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US8473241B2 - Navigation trajectory matching - Google Patents
Navigation trajectory matching Download PDF
Eric Foxlin
Thales Visionix Inc
2010-07-30 Application filed by Thales Visionix Inc filed Critical Thales Visionix Inc
2011-10-21 Assigned to INTERSENSE, INC. reassignment INTERSENSE, INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: FOXLIN, ERIC
2011-12-08 Assigned to GC NORTH ACQUISITION, LLC reassignment GC NORTH ACQUISITION, LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: INTERSENSE INCORPORATED
2012-06-29 Assigned to InterSense, LLC reassignment InterSense, LLC CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: GC NORTH ACQUISITION, LLC
2012-06-29 Assigned to INDIGO TECHNOLOGIES, LLC reassignment INDIGO TECHNOLOGIES, LLC ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: InterSense, LLC
2013-05-23 Assigned to THALES VISIONIX, INC. reassignment THALES VISIONIX, INC. CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: INDIGO TECHNOLOGIES, LLC
G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
G01C21/00—Navigation; Navigational instruments not provided for in preceding groups
G01C21/20—Instruments for performing navigational calculations
G01C21/10—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration
G01C21/12—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
G01C21/16—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C21/165—Navigation; Navigational instruments not provided for in preceding groups by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
G01S19/13—Receivers
G01S19/14—Receivers specially adapted for specific applications
G01S19/17—Emergency applications
G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
G01S19/42—Determining position
G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Among other things, first data is received from an inertial tracking device worn by a first person, the first data approximating locations along a first path that was traversed by the first person. Second data is received from an inertial tracking device worn by a second person, the second data approximating locations along a second path, similar to the first path, that is being traversed by the second person. A determination is made about how to guide the second person to reach the first person by using the first data and the second data to correlate locations along the first path and corresponding locations along the second path.
This application claims priority from U.S. Provisional Application Ser. No. 61/230,980, filed on Aug. 3, 2009, which is incorporated herein by reference in its entirety.
The contents of U.S. application Ser. No. 11/399,289, filed on Apr. 6, 2006 and Ser. No. 11/543,008, filed on Oct. 4, 2006 are incorporated by reference here in their entirety as part of this application. This application also incorporates by reference in their entirety the following publications:
1. E. Foxlin, "Improved Pedestrian Navigation Based on Drift-Reduced NavChip™ MEMS IMU," Abstract of Paper # Alt-2, Session D5, The Institute of Navigation GNSS 2009.
2. E. Foxlin, "Pedestrian Tracking with Shoe-Mounted Inertial Sensors," IEEE Computer Graphics and Applications, Vol. 25, Issue 6, November-December 2005, pages 38-46.
The invention relates to dead-reckoning systems for tracking the motion of a subject.
Human navigation systems track the motion of a pedestrian as he moves over a space. These navigation systems can be made small enough to be wearable by the pedestrian being tracked. For example, global positioning satellites ("GPS"), electromagnetic emitters/receivers, and inertial units such as accelerometers and gyroscopes have been used in such navigation systems. Inertial tracking devices are dead-reckoning systems which keep track of the current location of a subject by estimating the direction and distance traveled and adding it to a previous location estimate. These may include sophisticated inertial navigation systems, as well as simple pedometer devices which count steps with an accelerometer and may use a gyroscope and/or a compass to determine direction. In this application, the terms "inertial tracking device" and "dead-reckoning device" are used interchangeably to refer to a system which keeps track of a subject's position by accumulating increments of motion. In some cases, such a device may be subject to some drift or error accumulation over time.
In general, in an aspect, a first data is received from an inertial tracking device worn by a first person, the first data approximating locations along a first path that was traversed by the first person. A second data is received from an inertial tracking device worn by a second person, the second data approximating locations along a second path, similar to the first path, that is being traversed by the second person. A determination is made about how to guide the second person to reach the first person by using the first data and the second data to correlate locations along the first path and corresponding locations along the second path.
Implementations may include one or more of the following features. The first and second persons are emergency responders. The first path and second path are not visible to a third person, for example, an outsider. The inertial tracking devices are subject to drift. The locations are at successive footsteps along the paths. The first path and second path begin at a common location. The first path and the second path are derived from the data. The derived first path or second path is repeatedly reoriented, for each of a succession of the locations.
FIG. 1 is a schematic view of a navigation system.
FIG. 2A-2B are schematic views of footwear with an incorporated a measurement unit.
FIG. 3 is a schematic view of a measurement unit.
FIG. 4 is a schematic view of a general dead-reckoning system.
FIG. 5 is a schematic view of an object tracking system.
FIG. 6 is a flow diagram.
FIG. 7 is an exemplary plot depicting tracking of two objects.
Pedestrian navigation systems are used in a variety of contexts, for example tracking emergency rescue workers, soldiers on a battlefield, or for providing location-aware computing applications. Satellite-based navigation systems, such as GPS trackers, provide a way of tracking pedestrians. However, such systems can have limited applicability. For example, a pedestrian can only be tracked by satellite-based navigation system when the pedestrian is "visible" to a sufficient number of satellites. This may not be the case, for example, when the pedestrian is in a heavily forested area or inside a building.
Inertial navigation systems also offer a way to track pedestrians. However, inertial navigation systems generally do not allow accurately tracking a pedestrian for long periods of time, because of inertial instruments' tendency to drift.
As described below, in some implementations, a "hybrid" navigation system with a GPS receiver and inertial instruments is capable of accurately tracking a pedestrian even during GPS outages.
Basic Hardware
Referring to FIG. 1, a navigation system 10 is capable of determining the position and/or orientation of a mobile subject. For example, the navigation system 10 can be mounted on a pedestrian to track the pedestrian's movements. The navigation system 10 can include a measurement unit 11, a processor 12, an acoustic unit 13 and a GPS receiver 14. The measurement unit 11 includes inertial instruments that detect linear and/or angular accelerations experienced by the measurement unit 11, and generate signals indicative of such acceleration. The measurement unit 11 is mounted on the pedestrian in such a way that the measurement unit 11 is motionless when the pedestrian's foot is motionless. For example, FIG. 2A shows the measurement unit 11 fixedly mounted in the heel 22 of a shoe or a boot worn by the pedestrian. FIG. 2B shows the measurement unit 11 incorporated in the laces 24 of a shoe or boot worn by the pedestrian. For tracking a crawling subject, measurement unit 11 may also be mounted on a hand, knee, or other part of the subject that periodically remains motionless during crawling.
Referring again to FIG. 1, the navigation system 10 also includes a GPS receiver 14. The GPS receiver 14 may be carried by the pedestrian in a backpack, mounted on a belt, or generally mounted anywhere on or near the pedestrian's body. The GPS receiver 14 receives signals from a satellite or a constellation of satellites, and based on these signals generates a GPS signal that is sent to the processor 12. Based in part on the GPS signal, the navigation system 10 determines the pedestrian's position, velocity, etc. However, when the pedestrian is indoors or in a heavily forested area, the GPS receiver 14 may not receive sufficiently many signals from the satellites to be useful in determining the pedestrian's position, velocity, etc. Under these circumstances, the navigation system 10 relies on the signals generated by the measurement unit 11.
The processor 12 is in data communication with the GPS receiver 14 and with the measurement unit 11. The processor 12 processes the signals received from the GPS receiver 14 and the measurement unit 11 and determines the pedestrian's position, heading, velocity, etc. For example, in some implementations, the processor 12 may be a microprocessor in a cellular telephone, or hand-held/laptop computer carried by the pedestrian. In other implementations, the processor 12 may be integrated with other components of the navigation system 10, such as the measurement unit 11. In some implementations, the data communication between the processor 12 and other components of the navigation system 10 is implemented wirelessly. In some implementations, the data communication between the processor 12 and other components of the navigation system 10 is implemented by a physical connection between the processor 12 and the other components.
FIG. 3 shows a schematic view of a measurement unit 11. The magnetometers 32 x, 32 y, 32 z of the measurement unit 11 provide signals that can be processed to determine a magnetic compass heading. When GPS is available, the compass is calibrated using the GPS signal. The calibration enables the compass to determine the pedestrian's heading relative to geographic (or "true") north, as opposed to a compass heading of magnetic "north," which may itself deviate from true magnetic north due to local magnetic field variation. During periods of GPS outage, the compass heading is used in conjunction with the inertial instruments to robustly track the pedestrian.
As seen from FIG. 3, the measurement unit 11 of the navigation system 10 (see FIG. 1) contains inertial and magnetic instruments. The inertial instruments include accelerometers 30 x, 30 y, 30 z and gyroscopes 31 x, 31 y, 31 z. The magnetic instruments include magnetometers 32 x, 32 y, 32 z. Each inertial or magnetic instrument has an input axis. Each of the accelerometers 30 x, 30 y, 30 z detects acceleration in a direction parallel to its input axis. Each of the gyroscopes 31 x, 31 y, 31 z detects angular rotation about its input axis. Each magnetometer detects the strength of a magnetic field that is parallel to its input axis.
In some implementations, the instruments are arranged and rigidly secured so that the input axes of each group of instruments (accelerometers 30 x, 30 y, 30 z, gyroscopes 31 x, 31 y, 31 z, or magnetometers 32 x, 32 y, 32 z) form an orthogonal reference frame. In some implementations, the coordinate frames defined by all three families of instruments are coincident. Any of these coordinate frames can be referred to as the "body frame," or b-frame 33. The navigation reference frame, or "n-frame," is a reference frame in which the navigation system 10 is tracked. For example, one n-frame has x-, y-, and z-coordinate axes corresponding to North, East, and down, respectively.
In some implementations, the measurement unit 11 contains only inertial instruments. In these implementations, the navigation system 10 contains magnetometers 32 x, 32 y, 32 z positioned with a trackable orientation with respect to the measurement unit 11. For example, the magnetometers 32 x, 32 y, 32 z need not be positioned on the pedestrian's foot, as shown in FIGS. 2A and 2B.
The measurement unit 11 can be an InertiaCube™, available from InterSense Inc. of Bedford, Mass. The inertial or magnetic instruments can be micro-electro-mechanical systems (MEMS). The gyroscopes 31 x, 31 y, 31 z can be coriolis gyroscopes.
The navigation system 10 tracks a broad range of movement, including backwards and sideways steps, using signals provided by the measurement unit 11, including using angular or linear acceleration in any direction that is detected by the measurement unit 11 and resolved into components parallel to each b-frame axis. Magnetic fields in any direction are similarly detected and resolved by the measurement unit 11.
