to ground truth. The same as \cite{sattler2018benchmarking}, we use three different thresholds: ($ 0.25 $m, $2^{\circ}$), ($0.5$m, $ 5^{\circ}$) and ($5$m, $10^{\circ}$), representing high, medium and coarse precision respectively.

To verify the effectiveness of the semantic information, we first make a comparative experiment. The \textit{Non-semantics} in Table \ref{tab1} is our approach without using semantics. It uses 2D-3D matches produced by all retrieved database images to run a PnP solver and have identical selection probability in the RANSAC loop. As we can see in Table \ref{tab1}, by exploiting semantics our method leads to significant improvement of localization performance than the method without utilizing semantics. Then, we compare our method against some state-of-the-art approaches, using the results from \cite{sattler2018benchmarking, toft2018semantic} directly. We compare with two VLAD-based image retrieval methods, namely DenseVLAD \cite{torii201524} and NetVLAD \cite{arandjelovic2016netvlad}. FAB-MAP \cite{cummins2008fab} is also a image retrieval approach based on the Bag-of-Words (BoW) paradigm \cite{sivic2003video}. As for structure-based algorithms, we compare with \textit{Active Search} \cite{sattler2017efficient} and \textit{City-Scale Localization} (CSL) \cite{svarm2017city}. As current learning-based methods can not achieve competitive performance \cite{sattler2018benchmarking}, we do not incorporate this type of methods for further comparison. As shown in Table \ref{tab1}, our method significantly outperforms all state-of-the-art approaches, which indicates that semantics could significantly improve the robustness of visual localization in our method. Our approach is only slightly inferior to CSL in coarse precision, and the reason for this is likely due to the results of image retrieval. In some cases, the environment where the query images were taken in has huge differences from that of the database images. In these situations, only few correct database images are retrieved in the top-$k$ retrieved images so that we can not locate camera accurately.

In addition, we compare our method with \cite{toft2018semantic} which also uses semantics for localization. \cite{toft2018semantic} uses camera height and gravity direction as prior. In \cite{toft2018semantic}, gravity direction is extracted from the ground truth pose and camera height is obtained from the intersection of the database trajectory and the cone of possible poses. In contrast, our method does not require any priors. As shown in Table \ref{tab2}, even without prior information our method still outperforms \cite{toft2018semantic} in all of conditions.

\section{Conclusion}
\label{sec:majhead}

In this paper, we proposed a 6DoF visual localization method based on sparse 3D semantic model. By exploiting semantic information, we score each retrieved image by projecting all visible 3D points into query image and measuring the projection semantic consistency. The semantic consistency score is used as weight for all 2D-3D matches produced by the current retrieved image. We put 2D-3D matches related to all retrieved images together to run a final PnP solver inside a weighted RANSAC loop and obtain the final query image pose consequently.

Experiments on the benchmark visual localization dataset shows that our method outperforms state-of-the-arts in the high and medium precision. Besides, compared with state-of-the-art semantic visual localization method \cite{toft2018semantic}, the proposed method does not require any prior information, which makes our method more practical. In the future, we would like to improve the image retrieval algorithm and attempt to replace the sparse model with dense 3D semantic model.

\footnotesize
\bibliographystyle{IEEEbib}

redpajama_set_name: RedPajamaArXiv


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text:
13 November 1553 – A former queen condemned to death
On this day in history, 13th November 1553, Lady Jane Grey (former Queen Jane), her husband Lord Guildford Dudley, his brothers Ambrose and Henry, and Thomas Cranmer, Archbishop of Canterbury, were tried for treason in a public trial at Guildhall in London.
They were all found guilty and were condemned to death, the men being sentenced to be hanged, drawn and quartered, and Jane to be burned alive or beheaded.
Photo: Guildhall, London, by Tim Ridgway.
