The Rev. Curtis Campbell of Mullins, SC, has for 43 years been the Picasso of radio for the County of Marion / Pee Dee Region as the General Manager and leading on-air personality of WJAY Radio.
"This is Rev. Curtis Campbell, your community pastor still," are the words which mark the beginning and end of his broadcast each day. The "torch" of radio was passed to him by the late, great Thomas "T.J." Hughes and his recollection of the early days are lines of demarcation, with WJAY in a class all its own. He says the station's splendor in the area was in what it carries.
Every crucial moment in WJAY's life is marked and scored to the tune of Campbell's own voice or that of several other on-air personalities including Dion Campbell (the Rev.'s son), Tracy Crosland, Peggie Gunter, Cindy Mason, Kennedy Williams and Andre Wilson. From birthdays and deaths, to church news and song requests —– residents know that through the airwaves somewhere out there, is concern for what concerns them, Campbell says.
WJAY's official history exists, primarily and ironically, only as told through the person of Campbell because there is no full written account. The station was erected in 1949 and is still housed in the same spot between Marion and Mullins, SC. It began as a country music station and has since evolved into a gospel station. The building serves as a major mile marker between the two cities. Campbell says the Harrison and McMillan families of Mullins recognized a need for the station and readily met that need. After more than ten (10) years in operation, there came to be a noticeable change in programming: it began to include African-Americans.
Campbell's mentor, "T.J." Hughes became an on-air personality, while The Jackson and Daughters Funeral Home and Bishop R.F. Davis both had their own programs in the early 60s, according to Campbell.
He recalls that the morning radio broadcast served as the alarm clock for the community.
Not that anyone wanted to turn it off. In the 60s, Campbell recalls hearing some amazing melodies. Hughes ushered in groups like The Fabulous Golden Tones, Rev. Jackson, and others who would perform live at the station. The station served as a studio of sorts. Hughes gave each group about 10 minutes to sing; he is credited largely with integrating the programming to include African-Americans, with the permission of then vice-president and general manager Forest Ramsey. Hughes also brought on the Rev. John T. Bell.
Frankie Baxley later joined Hughes for Sunday morning programming.
Popular people and businesses such as Captain Kangaroo, Farmer Frank, Slim Mims, Jean Louis, Charlie Carpenter, Mullins See and Hear Shop and others were added to the line-up during this time.
It was in 1975 that Hughes and Campbell became acquainted. Not long thereafter, Hughes introduced Campbell to Ramsey. Campbell was later called into the station by Ramsey to audition for a Piggly Wiggly commercial, and the rest – as they say – is history.
Quite a few transitions have taken place since its inception. The original FM signal, WCIG was sold outside the County. The AM side of the station, WJAY 1280, was obtained by the late Bishop R. F. Davis, a local visionary who desired to preserve the station for the community. Under Bishop Davis' ownership, the station purchased an FM Translator, 98.3, which enabled the station's AM programming to be simultaneously broadcast on the FM dial, for a higher quality of presentation. Upon the passing of Bishop Davis, and with the endorsement of the Davis Family and The Greater Highway Church of Christ, the station again changed hands. The Door of Hope Christian Church (DHCC) in Marion, SC acquired ownership. DHCC hired Mr. Reggie Gay of Atlanta, GA, as interim general manager and broadcast coach for the station. He brings with him vast knowledge of the industry and a passion for innovation.
His goal is to "… do something new and refreshing with the radio station," while maintaining its valued heritage. By means of a vital online presence, WJAY will make the transition from 20th Century to 21st Century – retaining its roots, while refining its branches. There are powerful, new things on the horizon for WJAY Radio, 98.3 FM, 1280 AM.