Referring to FIG. 4, the navigation system 10 is able to use signals provided by the measurement unit 11 to generally determine the position and orientation of the pedestrian by dead reckoning. Except for the modifications involving pseudo-measurements or transfer alignment described below, the navigation system 10 tracks the pedestrian as follows. Starting with a known position 40 and a known velocity 41, the inertial instruments of measurement unit 11 periodically samples the b-frame angular rate 42 and linear acceleration 43. The b-frame angular rate 42 is integrated to determine the measurement unit's orientation 44. The b-frame linear acceleration 43 is converted to n-frame acceleration 45 by making use of the orientation 44, which relates the b-frame to the n-frame. The n-frame acceleration 45 is combined with local gravity to produce net linear acceleration 49. The net linear acceleration 49 is twice integrated (using the known velocity 41 and position 40 as initial conditions for the respective integrations) to determine a new velocity and position of the pedestrian.
Typically, the inertial instruments take measurements at a sampling rate between 100 and 600 Hz, and the pedestrian's position, velocity, etc. are updated by the processor 12 after each measurement. Other sampling rates are also possible; slower sampling rates may result in reduced accuracy due to numerical integration error. The magnetic instruments preferably take measurements only during the stance phase of the step. As discussed more fully below, magnetic measurements are susceptible to different sources of inaccuracy than the inertial instruments, and the relatively slow sampling rate of the magnetic instruments helps avoid over-reliance on any particular inaccurate measurement.
Enhancements of Dead Reckoning
One way the navigation system 10 tracks the pedestrian is by a prediction/correction algorithm. Such an algorithm generally operates in two phases. During the "prediction" phase, the navigation system 10 predicts the position and orientation that the measurement unit 11 will have when the next measurement is made. During the "correction" phase, the navigation system adjusts the previously-made prediction of the measurement unit's position and orientation, in light of the most recent measurement. Prediction/correction algorithms may be implemented, e.g., by an extended Kalman filter.
The outputs of the inertial instruments in the measurement unit 11 tend to drift over time. Instrument drift results in reduced accuracy of the measurements made by the instrument, and consequently in reduced accuracy in the position and orientation determinations made by the navigation system 10.
One way the effect of instrument drift can be reduced is by recalibrating the drifting instruments at times when the result of a given measurement is known from another source. For example, such a source is the pedestrian's natural body mechanics while walking or crawling. While walking, the pedestrian's foot periodically enters a "stance" phase, when the foot is motionless on the ground. During this phase, the measurement unit 11 mounted on the foot also remains motionless.
Another way to reduce the effect of instrument drift is by using an external source of data in addition to the drifting instruments. For example, global navigation satellite systems (such as GPS, Glonass, Galileo, etc.) can provide another source of data, when such sources are available. Other external sources of data include beacons present in the pedestrian's environment and map correlation techniques.
The magnetic instruments 32 x, 32 y, 32 z can also be used to manage the drifting inertial instruments. To enhance the effectiveness of this technique, the magnetometers 32 x, 32 y, 32 z are calibrated. During the calibration, the magnetometers 32 x, 32 y, 32 z are aligned with true north (as opposed to magnetic north) using global navigation satellites, or another technique. Additionally, magnetic distortions (such as those due to metal in the pedestrian's boot near the magnetometers 32 x, 32 y, 32 z) are accounted for.
In some implementations, the navigation system 10 can be dependent on a compass to control yaw drifts. In such implementations, the navigation system 10 may not work satisfactorily in some environments especially in the vicinity of metals. Improving the ability of the compass sensors to operate in the face of magnetic disturbances results in improved performance even in the vicinity of metals such as steel. The improved system may then be used inside buildings which typically contain metals including steel. In some implementations, the ability to reject magnetic disturbances is proportional to the quality of gyros used in the system. However, even with improved gyros, extracting reliable heading information from magnetometers in a metal rich environment can be difficult. Such a situation may arise when one object is trying to follow or track another object. In real life, a second fire fighter, for example, may be tracking or following a first fire fighter to aid or rescue him from a building. In general the internal layout of the building will not be known and therefore algorithms such as map matching or RF triangulation may not work well. In addition, existence of a linear path between two points may not be assumed due to the presence of walls or other obstructions between the points.
In some implementations, sparse RF range aiding may be used in such a situation to aid the inertial trackers. In some implementations, a trajectory matching algorithm that matches a path of the second firefighter with that of the first firefighter may be used. FIG. 5 is a block diagram depicting an example environment in which a trajectory matching system may be deployed. In brief overview, tracked objects 605 a and 605 b (605 in general) communicate with a computing device 620 (for example, a handheld mobile device). Each of the tracked objects 605 has a chip 610 that facilitates communication between the tracked object 605 and the computing device 620. In some implementations, the communication between the tracked objects 605 and the computing device 620 is over a network 615. The computing device may include a tracking software 630 and a user interface 625.
The tracked object 605 may include a firefighter, a police officer, a paramedic, a nurse, a doctor or other emergency responders. In some implementations, the tracked object 605 could be a manned or unmanned emergency vehicle or robot. The tracked object may be in communication with a control station continuously or periodically reporting its location and/or action. The tracked object 605 may include a chip 610 that facilitates communication with the computing device 620. The chip 610 may include one or more of a processor, a sensor, a GPS unit, a transmitter, a receiver and other electronic circuitry. In some implementations, the chip 610 may be embedded or integrated with the object 605. In other implementations, the chip 610 may be part of an external device or accessory located on the object 605. When the object 605 is a person such as a firefighter, the chip 610 may be embedded or located in a shoe worn by the person.
The network 615 may include one or more different types of network. For example, the network 615 may include a local area network (LAN), a metropolitan area network (MAN) or a wide area network (WAN) such as the Internet. In other implementations, the network 615 may include a combination of one or more different types of network. One or more gateway devices may act as interfaces between two different networks. In some implementations, the network 615 may include a satellite communication network such as one supporting a GPS system.
The network 615 can be of any type and form and may include any of the following: a point to point network, a broadcast network, a computer network, a power line network, an Asynchronous Transfer Mode (ATM) network, a Synchronous Optical Network (SONET), a Synchronous Digital Hierarchy (SDH) network, a wireless network and a wired network. If the network 104 is at least in part a wired network, the network 615 may include one or more of the following: coaxial cable, telephone wires, power line wires, twisted pair wires or any other form and type of wire. The topology of the network 615 may be a bus, star or a ring topology or any other topology capable of supporting the operations described herein.
A computing device 620 receives and processes data received from one or more tracked object 605. The computing device 620 may include a desktop or laptop computer, a handheld wireless device, a smart phone, a personal digital assistant, a server, a mainframe computer or any combination of these devices. The computing device may include a processor, a storage, memory, a display, a controller and other input/output devices. The computing device 620 may include a receiver, a transmitter, a transceiver or other communication circuitry configured to facilitate communication with the tracked objects 605.
The computing device 620 is configured to install and execute software code to process data received from the tracked objects 605. In some implementations, a tracking software 630 executes on the computing device to process such data. The tracking software 630 may execute locally such as on a desktop computer or wireless handheld device. In other implementations, the tracking software may execute on a server or a mainframe computer. The tracking software 630 may require a specific operating system for execution and may include one or more of any type and/or form of software, program, a web-based client, client-server applications, a thin-client computing client, an ActiveX control, a Java applet, or any other type and/or form of executable instructions capable of executing on the computing device 620. In some implementations, the tracking software 630 may include any type of software configured to support applications related to voice and real-time data communications, such as applications for streaming video and/or audio. The tracking software 630 may be configured to be installed and executed as an application on a smart phone such as an iPhone or a Blackberry.
The tracking software 630 may further include or work in conjunction with an user interface 625. The user interface may be rendered on a display of the computing device 620. Any software and/or application package may be used for rendering the user interface 625.
Referring now to FIG. 6, a flow diagram depicts a particular arrangement of operations implemented on a computing device using the tracking software 630 to track one or more objects. In some implementations, such operations allow a second object or person to be guided towards a first object or person based on tracking data received from the objects or persons.
Operations may include receiving 710 data on a first path traversed by a first object. In one example, the first object may be a person such as a firefighter or any other emergency responder. The data may be received via a receiver which is either a part of or works in conjunction with the computing device 620. Data on the first path may include absolute coordinates of the object or person with respect to a reference point. The data may also include information related to a heading drift of the object or person, acceleration, velocity, trajectory, angle of movement, inclination, slope, time or other parameters related to a motion of the object or person. In some implementations, the data may also include information on a location of the object or person. The data may be in any type and/or form such as audio, video and electromagnetic signals such as radio frequency waves. The data may be analog, digital or a combination thereof. The data may also include parameters related to the external conditions of the object or person. For example, the data may include information on temperature, visibility, gas composition and air quality at the location that the object or person is traversing. In some implementations, the data related to the first path may include a string of locations connected by hypothetical or imaginary linear springs between the locations. These string of locations may represent successive steps taken by a person or periodic locations of an object or person. The rest lengths of the hypothetical springs may be taken as distances between the successive locations. The data may also include information related by hypothetical or imaginary angular springs that represent the changes in direction between successive locations in the string of locations. The rest angle of such an angular spring may be taken as the angle between an incoming angle and an outgoing angle at a given location.
Operations may include receiving 720 data on a second path traversed by a second object. The data received from the second object may be of any type and form including but not limited to the types and forms described with respect to the data on the first path.
Operations may further include matching 730 one or more features along the first and second paths. Such feature matching is based on data on the first and second paths. In some implementations, the feature matching includes fixing the origin of both paths at substantially the same point. For example, when a firefighter is tracking down another firefighter inside a building, the origin of both paths or trajectories may be fixed at a known location such as an entrance door to the building. In other implementations, the origins of the paths may be fixed at two separate points separated by a known distance. This may happen in a situation when, for example, the two firefighters in the previous example enter the building through different doors.