13 November 1553 – The trial of an archbishop and a queen 13 November 1553 – Lady Jane Grey's Trial at Guildhall 13 November 1553 – The Trial of Lady Jane Grey, Archbishop Cranmer and Ambrose, Guildford and Henry Dudley The Trial of Lady Jane Grey – 13th November 1553 12 February 1554 – The end of Lady Jane Grey and Lord Guildford Dudley 1 December 1541 – Thomas Culpeper and Francis Dereham are tried for treason
Categories: Lady Jane Grey
Tags: Ambrose Dudley, Archbishop Thomas Cranmer, Guildford Dudley, Lady Jane Grey, Lady Jane Grey's trial
« 12 November 1532 – King Henry VIII and Anne Boleyn begin their journey home
14 November 1532 – Did they or didn't they? »
14 thoughts on "13 November 1553 – A former queen condemned to death"
I realize she was only queen for 13 days but I still feel she is more important than she seems to be treated. It seems she is barely thought of in the dearth of Tudor history books out there and none seem to agree on whether she was a willing participant in taking the crown or bullied into it by her parents and John Dudley.
Regardless of who insisted on Jane's execution this was an early black mark on Mary's reign.
Jane actually reigned for nine days, she is known as the nine day queen, we cannot say really if her execution was a black mark in Marys reign as according to her she was an usurper and therefore a traitor, and so Mary only treated her how previous kings and those that came after treated traitors, – with execution, she was reluctant to send her to her death and it was only after pressure from Spain and a foolish plot in her name to try to topple Mary from her throne that sealed her fate, and caused her sad death, she was a figurehead for rebellion through no fault of her own, it was her royal blood that caused her death, Jane did not want the crown she was a highly intelligent girl who loved to study, she was no pleasure loving giddy girl like the other equally tragic Queen Catherine Howard, she was also a fanatical Protestant, and her faith meant a lot to her and it was something she was not prepared to forego even when it could have saved her life, it was a complete shock when she was told Edward had named her his successor, her parents had thought they had mapped out a brilliant future for her as queen when in reality they had led her to the scaffold.
I used Claire's number of 13. The way she explains it it actually is a bit more accurate.
History has called her "the Nine Day Queen" but as several historians have pointed out, a monarch rules from the death of the previous monarch and not from the moment that they are officially proclaimed monarch. Edward VI died on 6th July 1553 and Jane was deposed on 19th July 1553 so officially she ruled for 13 days.
Hi Claire yes I recall now she did reign officially for thirteen days but she's always known as the nine day queen, maybe she should be known officially as the thirteen day queen.
When you think that today in major trials there are pre trial arguments to establish if a real case has been established and if there is a case to answer, then evidence is evaluated for months before an actual trial, holding the trial of five major conspirators on capital crimes in one day really is a rush to justice. Jane and her husband were condemned to death and the brothers, Ambrose and Henry were also condemned but later released and Thomas Cranner was condemned as a traitor for proclaiming Jane and for openly supporting her. He had continued in that support, promoting Jane and issuing tracts against Mary even as she was declared Queen. He was to be charged with heresy as well at a later date, because he had made the laws which turned England into a Reformed country, had declared those beliefs and converted the country to heresy, according to the charges against him. He would die as a Protestant martyr in 1556. Guildford and Jane were kept as comfortable prisoners in the Tower, given leave to walk the grounds and at one point it looked as if Mary intended to issue a pardon, but a second rebellion in which her father participated ended all chances of that.
The Wyatt Rebellion 1554 was meant to put Princess Elizabeth on the throne but Henry Grey, Duke of Suffolk supported it, after he was pardoned and released. It was considered that Jane was too dangerous and would have been a mark for Protestant discontent. Jane was offered her life if she converted to the Catholic faith which would make her useless to further plotters. However, Jane had a genuine personal faith and stood by it. Although John Knox claimed her as a Protestant martyr, Jane was not killed because of her faith, but her acceptance of the crown, to which it was deemed she had no right.