Tomisato is out in the direction of Narita Airport. In fact, according to the real estate agent we talked to when we went there recently, a good portion of the residents of the city make their living off the airport in one way or another, which may explain the density of motor traffic. The nearest train stations are actually in Narita City, which means everyone drives to wherever they have to go, including their workplaces. It would appear there are almost no Tokyo commuters in this stretch of Chiba Prefecture, which is understandable. At some point, you have to reach a distance where people don't go to Tokyo to work, but the lack of public transportation is notable.
Though it isn't that far as the crow flies from where we live, getting to the property we wanted to inspect would have taken almost two hours by public transportation, so we rode our bicycles and got there in less than an hour. We met the agent, a young woman in the tan slacks and black polo shirt uniform of Century 21, at the Tomisato City Hall, which had a big sculpture of a watermelon slice out front (Tomisato is the second biggest producers of suika in Japan, though no one we asked knew who's #1). The property wasn't far away, but it was off a very narrow road set amidst small plots of farmland, which means we had to wait for a farmer's minivan to be moved. According to the site plan, the road is owned and maintained by the city, but since it's only 1.8 meters wide it's not a proper public road. That means any residential property which lines it is legally a "setback" property, so if the land is redeveloped in any way, the owner has to make allowances for the road to be widened to the legal 4-meter width. In major cities, that extra 2.2 meters might be a problem, but here it was a piece of cake. The property we were looking at was a whopping 1,351 square meters (408 tsubo) with a handful of very old, very tall trees lining the perimeter. The house itself, a one story deal with 77 square meters of floor area, was situated in the northwest corner, so there was a large expanse of empty land. Except for one neighbor to the west, there was no one else to see.
The structure was originally built in 1972, a miniature version of a traditional Japanese house: three tatami rooms separated by sliding doors and a short roka (hallway) in front of a row of sliding glass doors that looked south. The kitchen and genkan (foyer) were large for such a small place. It was being sold by another real estate company who had bought it from the previous owner and had fixed it up last fall: new tatami, a new exterior paint job (on metal siding); new flooring and cabinets in the kitchen, and a refurbished bathroom. It wasn't a reform job we would have done ourselves, but this is the sort of one-story house we're interested in, and with an investment of 7 or 8 million it could be exactly the sort of place we've been looking for. The asking price was ¥12.8 million. It had already been reduced three times since going on sale about a year ago. Originally, the company wanted ¥15.8, then they reduced it to 14.8, 13.7, and now 12.8. The C21 agent said the company was pretty desperate to get rid of it, implying we could probably bargain them down even further.
We would have to, since the place needed more work than the re-reform we would have to carry out to make it to our liking. At present, the water was from a well. City water ran up to the edge of the property, but if we wanted to use it we would first have to pay the city ¥300,000 for the rights and then lay pipes from the house to the road, which would cost at least another ¥200,000. And though the setback condition wasn't a serious issue (having the road widened wasn't really an option, anyway, unless all the other houses on the road decided to rebuild at the same time), the property had been designated by the Cultural Agency as shuchi no maizo bunkazai hozochi, meaning land that may contain historical artifacts. If we rebuilt the house and discovered pieces of ancient pottery (kilns used to be prevalent in this area) then legally we would have to report the find to the local and central governments, which would then "advise" us on how to proceed with excavation that we couldn't refuse. Not only would we be compelled to carry out an archeological dig, but would also have to pay for it. It sounds like a joke, but we've heard of condominium projects that were delayed for years because ground work dug up some ancient artifacts that then had to be excavated, thus adding enormous costs to the condo construction and forcing buyers to wait an extra year or two before they could move in.