Matching 730 may include finding points on the two paths or trajectories that correspond to each other. Such corresponding points may include a turn, a corner, a door, a window or a location having substantially same external parameters. The corresponding or matching points between the two paths may be marked either manually or automatically using the tracking software 630. In some implementations, a feature map of a facility, building or location may be created using these matched features even when no prior knowledge about the facility, building or location is available.
Matching 730 features between the two paths may be done by implementing any algorithm, technique and/or software package. For example, any feature matching and/or learning algorithms may be used to implement such functionality. Algorithms may include one or more machine learning algorithms such as a supervised learning algorithm based on training data, an unsupervised learning algorithm such as based on clustering or independent component analysis, a semi supervised learning algorithm and a transduction algorithm. Any combination of tools, and techniques may be used in the algorithms including but not limited to principal component analysis, neural networks, fuzzy logic, classification algorithms, genetic algorithms, simulated annealing, artificial intelligence and pattern recognition algorithms. Similarity metrics such as correlation coefficient, mutual information and difference based metrics may be used to evaluate a similarity between matching features.
Operations further include determining 740 a relative position of at least a portion of the first path with respect to the second path based on the one or more matched features. In some implementations, this includes a bias correction between the two paths based on location of known points. For example, when a fireman is tracking another fireman in a building and a point in each of their paths is identified as a matching point, the two points may be aligned or "snapped back" together even if there is some difference between the absolute locations of the points. This may correct or fix a drift of the second path with respect to the first path at that location. Such drift correction may be done by calculating and using a drift correction vector. In some implementations, such alignment at some locations of the two paths would re-orient the relative positions of the two path at other locations. Such orientation may cause another portion of the path of a second firefighter (who is following the first firefighter) to rotate and translate as if the path was a rigid object. For example, applying the imputed drift correction vector to the subsequent inertial portions of the second path will introduce a future correction vector. Additional correction points will serve to enhance the accuracy of that drift correction vector. Such re-orientation, may in some cases, provide a more accurate positioning of the path of the second firefighter with respect to the path of the first firefighter.
Operations may optionally include guiding 750 the second object or person to the first object or person based on the relative position of the two paths. In some implementations, a live person, such as a commander at a remote location, may analyze the aligned paths visibly and issue instructions to the second object or person to reach the first object or person. In other implementations, an automated software or system may analyze the data and issue appropriate instructions to the second object or person.
Referring now to FIG. 7, an exemplary plot depicting the tracked paths of two objects or persons are shown. In this example the drift of the second path 820 with respect to the first path 810 is corrected using the matched features 830 as reference points. This yields a more accurate relative position of the first object or person 850 with respect to the corrected position of the second object or person 840. Using this information, the second object or person may be directed more accurately towards the first object or person.
Embodiments can be implemented using hardware, software, or a combination of hardware and software. Software embodiments, or software portions of embodiments, can be in the form of instructions on a computer-readable medium for execution on a data processor, such as a digital signal processor or a general purpose microprocessor. Other embodiments are also within the scope of the following claims.
1. A computer-implemented method comprising
receiving first data from an inertial tracking device worn by a first person, the first data defining a first tracked path traversed by the first person;
receiving second data from an inertial tracking device worn by a second person, the second data defining a second tracked path traversed by the second person;
identifying a first location on the first tracked path that substantially matches a second location on the second tracked path;
calculating a correction parameter based on a separation between the first location and the matching second location;
adjusting one or both of said first or second tracked path by applying the correction parameter to bring the first and second tracked paths into closer alignment; and
performing at least one action from the group of (a) displaying the more closely aligned first and second tracked paths on a visual display; and (b) providing automated instructions to the second person based on the more closely aligned first and second tracked paths.
2. The method of claim 1 in which the first and second locations are at successive footsteps of the first or the second person along the first or second tracked path, respectively.
3. The method of claim 1 in which the first and second tracked paths are determined based on identification of one or more known reference points.
4. The method of claim 1 further comprising, receiving third data from said second inertial tracking device, said third data defining an extension of said second path, and applying said correction parameter to locations on said extension to realign said extension.
5. The method of claim 1, wherein the correction parameter is applied to an additional location on said first path.
6. The method of claim 1, wherein the correction parameter is applied to an additional location on said second path.
7. The method of claim 1, wherein applying the correction parameter comprises adjusting a location other than said first or said second location.
8. The method of claim 1, comprising displaying the more closely aligned first and second tracked paths on a visual display.
9. The method of claim 1, comprising providing automated instructions to the second person based on the more closely aligned first and second tracked paths.
10. A computer-implemented method comprising
receiving first data from an inertial tracking device worn by a first person, the first data approximating a set of first locations along a path that was traversed by the first person;
receiving second data from an inertial tracking device worn by a second person, the second data approximating a set of second locations being traversed by the second person;
estimating a correction parameter based on a separation between a given second location and a corresponding first location, wherein the corresponding first location is determined by correlating features associated with the first and second locations;
estimating a current location of the second person with respect to the path based on the correction parameter; and
performing at least one action from the group of (a) displaying said more closely aligned first and second tracked paths on a visual display; and (b) providing automated instructions to said second person based on said more closely aligned first and second tracked paths.
11. The method of claim 10 in which the first and second locations are at successive footsteps of the first or the second person along the first or second tracked path, respectively.
12. The method of claim 10 in which the first and second locations are determined based on identification of one or more known reference points.
13. The method of claim 10 further comprising, receiving third data from said second inertial tracking device, said third data including additional locations in the set of second locations, and applying said correction parameter to at least one of the additional locations to align the at least one additional location to the path.
14. The method of claim 10, comprising displaying the more closely aligned first and second tracked paths on a visual display.
15. The method of claim 10, comprising providing automated instructions to the second person based on the more closely aligned first and second tracked paths.
16. A computer program product comprising a computer readable storage device encoded instructions, which when executed, causes one or more processors to perform operations comprising:
receiving first data from an inertial tracking device worn by a first person, the first data defining a first tracked path traversed by said first person;
receiving second data from an inertial tracking device worn by a second person, the second data defining a second tracked path traversed by said second person;
identifying a first location on said first tracked path that substantially matches a second location on said second tracked path;
adjusting one or both of said first or second tracked path by applying the correction parameter to bring said first and said second tracked paths into closer alignment; and
17. The computer program product of claim 16, wherein the operations include receiving third data from the second inertial tracking device, the third data defining an extension of the second path, and applying the correction parameter to locations on the extension to realign the extension.
18. The computer program product of claim 16, wherein the operations include displaying the more closely aligned first and second tracked paths on a visual display.
19. The computer program product of claim 16, wherein the operations include providing automated instructions to the second person based on the more closely aligned first and second tracked paths.
21. The computer program product of claim 20, wherein the operations include receiving third data from said second inertial tracking device, said third data including additional locations in the set of second locations, and applying said correction parameter to at least one of the additional locations to align the at least one additional location to the path.
US12/847,186 2009-08-03 2010-07-30 Navigation trajectory matching Active 2031-04-09 US8473241B2 (en)
US12/847,186 US8473241B2 (en) 2009-08-03 2010-07-30 Navigation trajectory matching
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AdvantEdge Sports agrees to open new location at Finlandia University
MARQUETTE — AdvantEdge Sports in Marquette has quite the resume when it comes to does their training there. They have trained six NFL players, 13 pro hockey players, seven collegiate All–Americans, over 30 collegiate All–Conference players, two national champions in Greco Roman wrestling and a three–time high school football state championship team that you may have heard of. And with a rundown that big, it only makes sense to get bigger.
This week, owner Dustin Brancheau announced a partnership with the Finlandia University athletic department as AdvantEdge will now be in change of the Lions' strength and conditioning programs for all their teams. Both sides feel like this is a win–win situation for all of the athletes in the Copper Country.
"I think it's going to be huge for our athletes. I have gone over and seen what Dustin [Brancheau] does with the athletes that he works with over in Marquette. He's worked with a lot of professional athletes. I think he's going to bring that aspect to our athletes and it's just going to be a step up for us," said Finlandia athletic director Curtis Wittenberg.
"I'm very proud of what we've been able to accomplish in the last couple of years, having a spot here in Marquette and also having a spot up in Hancock is very rewarding. I'm very excited about it because being an Upper Peninsula athlete myself growing up, it was something that I always take great pride in, trying to create great athletes from the Upper Peninsula so that they can go on to the next level. And not just be a U.P. athlete, but be a great athlete," Brancheau said.
In addition to their work at Finlandia, AdvantEdge will also have their services available for local high school, college and pro athletes in the Copper Country, with all training taking place in the Paavo Nurmi Center.
Tags: AdvantEdge Sports Training, Curtis Wittenberg, dustin brancheau, Finlandia University
Previous Eskymos take part in scrimmage to get set for football season
Next Modeltowners football earn sponsorship from Rockin' Refuel
Two Wildcats Named To Women's Soccer All-Region Teams
Hayden Huttula named AFCA First Team All-America
2 months ago David Cesefske