Jane was not bullied into accepting the crown or marrying Guildford Dudley, for whom she developed real affection. Edward vi made Jane his heir with the help and advice of John Dudley, Duke of Northumberland, who sold the idea to the rest of the Council. His Devise for the Succession overruled the lawful will of Henry Viii and the 1544 Third Act of Succession which left the crown to his three children, but didn't restore the legitimacy of Mary and Elizabeth. It made special provision to allow their succession and that the King could make who he wished as successor. Provision was also made for each monarch to change things. Edward excluded Mary as a Catholic and because she was legally illegitimate, although the majority of people held her as legitimate and so the rightful Queen. He excluded Elizabeth also as illegitimate because of Anne Boleyn. He overlooked the claim of Jane's mother, Lady Frances Brandon (Grey) Duchess of Suffolk and it was settled that his cousin was the next heir and her male heirs. The Devise was signed by a Council who later claimed Northumberland bullied them and abandoned Jane to proclaim Mary, was read and agreed by the Judges under Letters Patent and would have been made Law when Parliament met. However, Edward died before Parliament met and so the Devise never became Law. Therefore as Henry's lawful daughter and next in line Mary was the rightful Queen and Jane a rebel and usurper and this is what Mary and the people believed. Mary had the popular support and was able to defeat Jane's father and father in law with ease. In a bloodless coup she took London and was proclaimed before cheering crowds.
As Jane had issued orders and willingly signed proclamations calling for the destruction of Mary and her supporters she was judged to have accepted the crown and acted in rebellion of the true Queen. Jane showed some reluctance to accept the crown, knowing that it was not hers by right, but very quickly accepted and issued orders for an army to stop Mary. There are numerous letters signed Jane the Quene and for thirteen days she sat and ate under the cloth of state and prepared for her coronation. This was the type of evidence that was used against her and her husband. However, Mary herself saw her young cousin as s pawn and was very reluctant to carry out the sentence. After the Wyatt Rebellion which was not in her favour, but could have been Mary was advised by her council, the Spanish Ambassador and others that Jane would be a target for the crown again. Mary's life would not be safe and she couldn't let her live. Reluctantly Mary signed the death warrant and both Jane and Guildford Dudley were executed in February 1554.
Jane was a bright and well educated young woman. She was lively as well as an excellent scholar and she had potential to have a successful life. Unfortunately she found herself on the throne instead of Mary Tudor and any chance of a normal life was lost. Because a set of radical nobles, one with no noble blood, decided they couldn't accept a Catholic Queen, Jane and her husband were set up by their parents to be the chosen heirs of King Edward. Edward was all too willing to make Jane his heir, although he said her male heirs at first but realised that he would not live long enough to see Jane have sons, so changed his will to name Jane first. Thrust into a role that she was not trained for or intended to have, Jane nevertheless took her powers as Queen seriously and possibly would have made a decent monarch. Her potential was lost with this Devise because Mary was never going to accept being set aside. The tragedy of Jane is that we lost a woman of high learning who had so much to offer. Jane was not just an innocent victim, but much more and the powerless lamb going to the slaughter of Victorian myth has given way to a real person, thanks to modern research. If I was going to recommend any study it would be Crown of Blood by Nichola Tallis and The Sisters Who Would Be Queen: Jane, Katherine and Mary Grey by Leanne de Lisle and for a more in depth study of her motivation, the legitimacy of her claim, Eric Ives Jane Grey A Tudor Mystery is excellent. Jane was as devout and as fanatical about her religious convictions as Mary Tudor was and her debate with Father Freckingham in prison gives a clear picture of her learning and faith. He respected Jane and he remained to comfort her, at her own request, on the scaffold.
I'd second your recommendations of the books by Leanda de Lisle and Eric Ives, and I'd also add the work of J Stephan Edwards (https://somegreymatter.com/) and Tamise Hills (Texthttp://www.ladyjanegrey.info/). All excellent.
The situation in 1553 was a real quagmire. How can you find these people guilty of treason when they were following the instructions left by the king. Edward named Jane as his successor, he made his wishes plain and these people were simply following that. I always wonder what would have happened to Jane if Wyatt's Rebellion hadn't happened or her father hadn't been implicated, but I'm sure there would have been another rebellion or trouble of some kind, plus Mary was being pressurised by Spain to deal with the situation.