But that's not the reason we'll probably pass on the property. Even if we negotiated the price down a few more million, we're not sure we want to live in Tomisato. The area where the property is located is nice and open and quiet and leafy–in an earthquake it's nice to have a large piece of land for pitching an emergency tent–but it's impossible to get anywhere in town or out-of-town without a car, and though we may buy a car again some day, we like the idea of public transportation, and there weren't even any buses we could see on the narrow public roads. It took us even less time to ride our bikes home. We're sure it would have taken longer by car.
why would anyone remodel a 1960 house???
I'll catch a cold just looking at those walls.
The upside of Japan's ongoing depopulation process is that people looking for housing will finally hold the whip hand wrt prices.
Outside the Yamanote at least. Well, there's artificial scarcity there too, but the real estate industry can hide it better.
I checked it out on the C21 homepage and noted that it really does look close to Narita airport. As it has the appearance of a shack, I guess noise would really be a big problem for this property. Land is a plus point, but 12.8m really looks like an over-optimistic pitch for this for this type of house, especially given the age.
Is this "We're looking for a house, and this is our lastest report" thing simply a fictional framing narrative for a series of real estate posts that you do as part of research for a professional project, or are you really looking for a house? If the latter, you are really going about it in an inefficient, scattershot way.
You need to narrow down where you want to live, decide the type of property (condo, house), then list up your must-have and nice-to-have conditions (price, layout), and then take those to local realtors, and follow up regularly.
You're not going to find stuff on the internet. By the time it gets on the internet the good stuff has been filtered out. (After appearing on the internet, the real crap then goes into the printed magazines.) The good stuff gets sold to customers who have created a preexisting relationship with the local realtors.
If your reason for rejecting this is that you don't want to live in Tomisato, and that's a must condition, why on earth did you go look at a house in Tomisato?
I think your biggest problem is that you are looking for something perfect, which you are not going to find, especially at your price point.
Thanks for the comment. Though our interest in housing is partly academic, the search is not "fictional." We would like to find a place to buy, but we have no illusions about what is available at our "price point." Nevertheless we want to see what *is* available and think that some of the things we learn in the process might be interesting to others in a similar situation. In the past we narrowed down our criteria with regards to price, place, layout, etc., and for all intents and purposes there is very little to choose from within, say, two hours of Tokyo, so if we are going to buy then we have to compromise on something–probably a lot of things. That's why we look at almost anything, including properties in Tomisato (which we knew nothing about until we actually went there to see this property). "Efficiency" is not our concern. We have cultivated relationships with realtors who know what we want and sometimes suggest properties not listed on the Internet, but the difference isn't usually that remarkable.