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Make it your time to shine for any occasion!
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Mark your card: Easter Sunday at Fairyhouse
If you followed Mark Hobbs' advice yesterday you'd have an extra few quid in the pocket. Here's today's preview of the action at Fairyhouse.
By Mark Hobbs Sunday 24 Apr 2011, 12:00 PM
Apr 24th 2011, 12:00 PM 327 Views 0 Comments
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HIGH-PROFILE FESTIVALS and meetings come thick and fast this time of year, and Easter is Fairyhouse's turn to take centre stage.
Fairyhouse Powers-up
Last year's meeting was run in bog-like conditions but thankfully the sun is shining today and conditions for both horses and spectators alike will be ideal.
The Powers Gold Cup is undoubtedly the highlight of the card, where seven talented novices go to post for the two-and-a-half mile chase. Only three-runners finished the race last term due to the inclement conditions, but this year none will have any excuses. The ground should be ideal for the well-backed favourite and recent Cheltenham scorer Noble Prince.
His victory in the Jewson now reads even more impressively given that the second-placed horse that day; Wishful Thinking, went on to a facile success in Aintree. Clearly the trip is very much to his liking, and he is the one they all have to beat.
Noel Meade's Realt Dubh could be the one to prosper should the favourite not oblige. Indeed, he has already beaten Noble Prince twice this season – albeit on very different ground at a shorter trip. He ran an excellent third in the Arkle in Cheltenham, but seemed to lack the same gears as the winner. While his stamina for this step-up is not fully assured, it's not beyond the bounds of possibility that he may improve for it.
Mikael D'Haguenet is on something of a retrieval mission after disappointing thus far this season. As a novice hurdler he was imperious, but since returning from a season on the sidelines he has only hinted at his form of old. Having failed to complete on two of his four starts he is not one to place too much faith in, but the good ground may help his jumping. Loosen My Load, Mr Cracker and Roi Du Mee complete the line-up.
Of the supporting card, the most high profile event is the mares' hurdle, where Our Girl Salley will be a popular choice as she seeks to earn a sixth consecutive win. She seems nailed on to build on her last Listed victories with a win here, the only concern being that she yet to race on ground this fast.
Realt Dubh seems generously priced at 4/1. He has the edge over Noble Prince on their running over the winter, and it is probably a little too simplistic to say that today's conditions and trip will play to that horse's strengths. It will be a tall order; Noble Prince excelled at Cheltenham, but Noel Meade's charge performed well at the festival too and is well-worth chancing here.
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Vivaldi is overpriced at 16/1 for the Family Day At Fairyhouse Novice Handicap Hurdle; the third race on the card. A former inmate of Ballydoyle, the son of Montjeu achieved a rating of 100 on the flat. With this in mind, his current hurdles rating of 116 should enable him to be competitive.
His strike-rate is not very impressive, but he is admirably consistent and could sneak into the frame. It may be that the fast ground brings out some improvement in the gelding, and it would be no surprise to see him outrun his price.
See more articles by Mark Hobbs
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text:
class StackAsLinkedList < Stack