This is what I find reprehensible about Jane being tried and executed for treason as all she did was accept the throne having being named Edwards lawful successor, she had no hand in his devise for the succession as his will stated, she did not coerce him to name her his heir, Edward was Henrys lawful heir, he was born legitimate ,there were no issues over his birth like his two sisters, therefore he was perfectly in his right to ignore his fathers previous will and make his own, as you say Claire how can these people be found guilty of treason when all they were doing was obeying Edwards final wishes, how can that be construed as treason? I think to execute a young girl for simply obeying the late kings wishes and members of the council to is a dreadful travesty of justice as they were actually saying his will was of no account, how so? he had been Englands King, did not his word matter, it seems it didn't but then it was a very real problem and one which Henry V111 himself didn't help as he had declared both Mary and Elizabeth illegitimate yet put them in the succession, to the Catholics she was the legal heir after Edward and Elizabeth was the bastard, poor Jane did nothing wrong yet she paid the ultimate price because Edwards wishes were overruled, and if she were innocent then Mary was the one in the wrong and she was the one who usurped Janes throne, not the other way round.
Apparently she when she was offered the crown she said "If it is God's will and the late King's I will accept the crown." Jane was also reported to have, at her execution, made a speech, forgave the heads man for decapitating her, tied the blindfold over her eyes, knelt down and groped for the block. Not finding it apparently she cried out "What shall I do? Where is it?" Poor Jane.
I don't think Mary thought Jane was anything but a pawn, but then with pressure and possibly the realisation that she was always going to be a focus for an alternative rebellion, she did what the person on the throne does, has a rival executed. Mary saw herself as the lawful Monarch and that's what a lawful Monarch does, declares the 'wrong' monarch a rebel and traitor. It was always so. The two sides in the Wars of the Roses both called the other lot traitors and Henry Vii even backdated his reign in order to declare anyone fighting for King Richard iii a traitor and Richard had declared him a traitor when as Earl of Richmond he made his move. It may have been Edward's will but clearly as far as Mary was concerned it was wrong and acceptance of the crown a terrible sin. It might not make sense to us, but I am sure these King's and Queens found a way to justify what happened. The trial could only have touched on the matter, for five people to be tried and condemned in one day, just how much evidence would be looked at. I am guessing the court is told yes Edward gave the instructions but this lot went along with it or even plotted it, so that's it they're guilty. There must be some theory that fitted. Certainly you can justify Northumberland being guilty of treason as he was partly the architect and wanted to try and stop Mary and Elizabeth by arresting them and using force. If Mary was the next heir, and I believe that she was, unless Edward's will was backed by Parliament, then preventing her from being escorted to London and proclaimed was an act of rebellion. It is also interesting that in her despatched orders to raise an army Jane does declare Mary and her supporters rebels. Once Jane accepted the crown she did decide to rule and use her power as expected, because she believed it was God's will that she was Queen. Whoever is in charge is making the rules, regardless of who was right. Once you have power and in Mary's case, popular support, that's it, you can call anything treason, even oif they are only carrying out your brothers instructions.
She new Northumberland was the architect of it all and it was a battle between those of the old religion and the new, but Edward at sixteen was old enough to have a voice of his own and one thing he abhorred was Roman Catholicism, I doubt if he needed much if any persuasion, like any male he also did not believe women were fit to rule and yet if she was Protestant like Jane that wasn't so bad, when Mary herself died she wished Elizabeth would retain the old faith but it wasn't to be, Elizabeth herself was not fanatical about her faith unlike her brother, sister and cousin Jane, it was a dreadful thing what happened in England at that time, first she lost a young king in his prime so much talent withered and decayed, the King England had waited for for so many years, then she had a queen who was deposed, or usurped depending on what way you think, another talented young life perished with so much promise like Edward.
She had no choice but to accept the crown having been named Edwards successor, it was not something you could barter with, yes I agree her end was dreadful and I don't think her death was justice as she was innocent of the crime for which she was condemned, she was simply murdured an utter disgrace!
According to what I have read the man Mary was to marry did not want ant threat to the throne and felt that Jane was and therefore Mary had her killed even though she and her husband were practically children. However, Mary also lost her head when Elizabeth came to power.
Just what are you talking about? Mary didn't die when Elizabeth came to power.
Are you talking about Mary Queen of Scots? She was executed by Elizabeth in 1587. Mary Tudor, Mary I died of illness on 17th November 1558. Elizabeth I was her successor.