text:
Critical Essay About The Lottery
This issue was expanded in the sixties, suggesting that beyond authorized obligations firms experienced sure responsibilities to culture.
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redpajama_set_name: RedPajamaCommonCrawl


for coming to fuel Maker Fest; after all, an army of Makers runs on its stomach.
See you all at Maker Fest on Saturday!
This year, in addition to lots of great exhibits, there will be some Maker Meetups happening with Maker Fest. I know what you're thinking: "Meetups within meetups? Where will it end?". The answer is, it won't, it's meetups all the way down.
First, there's the Miami Valley Mesh Alliance. In addition to their talk on Mesh Networks (1PM, don't miss it!), they'll be having their monthly group meeting at Maker Fest. The meeting is open to the public and starts at 9:30. It should be a good chance to find out more about amateur radio in Dayton.
Then, there's the Miami Valley Knitting Guild. They'll be holding a meetup for anyone and everyone interested in fiber arts. If you want to learn to knit, or have a project in progress that you just want to bring and work on while talking to other fiber folks, here's your opportunity.
Finally, Dayton Diode is opening its doors for people to check out their makerspace. Find out more about Diode at Maker Fest, and then go check it out first hand. And, once Maker Fest is over and you're looking for more makers to hang out with (because, really, can you ever get enough hanging out with makers?), Dayton Diode will be having an after party, starting at 7PM.
Basically there's lots of opportunities for extra fun at Maker Fest, so we hope to see you there!
MCM Electronics at Maker Fest!
A common trope in Star Trek was to have a piece of equipment break, followed by the pronouncement that the equipment in question was too detailed to be called forth from the replicators. Back here in Sector 001, we're dealing with the early predecessors of replicators, 3D printers. And this year at Maker Fest, we're lucky to have David Wirth, who is working on using 3D printers to create complex pieces of equipment.
David has developed a 3D printed railgun, and will be giving a presentation about the process at Maker Fest on March 12. He'll also bring a some parts from the project for attendees to see, as well as discussing some of the other aspects of his creation.
See you at Maker Fest!
Mr. Charters is a spokesperson for Dayton History and has made presentations to numerous organizations about significant historical events and individuals from the Dayton area. He volunteers as an interpretive guide at Carillon Park and Hawthorn Hill. In 2013 he received Carillon Park's "Volunteer of the Year" award.
We hope to see you at Mr. Charters' talk!
Visit us at Tech Fest!
Come down to Sinclair Community College today and visit us at Tech Fest! We're in the Great Hall next to AFRL's Materials and Manufacturing Directorate booth. We'll have info on upcoming Maker events and some interesting projects from our members.
Yesterday we updated the site with a link to register as an exhibitor at Maker Fest 2016. But, what exactly is Maker Fest?
Maker Fest is an event where local Makers are invited to show off their projects, hobbies, and even small businesses. Last year we had people who built their own 3D printers, Arduino and Raspberry Pi projects, a musical robot, HAM radio operators, a blacksmith, drones, kites, and lots of other great exhibits. Basically if you make things, anything, you're welcome to exhibit at Maker Fest. Maker Fest isn't exclusively about high-tech Making either; things like woodworking, sewing, and other traditional crafts are welcome.
The purpose is to celebrate innovation, creativity, and the do-it-yourself spirit that has historically made Dayton a world center of entrepreneurship and manufacturing. There is also the opportunity to give seminars, workshops and panel discussions on various Maker topics.
This is a free, family friendly event, although it is not exclusively a K-12 or STEM event. Adults will find just as much to enjoy as the kids will.
Make It Dayton will have a booth at TechFest at Sinclair Community College this year. We'll be showing off some of our member's projects from a wide range of interests, including 3D printing, electronics, weaving and woodworking. Plus, you can get more information on the big Maker events planned for Dayton in 2016. Hope to see you there!
Please bear with us, as the website is a work in progress.


This original old photograph is in very poor condition with creases and tears as well as scratches, fading and discoloration. The photo appears to have been previously mounted in an album as there is some torn paper missing from the back of the photo. The photo dates from the early 20th century and was acquired in the historic city of Shizuoka, Japan near the foot of Mt. Fuji.
To the best of our knowledge the photographic image offered with this listing is an original print and not a later duplication. Age estimates as well as descriptions of the people and events occurring in the image are based on available information such as settings and activities depicted in the image as well as our experience with Japanese culture. All photographs purchased from us are carefully sealed in plastic and shipped in a box instead of an envelope to prevent damage during transit.
Many of the photographs we list are uploaded to our Japan Vintage Photo Blog which is an on-line gallery of unique and interesting images of old Japan. The purpose of this blog is strictly to share some of the wonderful photographs we encounter in the course of our work, and to provide a digital archive to preserve these images into the future. If you purchase a photograph from us and do not wish to have a digital copy of your image displayed in the photo blog or archive then please simply send us an email indicating your preference and we will promptly remove the image.
Japan antiques, art and mingei crafts!


We are pleased to invite you to the opening on Friday, May 25 from 5 to 7 p.m., and to view the art work during our regular business hours. The show will run through August 26, 2018. Our spring hours are Noon to 6 p.m. Wednesday, Thursday and Saturday and noon to 8 p.m. on Friday and Noon to 4 p.m. on Sundays. The exhibit is being facilitated by Art Beat of Hayward.