  def initialize
    super
    @list = SinglyLinkedList.new
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  def purge
    @list.purge
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  def push(obj)
    @list.prepend(obj)
    @count += 1
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  def pop
    raise ContainerEmpty if @count == 0
    result = @list.first
    @list.extract(result)
    @count -= 1
    return result
  end

  def top
    raise ContainerEmpty if @count == 0
    return @list.first
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  def each(&block)
    @list.each(&block)
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  attr_reader :list

  class Iterator < Opus8::Iterator

    def initialize(stack)
      @position = stack.list.head
    end

    def more?
      not @position.nil?
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    def succ
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        result = @position.datum
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        result = nil
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      return result
    end
  end

  def iter
    Iterator.new(self)
  end

end

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text:
Talking Pulp
Tag Archives: The Odyssey Series
Film Review: 2010: The Year We Make Contact (1984)
August 25, 2020 by Talking Pulp	in Film Review, Reviews and tagged 1980s, 1984, adventure, Arthur C. Clarke, Bob Balaban, Elya Baskin, film, Helen Mirren, John Lithgow, Keir Dullea, Madolyn Smith, mystery, review, Roy Scheider, sci-fi, The Odyssey Series, thriller	| Leave a comment
Also known as: 2010 (original title), 2010: Odyssey Two (original script title)
Release Date: December 7th, 1984
Directed by: Peter Hyams
Written by: Peter Hyams
Based on: 2010: Odyssey Two by Arthur C. Clarke
Music by: David Shire
Cast: Roy Scheider, John Lithgow, Helen Mirren, Bob Balaban, Keir Dullea, Douglas Rain (voice), Madolyn Smith, Dana Elcar, Elya Baskin
Metro-Goldwyn-Mayer, 116 Minutes
"[message relayed from monolith] All these worlds are yours, except Europa. Attempt no landing there. Use them together. Use them in peace." – HAL-9000
Since I did 2001: A Space Odyssey as my 2001st film review, I figured that I'd also revisit 2010: The Year We Make Contact for my 2010th. Both are great films: the first being an absolute masterpiece and this one being one of the best science fiction films of its decade, as well as one of my favorite of all-time.
Unfortunately, 2010 gets compared to 2001, which really isn't fair, as there was no way that this movie was going to live up to the hype that a 2001 sequel would've gotten, even back in the early '80s. As its own film, though, it's exceptional even if it wasn't necessary.
Now there were four Odyssey books written by Arthur C. Clarke, two at the time of this film's release, so I don't see why further movies couldn't have been made, as the story already existed and for fans of the novels, this was probably something they wanted to see. Hell, I'm still hoping that someone eventually adapts 2061: Odyssey Three and 3001: The Final Odyssey. Tom Hanks was going to do them about twenty years ago and there were rumors that Syfy was going to take a crack at it as well but neither of those really materialized.
From what I remember from the novel, this is a pretty good adaptation that takes some liberties but tells the gist of the story. It also changes the location of the monolith from being near Saturn to being near Jupiter for some reason. But I also kind of see this as existing in its own continuity, as it's really hard to envision what could've even come after the 2001 movie despite this story trying to follow it up. As far as it being a movie sequel to the first book, as it is written, it works. The Kubrick 2001 film was much more mystical and fantastical than the book and it left a lot open for interpretation where the novel was more clear cut and explained things better.
Like the books, this film tries to define the strange things that are happening within the plot, unlike it's cinematic predecessor. In fact, this film starts with an opening recap of the first movie with actual explanations of plot details to try and ground the story and set certain events in stone. I actually really like that, as it immediately shows that this movie is indeed different in its style and how it is going to present its fantastical journey.
Additionally, I really liked the casting of Roy Scheider as Heywood Floyd, as he felt like a better version of the character than what we got in Stanley Kubrick's 2001. Granted, he was more of a minor character in the first film and we needed someone with more presence and gravitas, as he becomes the main character in this story.
Scheider was a great choice, though, as he had just come off of the first two Jaws movies and was one of the top actors of his era. He had a certain panache and a good level of manliness but also came across as a smart guy that would think before reacting and usually had a clear head and felt like a natural leader.
The rest of the cast is also good with Helen Mirren, John Lithgow, Bob Balaban, the return of Keir Dullea as Bowman and the rest of the Russian crew. I especially liked Elya Baskin as Brailovsky, as his chemistry with Lithgow's Curnow was superb. Some of you may know Baskin from his role as Peter Parker's landlord in Spider-Man 2 and 3.
I also love that the story is anti-Cold War, as it forces the Americans and Russian astronauts and scientists to work together, despite their countries being on the cusp of war. In fact, the countries do go to war while the crew is on their mission and what they may return home to is a somber, dark cloud over the rest of the story. Late into the story, the crews are forced to separate by the orders of their feuding governments but in spite of this, the two crews still end up working together to complete the mission and attempt to solve the universe's greatest mystery.
Some people have said that the ending was underwhelming but I don't think that's true at all. It kind of felt like the ending to a really good classic Star Trek episode where the crew must solve a cosmic mystery. The reward for doing so is actually quite profound, as it forever changes the solar system and man's place in it.
The movie also has incredible special effects and I especially liked how well they did in recreating the Discovery. It really pulls you back into the iconic ship and it just adds an extra level of legitimacy to this film, marrying it to the original one, aesthetically. Having the same voice for HAL-9000 was also a nice touch, as the character wouldn't have been the same with someone else doing the performance.
Ultimately, this isn't on the level of 2001: A Space Odyssey but what is in the science fiction genre? As it's own motion picture, it's cool, imaginative and it expands upon the greater work before it while also entertaining and boasting some solid acting performances across the board.
Pairs well with: its predecessor, as well as the Odyssey series of books by Arthur C. Clarke.
Film Review: 2001: A Space Odyssey (1968)
August 19, 2020 by Talking Pulp	in Film Review, Reviews and tagged 1960s, 1968, adventure, Arthur C. Clarke, drama, film, Keir Dullea, review, sci-fi, Stanley Kubrick, The Odyssey Series, thriller, UK, William Sylvester	| Leave a comment
Also known as: Two Thousand and One: A Space Odyssey (alternative title), Journey Beyond the Stars, How the Solar System Was Won (working titles)
Release Date: April 2nd, 1968 (Washington D.C. premiere)
Directed by: Stanley Kubrick
Written by: Stanley Kubrick, Arthur C. Clarke
Based on: 2001: A Space Odyssey, The Sentinel by Arthur C. Clarke
Music by: various
Cast: Keir Dullea, Gary Lockwood, William Sylvester, Douglas Rain (voice), Vivian Kubrick (uncredited)
Stanley Kubrick Productions, Metro-Goldwyn-Mayer, 149 Minutes, 142 Minutes (theatrical release), 161 Minutes (initial release)
"I am putting myself to the fullest possible use, which is all I think that any conscious entity can ever hope to do." – HAL-9000
This is my 2001st film review here on Talking Pulp (formerly Cinespiria) and I held off on reviewing this a few months back because I figured I'd save it for this special occasion. I'm also planning on reviewing its sequel, 2010: The Year We Make Contact, for my 2010th. So look for that one in a little less than a week.
Well, I guess I should start this review by saying that it is one of the three films in my Holy Trinity of Motion Pictures alongside The Good, The Bad & The Ugly and The Dark Knight. So I do have a bias and a bit of favoritism towards this picture but that's also because it's a fucking masterpiece of cinematic perfection.