From what little sense your comments make, I assume you are speaking about Prince Philip of Spain, future King Philip II, the husband of Queen Mary I? He wasn't much involved in the ruling of England by means of a special treaty Mary made with Spain. Mary had not even married him during this time. He had nothing to do with Jane's fate or her trial, that is a myth. Some older history books make this statement but Geoffrey Parker an expert on Philip and Henry Kelsey another expert on his time in England have dismissed this theory. After the second rebellion which involved Suffolk, Jane's father, it was the Ambassador and her own English Council who advised Mary to finally execute her young cousin. Henry Kamen also makes this clear in his book.
Jane and her husband were about sixteen or seventeen, so yes, adults according to the times but very young and easily manipulated, but also not entirely victims either. The second rebellion sealed their fates.
18 January – Henry VII and Elizabeth of York get married and Henry VIII dresses up


Recent college grad Leila Montgomery has her sights set on Whitmore and Creighton, a public relations agency for the rich and famous. She's determined to get her foot in the door by any means necessary–but she doesn't count on accidentally mouthing off to the enigmatic billionaire at the helm of the company, Jacob Whitmore.
After a hot tryst in the stairwell, Jacob makes Leila a proposition: be his personal assistant and private submissive. Saying no could cost her dream job and a place among the wealthy and elite. But saying yes will cost her heart… From stairwells and private jets to Europe and proposals, The His Submissive Series Complete Collection includes all twelve parts of the best-selling His Submissive series in one single e-book.


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Air Force's Newest Leader Takes Charge
WASHINGTON, December 23, 2013 (AFNS) – The Air Force's 23rd Secretary of the Air Force was formally sworn in, Dec. 20, in the Pentagon.
Deborah James assumed the position of the Air Force's highest ranking leader, making her the second female in Air Force history to serve in the role.
As James takes on her new duties, she said she knows there will be challenges, inheriting the service at a time filled with uncertainties, from the budget to management of the force.
"I think our Air Force is in great shape given that we've been living through some difficult times," James said during her first interview as secretary. "I'm enormously optimistic about the future of our Air Force. We have nothing but opportunities to face in the upcoming years."
While James said she is confident the Air Force will prevail moving forward, she noted that the service's manning will look different in the future.
"I'm equally certain that we will become a smaller Air Force; we will remain a capable Air Force with top notch people," she said. "We're going to remain No. 1."
Over the next five years, the Air Force is slated to cut roughly 25,000 Airmen. Recently, Air Force officials announced programs that will aid the service to achieve such cuts in manning.
Uber - Become a Driver
With these force management programs beginning, James said senior Air Force leaders are working to give Airmen as much information as they can, as fast as they can.
"We are going to be as transparent as possible and get them information as quickly as we can," James said. "We don't want them to be consumed by worries of the future."
As she begins her tenure as the SecAF, James said she wants Airmen to know she is 100 percent dedicated to serving them.
"I am totally committed to every Airman," she said. "My top job is to be their advocate here in Washington and around the globe."
Before being nominated by President Barack Obama on Aug. 1, James was president of the Technology and Engineering Sector at Science Applications International Corporation.
View her official biography here.
Senate Confirms James as Next Secretary of The Air Force
Enlisted Airmen: A Legacy of Professionals
CMSAF Outlines Future Force Improvements
AF Celebrates Birthday at Baseball Game
SecAF Addresses Women in National Security
SecAF Introduces Diversity Initiatives
SecAF Discusses Service's Top Priorities
Filed Under: Air Force, News


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'They want us dead, they want us silenced, but we are still standing'
Mexican journalist Anabel Hernández was awarded the 2019 DW Freedom of Speech Award at the Global Media Forum in Bonn. In her acceptance speech, she dedicated the award to all of the journalists murdered in Mexico.
Anabel Hernández is a Mexican investigative journalist and author whose work documents the corruption of the Mexican government and military and their collusion with drug cartels. Because of threats to her life, she was forced to leave Mexico and now lives in exile. For her efforts to shine a light on these and other crimes, DW awarded her with the 2019 DW Freedom of Speech Award.