And really, that actually makes this harder to review, as I don't want to just come across as someone who can't find flaws in the picture and only sees it through rose colored glasses.
This is cinematic art, however, and it redefined what motion pictures could be forever.
Stanley Kubrick was one of the greatest directors that ever existed and even though I think he's made multiple masterpieces, one of them has to be the best and in my opinion, it is this film.
The story has multiple parts to it and this is a fairly long movie. Despite that, it plays well and moves at a perfect pace, even if some sequences move slowly. While this isn't really considered a thriller, one specific part of the film very much is and everything surrounding that is done so well that even if I've seen this well over a dozen times, it still works for me, every time I watch this.
The acting is understated but in that, it generates a lot of emotion, dread and this is almost a thinking man's movie. It explores interesting concepts, presents them in a unique way and it doesn't insult the intelligence of the viewer.
In fact, it does the stark opposite of that and it relies on the audience to pay attention, follow along and figure out things on their own. While I think that the messages and the story are pretty clear, it does leave the film open for some interpretation and the debates people have had for decades over the "meaning" of this film are just as entertaining as the picture itself.
I've debated parts of this movie with other film lovers for years and almost every time, I'm left with something new to think about or a detail that eluded me and makes me want to go back and watch the film again.
I don't want to spoil the plot for the few who might not have seen this film. And frankly, it's not all that easy to summarize. Maybe, at some point, I'll write a multi-part essay series on it. Or I'll bring people in to talk about it if I ever do something with the YouTube channel again.
2001 is perfect in every way, though. Sure, some may disagree and that's fine but for me, it's the greatest thing Kubrick, a true master, has directed. It also features some of the best cinematography and sound in motion picture history. And for the time, this, hands down, had the best special effects ever seen on the big screen. Over fifty years later, this looks so much better than the CGI effects of today.
Rating: 10/10
Pairs well with: its sequel, 2010: The Year We Make Contact, as well as other Stanley Kubrick pictures.
Vids I Dig 343: Cartoonist Kayfabe: Jack Kirby's & Stanley Kubrick's '2001: A Space Odyssey'
May 31, 2020 by Talking Pulp	in Videos, Vids I Dig and tagged art, Arthur C. Clarke, Cartoonist Kayfabe, comics, culture, Ed Piskor, history, Jack Kirby, Jim Rugg, Marvel, Stanley Kubrick, The Odyssey Series	| Leave a comment
Comic Review: 2001: A Space Odyssey (Series)
February 4, 2019 by Talking Pulp	in Comic Review, Reviews and tagged action, adventure, anthology, Arthur C. Clarke, book, comics, fantasy, Jack Kirby, Machine Man, Marvel, review, sci-fi, Stanley Kubrick, superhero, The Odyssey Series	| Leave a comment
Published: 1976-1977
Written by: Jack Kirby
Art by: Jack Kirby
Based on: 2001: A Space Odyssey by Arthur C. Clarke, Stanley Kubrick
Marvel Comics, 180 Pages
This comic book series took me a really long time to track down. There are ten issues and they've never been reprinted and probably never will be due to the fact that Marvel hasn't owned the comic book publishing rights to 2001: A Space Odyssey since… well, 1977 when this series ended.
But who the hell wouldn't want to read Jack Kirby's version of what happened after the movie finished? And this is all Jack Kirby. He wrote it, he did the art and he had a love of the Stanley Kubrick film that was truly a masterpiece.
This comic follows up the adaptation Kirby did of the film earlier in 1976. This series sees Kirby take the concepts and ideas from the movie and apply them into new stories. This really is an anthology series in the beginning but larger, multi-part story arcs come out after the first four issues.
Now those first four issues are different versions of the same story. Each follows an ancient character that comes into contact with the Monolith. Then they flash forward to one of their descendants in the future, usually an astronaut, and show what happens when they also come into contact with the ominous Monolith. Many characters evolve into a different version of the Star Child or as Kirby refers to them, "Seeds".
The fifth and sixth issues deal with a larger arc and starts as a bit of a superhero story featuring a heroic character named White Zero and a villain named Death Master. There are twists to the plot but this is where Kirby really finds his footing and starts turning 2001 into something closer to his work for DC Comics on The New Gods, The Forever People and Mister Miracle; collectively known as his Fourth World saga.
The seventh issue is really interesting as it follows the journey of a Seed through the cosmos, space and time. It's bizarre, it's cool and it's 100 percent Jack "The King" Kirby.
In the final three issues, we get a big surprise. Well, it was at least a big surprise for me, as this three-part arc is the origin story of the character that would go on to become Machine Man in the regular Marvel Universe. Which, I guess makes Jack Kirby's 2001: A Space Odyssey part of Marvel canon, even though I didn't see it that way for the first seven issues.
This was a solid series by Jack Kirby. It's not quite a masterpiece, as it is a bit bogged down by the first four issues and their repetitiveness but once it found its footing, it was some of the best work that Jack Kirby has done.
And I can't end this review without mentioning how dynamic and beautiful the art was. You could tell that Jack Kirby put a lot of passion into this and I'm glad, as a Kirby fan, that I now own the complete saga.
Now I just have to track down a copy of his film adaptation.
Pairs well with: other Jack Kirby works that dealt with the cosmos.
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Cassidy Lynn Releases Music Video for "Loser" (Watch!)
Last year, Cassidy Lynn released The Polaroid Project EP, an album that showed off her singing and songwriting skills and also dialed into her influences while creating her own sound. Today, Lynn shared the music video for one of the tracks off the EP, "Loser."
The song, which became a fast fan favorite on the album, is a reminder to a guy not to lose a girl because he failed to listen to her needs. Urging the male in the story to realize what he has before it's gone — and gone is sneaking up on him quickly — Lynn points out the importance of communication with someone you care about.
As stated in our review at the time of release, Lynn has a wonderful way of turning stories into lyrics and melodies, cleverly penning simple, yet meaningful, lines like "hey loser, don't lose her."
Watch Cassidy Lynn's new music video for "Loser" below and let us know what you think of one of our favorite independent artists!
Cassidy Lynn, Loser, Polaroid Project
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Surprise … second country singer comes out as gay
The official National Coming Out Day was October 11, but apparently someone forgot to tell the men of country music that.
Kevin Fowler set to release new album November 12
Press release: Kevin Fowler, one of Texas country's most prolific artists, is set to release his seventh studio album How Country Are Ya? on November
Gary Allan celebrates the first anniversary of his Nashville men's boutique, The Label
Gary Allan celebrated the one-year anniversary of The Label, his chic menswear store in Nashville.
Exclusive Interview: Meet Singer-Songwriter Cassidy Lynn
Cassidy Lynn Releases EP And Unveils #PolaroidProject


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Q: Blazor JSInterop static vs instance C# methods Could somebody please let me know how static methods work in regard to calling C# methods from JavaScript using JS interop?
If I have a static method in the code section of a component that references objects in that component, and there are multiple instances of that component on a page, will all instances be affected by the method call?
Or even worse, will this act as a Singleton on my server causing updates to every single client instance of that component?
I'm currently developing an audio recording system that cycles through phrases marked in text, and whenever JavaScript detects 5 frames of silence in the media stream, I want to call a C# method that will highlight the next section of text by changing its CSS class.

A: If you want to change some styles in your component, you definitely not want to use a static method. Because a static method could not interact with the instance of the component - as you cannot use the this keyword in a static method.
What I think you want to do is first, in C# side, create a classic method in your component C# code. For example create:
public void ChangeStyle()
{
     this.ClassToDisplay = DoSomeManipulation();
}

Then, JS will need the instance of the the component. So you can do something like that: (I use the OnAfterRenderAsync because it is shown in Microsoft documentation, but the goal is to do it once)
protected override async Task OnAfterRenderAsync(bool firstRender)
{
    if (firstRender)
    {
        DotNetObjectReference<MyComponent>? dotNetHelper = DotNetObjectReference.Create(this);
        await JS.InvokeVoidAsync("JSFile.setDotNetHelper", dotNetHelper);
    }
}

Then in JS side, you will need the setDotNetHelper method, with the following content:
class JSFile
{
    static dotNetHelper;

    static setDotNetHelper(value)
    {
        JSFile.dotNetHelper = value;
    }
}

Now you are ready, you can call whenever you want the ChangeStyle method of your component. To do so, use this instruction in JS:
await dotNetHelper.invokeMethodAsync('ChangeStyle');

Et voilà. I am available for clarifications or questions, have a good one!
// Dylan

redpajama_set_name: RedPajamaStackExchange


text:
Crisis? What crisis says Eskom
Home News Crisis? What crisis says Eskom
News South Africa 9 December 2014
The media briefing yesterday by Eskom's CEO, Mr Tshediso Matona, inspires no confidence that the true nature of the problems facing Eskom are being addressed.
The basic take away from the briefing was that blackouts are here to stay; and that there is not much Eskom can do about it.
The current situation at Eskom is damaging to our economy and South African families who have to structure their daily lives around Eskom's load shedding schedule.
It is simply shocking that President Zuma and Public Enterprise Minister, Lynne Brown, are missing in action while the country's economy is in turmoil.
South Africa needs an urgent response to ensure that the lights stay on, but that also makes provision for the long term sustainability of our electricity generation capacity.
Load shedding is jeopardising countless jobs, and it cannot be tolerated this casually.
Jeffreys Bay has been suffering through loadshedding that has not been announced and loadshedding schedules that have not been adhered to by Eskom.
It is shameful that South Africans are now expected to deal with load shedding as if it were unforeseen and inevitable.
Eskom, through mismanagement and failure to plan ahead, have brought us to this point.
For the good of our nation's economy and its capacity to sustain our people's livelihoods, we have to ensure a constant uninterrupted supply of electricity.
Week starts with more loadshedding
Loadshedding will continue until 11 pm this evening according to the embattled power supplier Eskom. Eskom says it will be…
Eskom goes two months with almost no load shedding
Eskom said on Wednesday that the probability of load shedding remained low for the day as the power provider celebrated…
Dark weekend ahead for South Africa
South Africans have been warned to brace themselves this weekend for what Eskom has called a long weekend maintenance festival….
Eskom announces load shedding for entire country
Eskom has announced that load shedding would be implemented today (Sunday) from 08:00 until 22:00. "This will be in an…
Eskom loses 36 % of capacity
A total of 15 467 MW of Eskom's generation capacity was off-line on Wednesday, constituting an unprecedented 36 % of…
Eskom warns of total grid collapse
Eskom CEO Tshediso Matona has stated that one unexpected event at any of its power stations can push the country…
30 % of Eskom's power supply is unavailable
The latest report issued by Nersa on the state of Eskom reveals that South Africa's power supplier's performance has deteriorated…
Majuba Silo has collapsed – will impact loadshedding
Photo's have emerged on social media of the supposed cracked silo at the Majuba Power Station that show the silo…
Load shedding for South Africa this weekend
Rolling black outs will hit South Africa this weekend as Eskom scrambles to build up reserve energy supplies for the…
Risk of loadshedding remains high
Stage two of rolling power cuts ended on Sunday, with the power system to be under "severe pressure" over the…
Load shedding returns to avoid collapse of power grid
Without any prior warning, South Africa was hit with stage 2 loadshedding yesterday (16 October 2019) with the grim reality…
SA urged to use electricity sparingly
Eskom has asked the public to help it "beat the peak" by switching off geysers and non-essential appliances so as…


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The Sinking of the Lancastria
by Kate Murphy Schaefer
"Quite enough disaster for today." In an anecdote somewhat buried in his Memoirs of the Second World War, Prime Minister Winston Churchill recounts a "frightful incident" that occurred on June 17, 1940.
"The 20,000-ton liner Lancastria, with five thousand men aboard, was bombed just as she was about to leave. Upwards of three thousand men perished. The rest were rescued under continued air attack by the devotion of the small craft."
The British government had requisitioned the Cunard ocean liner to continue bringing British Expeditionary Force troops back to Britain following the evacuation of Dunkirk.
The ship's captain was instructed to take on as many passengers as possible, so estimates for the number of souls aboard on June 17 range between 5,000 and 7,000. This number far exceeded the amount of life jackets and lifeboats onboard, but this lack of safety equipment ultimately did not matter. The liner sank within 20 minutes of being bombed by the Luftwaffe. Approximately four thousand men, women, and children were buried beneath the waves. As were news reports on the sinking. "When this news came to me in the quiet Cabinet Room during the afternoon," continued Churchill, "I forbade its publication, saying 'The newspapers have got quite enough disaster for today at least.'"
A few eyewitnesses told of soldiers balancing on the upturned hull and singing "Roll out the Barrel" as the ship listed to port. Others told of retrieving the corpses that washed up on the beaches a few days later. Eyewitness Emile Boutin (whose stories are included in the online Lancastria archive) wrote, "Sometimes one body arrived, sometimes 16 arrived at once… other times there were four days, five days without anything." The citizens of Moutiers buried the victims behind a sea dike, where "they stayed…until the end of the war. Moutiers people never talk, never talked about the Lancastria, but about the cemetery of the British." It was not until 2006 that the French government afforded the site official legal protection as a war grave.
The sinking of the RMS Lancastria, as seen from a rescue ship
The French had a front row seat to the destruction, but the British people were kept in the dark. Churchill's D-Notice asked all media outlets not to publish any information on the Lancastria sinking. It was not an official government order, but the British media followed Churchill's lead. American and Scottish newspapers did print the story, but not until the end of July. Churchill even admitted he forgot to lift the D-Notice because "events crowded upon us so black and so quickly." That D-Notice is not set to expire for another twenty years.
RMS Lancastria and Operation Chariot memorials, St Nazaire
Though more people died on the Lancastria than on Titanic and Lusitania combined, the story is little more than a footnote in the history of WWII. German bombing raids shifted the focus away from the sea and onto the mainland, and the nation's attention also shifted to fresh challenges and atrocities. Official commemorations of those lost during the disaster were long in coming. Almost 50 years later, a memorial was erected in St. Nazaire, reading:
"Opposite this place lies the wreck of the troopship Lancastria sunk by enemy action on 17 June 1940 whilst embarking British troops and civilians during the evacuation of France. To the glory of God, in proud memory of more than 4,000 who died and in commemoration of the people of Saint Nazaire and surrounding districts who saved many lives, tended wounded and gave a Christian burial to victims. We have not forgotten. HMT 'Lancastria' Association, 17 June 1988."
Lancastria survivor Charles Napier with a copy of the newspaper which reported the news of the Lancastria sinking. Mr Napier is also wearing the Lancastria commemorative medal which was awarded by the Scottish Government in June 2008 in recognition of those who were aboard the vessel that day.
In 2011, a memorial was dedicated in Clydesdale, Scotland, where the ship was built. Memorials in statue, plaques, and stained glass can be found in Staffordshire, Liverpool, and London. Though buried in WWII history, the sinking of the Lancastria reminds us of the sacrifices and loss of thousands of men, women, and children during the war. Their names may be lost to history, but they are not forgotten.
Kate Murphy Schaefer is an undergraduate history instructor who studies the human impact of wars and revolutions.
'Retreat to Victory'. The evacuation of more than 300,000 Allied soldiers from the beaches of Dunkirk, between May 26th and June 4th 1940…
Left Behind After Dunkirk
After the Dunkirk evacuation, pockets of military personnel were left behind in France who had to make their way to the French ports for evacuation as best they could. These were dangerous journeys, along roads blocked with refugees and under bombardment by enemy aircraft. Some of those left behind were women of the ATS…
Nurses at War: At and After Dunkirk
The story of the brave men rescued from the beaches of Dunkirk in May and June 1940 is well known, but less often told is the story of the nurses on the hospital ships that brought thousands of wounded servicemen back to the safety of England…
RMS Lusitania
On the morning of May 1st 1915 the Lusitania left New York behind. Bound for Liverpool, few of the near two thousand passengers paid any...