Here is her acceptance speech:
Dear Mr. Limbourg, Deutsche Welle staff, fellow journalists, ladies and gentlemen,
First of all, I would like to thank everyone at Deutsche Welle for awarding me this prestigious prize. It is a double honor to join the circle of such renowned journalists by receiving this award. One of the previous recipients is here today: Sedat Ergin.
I am very moved to be with you today. Being here has forced me to reflect on my life, on my career as a journalist, on all the things I have done and all the things I still have to do. Usually in everyday life, we journalists don't stop to think about this, except in Mexico.
In the last nine years, I have suffered severe reprisals for my investigative work, and in the midst of this environment, it is even more difficult to pause for a moment to think about oneself. For months I have contemplated the bulletproof vest that the government of Mexico gave me in 2016, shortly before publishing my last book on the case of the 43 students who disappeared in Iguala in the state of Guerrero in September 2014.
"Every journalist's murder is an attack on democracy, on the rule of law and on the respect each person deserves," said journalist Misha Glenny, introducing Hernández
It was a way of warning me: "you have gone too far" in your investigations. But even with the vest in front of me, I refused to think about myself and the risk. There has always been something more important: truth and justice.
Yes, I am here before you today. But during the almost ten years that I have lived under threat, more than 100 journalists have been executed in my country as a result of their work. Five this year. One a month. Outside Mexico, seven hundred other journalists have been killed in the same period, according to UNESCO.
The organization states in a report published at the end of last year that in the last decade Mexico is the country with the highest number of journalists killed, higher than Afghanistan, where there is a declared war. But even with the gravity of what is happening in my country, the report warns about one thing that should ignite an alert to everyone: there are more murders of journalists in countries "without armed conflict." Something is happening.
Read more: Mexico's Hernandez receives DW Freedom of Speech Award
The killings of journalists are increasing all over the world. Journalists live in the most violent time in recent history, thus affecting society's human right to be timely and truthfully informed. Each journalist killed means repercussions on hundreds of people who remain silent in the face of violence.
But why are they killing us? Why are they threatening us? Why are they imprisoning us? Why do they want to silence us?
The world is living in dark times in all respects, in all spheres. Where we look, everything is confusing, there is no clarity, there is no transparency, there is no accountability. Frontiers are becoming blurred, economic models no longer really differ from one another. The distances between left, center and right are shrinking.
In so many countries of the world, the same thing seems to be happening, putting democracy at great risk and the freedoms that to achieve have cost us so many sacrifices.
2016 DW Freedom of Speech Award recipient, Turkish journalist Sedat Ergin, was in attendance
Today in many nations, it is not the citizens who make the decisions about their destiny on a daily basis but groups that concentrate more political, economic, technological and social power every day. They take possession of natural resources, of our minds through the control of communication platforms and social networks, and impose on us a model of life, of "success," of "happiness," that will generate more benefits for them. For them, there are no borders or walls, only privileges and impunity. They operate within the framework of the legal and the illegal. Organized crime is not only in Mexican drug cartels but also outside of Mexico in companies, banks and stock exchanges.
The interests of these groups generate wars, political and economic destabilization, corruption, diseases, serious human rights violations, exodus, sexual exploitation, labor exploitation, social injustice in all its forms, slavery. They produce drugs and stimulate other kinds of vices. The more consumers, the more money they have in their pockets.
Read more: 'There is no free press': Media freedom in Mexico
These groups like darkness, opacity, on which their existence depends and the achievement of their objectives. Society lacks the tools to understand this reality and how these interest groups function. What their mechanisms are. Without understanding, there is no generation of alternatives, there is no possibility of change and a better future vanishes.
Free, independent journalism committed to truth and precision is indispensable to understanding this reality. Our duty, today more than ever, is to give a name and surname to those who concentrate power, no matter what their nationality, race or religion. It doesn't matter if they are prime ministers, presidents, congressmen, bankers, businessmen, politicians, religious leaders or if they are the heads of a drug cartel. It is up to us journalists to find out what they do, how they do it, why they do it and who their accomplices are.
That's why they're killing us. That's why there is this hunt against independent journalists and the media. Journalism, especially investigative journalism, has its own paths, it knows shortcuts, which sometimes not even the institutions of justice can access.
DW Director General Peter Limbourg (right) presented Hernández her award
On countless occasions, we arrive at the truth that neither prosecutors nor judges arrive at, because many times, especially in countries like Mexico, they are conditioned to these groups of power.
The members of this club of powerful people often manage to escape formal justice, or when it arrives, it arrives too late. But they cannot escape from independent, persevering, precise journalism. They want to be untouchable and for a free journalist, a free media, there are no untouchables.
Without truth and accountability, there is no democracy or equity. Not only are journalists at serious risk by exercising our duty and right to inform, but the right of every citizen to have true and timely information to make free decisions.
Read more: 'Europe is also responsible for the crisis in Mexico': Anabel Hernández
If those united groups are stronger, so are independent journalists. We must create rules for working together; set a framework of common interests, versatile platforms for disseminating information; work on producing risk maps around the world to focus efforts. No one here wants to live in fear, but living in silence is not living either.
Mexico is considered by all international organizations as the most dangerous country in the world to practice journalism. Ninety-nine percent of the murders and attacks on journalists go unpunished to this day.
This prize is not for me, who can be here today, it is for the more than 125 journalists who have been murdered and for all those who day by day continue to do their work with ethics and endurance. They want us dead, they want us silenced but we are still standing and we make our voices heard.
Watch video 01:46
Anabel Hernández receives the DW Freedom of Speech Award
DW recommends
Global Media Forum 2019: Populists, media and power
Who holds the power in politics and society? That is one of the questions to be discussed in depth by international participants at DW's Global Media Forum. (26.05.2019)
'There is no free press': Media freedom in Mexico
The third-deadliest country in the world for journalists, Mexico saw nine journalists murdered in 2018. Their deaths are a worrying sign of the state of press freedom, as is increasing aggression toward the media. (19.02.2019)
Mexico's Hernandez receives DW Freedom of Speech Award
Anabel Hernández is the fifth person to receive the DW Freedom of Speech Award. On May 27, the ceremony will be held at the DW Global Media Forum in Bonn. British journalist Misha Glenny will give the laudatory speech. (19.02.2019)
'Europe is also responsible for the crisis in Mexico': Anabel Hernández
Anabel Hernández, recipient of the DW Freedom of Speech Award 2019, on corruption in her native Mexico and the ways in which international players bear partial responsibility for the power of the drug mafia there. (27.05.2019)
Audios and videos on the topic
Related Subjects GMF 2018 Speakers, Mexico, Media Freedom, Hernandez, Anabel
Keywords Mexico, corruption, media freedom, freedom of speech, Global Media Forum
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Journalists under threat: January's 10 most urgent cases 06.01.2020
Every month, the One Free Press Coalition draws attention to unresolved cases of crimes against journalists. In January, the list includes the cases of Daphne Caruana Galizia and Sakharov Prize laureate Ilham Tohti.
Global Media Forum in Bonn: Anabel Hernández receives DW Freedom of Speech Award 28.05.2019
Hernández: 'We are still standing and we make our voices heard'
Germany's backlog in its battle against organized crime 12.12.2019
Organized crime is global and knows no borders. Germany acknowledged this relatively slowly and as a result is quite unprepared to deal with it compared with other countries, Anabel Hernández writes.
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David Smith, considered the greatest American sculptor of the 20th century, is the subject of a new exhibit opening April 3 at LACMA's Resnick Pavilion. That's almost poignant. He died in a car accident in 1965 (at the age of 59) during the planning of a major exhibit for the new Los Angeles County Museum of Art, which opened on Wilshire Boulevard that year. Thursday is the 46th anniversary of LACMA's debut.
David Smith: Cubes and Anarchy is the first West Coast exhibition of his work since then.
Born in Indiana in 1906, Smith worked as a welder and riveter at a Studebaker auto factory while attending college. He later moved to New York City to study art and was heavily influenced by Pablo Picasso and Cubism, Italian sculptor Alberto Giacometti, and Spanish artist Joan Miró. When Smith saw images of Picasso's iron constructions in 1932 he realized that he could use his welding skill and knowledge of industrial materials for making art.