text:
J P Systems, Inc.
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VA Terminology Standards Support
VLER Health Business Services Interoperability Specifications
The Virtual Lifetime Electronic Health Record (VLER) and the Veterans Health Information Exchange (VHIE), also called VLER Health Information Exchange, helps Care Coordinators manage Veteran healthcare. Veterans Health Administration (VHA) and Community Care healthcare providers and partners exchange Veteran health information with each other's organizations using VHIE, which is an open architecture, standards-based approach to healthcare information exchange. VHIE provides a network of healthcare systems capable of exchanging information securely over the internet based on a common set of standards, specifications, and policies. Upon Veteran consent, the VHIE eHealth Exchange (eHX) enables the bi-directional sharing of VA and non-VA healthcare records.
Throughout this project, we have provided terminology expertise to establish functional and semantic interoperability. We provide Subject Matter Expertise (SME) to Integrated Product Teams (IPT) or Integrated Business Teams (IBTs) within the VA, and our terminology and business analysts plan and engage business owners to establish and document the "As Is" and "To Be" architectures and to validate technical specifications. Our SMEs also define integrated electronic health record terminology and interoperability requirements in support of eHealth Exchange, Direct Messaging, and other HIE standards, including FHIR, Security Labeling Service (SLS), and Direct protocol.
We also provide recommendations for pertinent standards and interoperability specifications for application to VLER Health products. We participate in and serve as liaisons between VA's VLER Health and SDOs, and external partners to monitor initiatives and communications that could impact terminology, standards, interoperability, and VLER Health data exchange objectives and directions.
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Over the travel and want to work close to home? Pukekohe is where we are based, we want you to come and join us. We are a well-known, privately owned local business with a reputation for getting the 'job done' and 'caring about our customers'.
Your day will never be the same with loads of variety to keep you busy. We are well known for the great job we do, so qualityworkmanship is a must and something we are proud of. We also provide awesome customer service and enjoy a good laugh with our customers and possibly may even enjoy a nice cold Heineken at the end of the week! Our customers are loyal, so we also want our new team member to be too!
If you want to be busy, like variety in your work, have experience with a full range of mechanical repairs, enjoy talking to people, providing great service and can show initiative whilst thinking on your feet, then give us a go. Apply now, so you can work close to home! Click on the link or ring Lara on 0218777 20 for more information.


Mauria Finley is the entrepreneur and e-commerce veteran behind the new on-demand personal shopping service, Allume.
And just as Allume recently raised a $3 million seed round to make the transition from beta, this digital product has been attracting businesswomen who want to save time and money when they shop – and who want to hone their personal style quickly and effortlessly.
Overall, this San Francisco-based startup is disrupting the personal shopping space and is eradicating any stresses and strains that come hand in hand with shopping online and in person.
New clients simply need to fill out a quiz when they sign up online and are instantly matched with an experienced and real life personal shopper or online stylist.
From there, the stylist will liaise directly with their new client via text and proceed to source clothes and accessories from the internet that best match their client's shape, style, taste and budget.
A virtual lookbook of suitable looks and suggestions is then sent to the client over email.
Previous to Allume, Mauria founded Citrus Lane, a subscription box service for parents. She also worked at eBay – for the most part in buyer product management and then managing strategy and operations for the shopping categories. Mauria has also worked at PayPal where she helped launch PayPal Mobile.
Here, Mauria tells Nativa World about her fashion tech startup and how her need for a personal shopper set her on the road to creating Allume..
Mauria what does the word, 'Achieve' mean to you?
For me personally to "achieve" is to accomplish something meaningful and lasting. For my new company, "achieve" is to build a lasting business that women love.
What's behind Allume and what problem does it solve?
My desire to start Allume came from my own personal experience. I knew that I needed to be 'put together', but I always felt lost on how to do it. I really wanted a "fashion BFF" who could get to know me and guide me. Professional women want and need to be put together too but often they're too busy, may not enjoy shopping, may not know where to find exactly what they need, or may want inspiration and new ideas. Allume's stylists can help – and it's essentially free! Our goal is to become the go-to place for professional women to find amazing clothes.
How does Allume differ from other fashion tech startups?
Before talking about other fashion tech startups, I'd start by saying that we address the gap where many women feel underserved by current options. They don't want to go to the mall – it's too time consuming and they don't get enough help and support. But when they shop for clothes online, it's overwhelming and almost impossible to find what they are looking for.
Who would Allume appeal to?
Our core client is a professional woman. We want to be her go-to-place to shop for fashion online. Why? Because her personal shopper understands her, picks out great clothes that she wouldn't have found yourself, and it's easy, fun and essentially free. For brands, we want to be a "no-brainer" platform where we drive new client acquisition, repeat usage, and provide valuable data. And, for stylists, we want to provide an amazing career where stylists get to do the fun parts – building relationships with clients and finding awesome clothing that makes clients happy.
We're a marketplace. Allume makes money through partnerships with online brands and stores. We have partnerships with ~50 brands & retailers, including large established and small emerging brands, both US and international. But Allume stylists can shop across the entire Internet, selecting items from any brand or retailer online. Allume's marketplace model provides unique benefits to both clients and brands by giving clients more choices and giving brands new direct customers. Allume stylists aren't commissioned; they are measured on client buy rate and satisfaction. Our goal is to become the go-to solution for women any time they're looking for new clothes.
How do you source the stylists on the platform?
Allume stylists need to have a passion for fashion and experience in personal styling or retail.
Step 2: Stylists consult directly with each client over text messaging to better understand her style and goals.
Step 3: Stylists shop the entire Internet to find items their clients will love.
Step 4: Clients get a virtual Lookbook, personalized just for her.
Step 5: Clients choose what to order through Allume. Prices are never marked up.
Step 6: Clients share feedback and photos with their stylists. Returns are simple and the Allume concierge team can help.
Step 7: Clients can keep working with their personal stylist for any future needs.
Our service is delivered via text and web-based Lookbooks.


Manual Therapy is a specialised are of Physiotherapy where specific hands on techniques are used to assess and treat soft tissue and joint structures.
Joint mobilisation, manipulations are forms of manual therapy for our joints. We also have specific manual therapies for soft tissues including soft tissue massage and trigger point release.
Joint Mobilisation – A skilled technique applied by a therapist which aims to reduce pain and increase joint mobility. This technique uses repetitive, oscillatory movements and pressure in specific joint direction.
Manipulation – A form of joint mobilisation which differs in technique. It consists of 4 stages of set up which will involve applying a 'thrust' movement to the joint in aim of increasing joint movement. There is 'cracking' or 'popping' sensation which is believed to be the release of natural gases produced in the body. However there are some misconceptions behind this theory.
Trigger Point Release – Trigger Points are hyper-irritable points in our muscles that can be found in our muscles. They are bands of tension that become painful when they are compressed. Often they may refer pain to the surrounding tissues and be tender on palpation.
These manual therapy techniques aim to reduce pain and restore normal movement. Our Physiotherapists will design a strengthening and flexibility programme to help facilitate and maintain normal function.
At Flood Street Physiotherapy our therapists have completed further studies in some of these techniques including Advanced Osteopathic manipulations and Mulligan's Mobilisation Techniques.