Smith, who preferred to work with steel, iron, and aluminum, has "often been presented as a counterpart to the abstract expressionist painters or as a draftsman in space." The welder from Indiana befriended many other prominent artists, including Adolph Gottlieb and Milton Avery in the 1930's and Robert Motherwell, Jackson Pollock, and Franz Kline in the 1950's.
The new exhibit was designed by Brenda Levin, more known for her work as a preservation architect. She discusses the project on LACMA's blog. "David Smith: Cubes and Anarchy" runs through July 24.


The Creative Collective is a year-long community building, creative program (though you can jump in and join us at any time!). I've thought of 23 fun activities for us to do (roughly two/month), which are designed to help you exert creativity in all its forms — from writing and photography to painting and even bartending, we're going to get creative in the best ways! Just visit this post to read all of the year's prompts. On the specified day, I will hold a link up here, on my blog, where you can share a blog post or photo related to YOUR project. Then, we can all peruse each other's artwork and make new friends to fuel our creativity during 2014. Can I get a WOOOOOHOOOOOO?
What does that mean exactly? It literally means that anything goes! The point was to find things in your house — from untouched watercolors to Christmas wrapping paper gathering dust in the garage — and make anything your heart desired in a freeing, do-whatever-you-want kind of way.
You're going to get mad at me. For my art piece, I did calligraphy. I know, after that preachy speech about gathering eclectic, miscellaneous items in your house, I opted for my new, mainstream artistic obsession instead. But I did push myself to try it in a new way, promise! See, a few weeks ago, I started taking Molly Jacques' calligraphy class on Skillshare. I watched her videos and practiced along to them for about an hour or two, and then got swept away into my own world of calligraphy. I've been using her basic, recommended supplies ever since, but have been dreaming about stretching my skills (and supplies) a little more. Today, I went to Hobby Lobby for the first time (oh my word, can I move in?) and picked up some teal India ink and thicker paper. I got some other things too, like gold leaf paint and turquoise sequins, but ended up keeping my piece simple, the way I usually like things. Anyways, I had an AWESOME time working with my new ink today! It really brought calligraphy to life in a new way for me. Whereas the basic black ink I'd been using produces a matte, consistent coat of ink, my new ink looks a little more like watercolor, with dark and light patches and plenty of character. Unfortunately, you can't see a lot of that detail in my night-time iPhone photos above, but I promise you it's there and it's so so purdy!
I wanted to use a quote about the ocean to complement my blue ink and fell in love with that quote by William James when I discovered it. Really vibes with my life philosophy. 🙂 I hope you like it, too! I've been working on lots of calligraphic prints for my upcoming print/paper goods shop, as well as some for my graphic design clients. It's quickly becoming one of my favorite art forms — I love that it highlights my obsession with words. By the way, I tried doing calligraphy with watercolors the other day and that shiz was HARD. Like, I'm pretty sure I'm doing it 100% wrong. Does anyone have any tips or good tutorials?
Now, I can't WAIT to see what you've created for today's prompt! You all have been STELLAR about contributing to the previous link ups. Seriously rocks my world. Share your "anything goes art" posts below and spread your creativity! Have a gorgeous day, lovers!
You MUST leave a comment on the person's blog who linked up directly before you. Check out their post, share some love, and make them feel like a creative all-star. (Don't worry, the person who links up after you will return the favor!…Comments for everyone!).
Please link up your posts or photos related to our Creative Collective prompt. Do not share links to unrelated DIY projects or to your blog's homepage. They will be deleted.
p.s. Don't forget! Our next Creative Collective link up is on Wednesday, March 5th. The prompt? "Take a Skillshare Class." In case you haven't noticed, I LOVE Skillshare. It's basically a place where smarty-pants creatives teach other people how to do awesome, creative things. It's where I learned how to do calligraphy! The classes are cheap ($15-20) for lifetime access, too. So, take a class before March 5th and write about how it went or share what you created! Can't wait to hear what you sign up for. 🙂 If you'd like to take the calligraphy class I did, click here.