Thi Nhan is one of the most popular seafood restaurants in Hoi An. The food is fresh and delicious. The services and atmosphere are great as well.
Why Thi Nhan Restaurant is special ?
Thi Nhan restaurant is not frequented by many tourist and is more of a local experience, if that is what you are looking for. If you intend to try tasting seafood, you are suggested to get yourself to Thi Nhan Restaurant during your stay in Hoi An. It is located on half way from Hoi An Ancient Town to Cua Dai Beach. Two famous sea foods can be listed in the restaurant menu such as grilled tiger prawns and crab in tamarind sauce.
How to get to Thi Nhan Restaurant?
Go head east on Tran Hung Dao then continue onto Cua Dai to reach the restaurant.
They have a set menu with crab, shrimp, clams, fish, and maybe one more thing for $80 per couple.
Don't be surprised if restaurant is empty - you've found the right place.
This was a place that Anthony Bourdain recommended so we decided to give it a try. There are no words to describe how delicious our meal was! We had shrimp, fish and crab. The restaurant is not frequented by many tourist and is more of a local experience, if that is what you are looking for. The owner of the restaurant, Thi Nhan, greeted us when we arrived. She took us to the back of the restaurant and had us select our crabs. She showed us a whole fish and recommended that we have that too (in addition to the shrimp that we had already ordered). After we picked the fresh catch of the day, I stayed in the kitchen to watch the food preparation. It was such a great experience. All the vegetables were fresh and had to be prepared. I recorded Thi cooking the fish and crab, explaining what she put in the pans. Our crab was cooked in a tamarind sauce and it was to die for! I think this is one of the best meals we had in Vietnam. It was definitely one of the more expensive meals in Vietnam but worth it. If you eat here, there are two things I would highly recommend, the crab and shrimp. After dinner, the owner was so nice to offer to go out to get us coffee (she does not serve coffee in her restaurant) even though we did not ask or want coffee. She also gave us a phone number for taxi service in the event that we couldn't get a hold of one in the town center. Overall, if you want a good and authentic experience, do try Thi Nhan.


text:
Q: Flutter compute function not compiling I have a repository class (check below) that calls APIs through the HttpService class. I'm receiving historical data that contains 1000s of data objects. To avoid the computation problem, I'm trying to implement the compute() function to move this computation out of the main thread, but Android Studio is giving a compilation error.
class WealthRepo {

    Future<Responser<PerformanceHistoryModel>> fetchPortfolioHistory(
    String stackId,
    String? duration,
    ) async {
    try {
      final resp = await _httpService.makePostRequest(<API_EP>, jsonEncode(<REQUEST_OBJ>));

      return Responser<PerformanceHistoryModel>(
        message: '',
        isSuccess: true,
        data: compute(parsePerformanceHistory, resp),
      );
    } catch (e, st) {
      return ErrorHandler.error<PerformanceHistoryModel>(
        e,
        stackTrace: st,
      );
    }
  }
}

/// Outside WealthRepo class
PerformanceHistoryModel parsePerformanceHistory(Map<String, dynamic> response) {
  return PerformanceHistoryModel.fromJson(response);
}

lib/repositories/wealth_repo.dart:1431:23: Error: The argument type
'PerformanceHistoryModel Function(Map<String, dynamic>)' can't be
assigned to the parameter type 'FutureOr
Function(dynamic)'.

*

*'PerformanceHistoryModel' is from 'package:aphrodite_v2/data/models/wealth/performance_history_model.dart'
('lib/data/models/wealth/performance_history_model.dart').

*'Map' is from 'dart:core'.
data: compute(parsePerformanceHistory, resp),
^

PS - Responser is a custom response class we created. Not sure how to resolve this issue.
class Responser<T> {
  final String message;
  final bool isSuccess;
  T? data;

  Responser({
    required this.message,
    required this.isSuccess,
    this.data,
  });

  @override
  String toString() =>
      'Responser(message: $message, isSuccess: $isSuccess, data: $data)';
}

A: You either need to await your resp before passing it into the compute function.
      return Responser<PerformanceHistoryModel>(
        message: '',
        isSuccess: true,                       \/\/
        data: compute(parsePerformanceHistory, await resp),
      );

Or you need to update the signature on the function that compute uses so that it takes in a FutureOr<Map<String, dynamic>>.
  Future<PerformanceHistoryModel> parsePerformanceHistory(
      FutureOr<Map<String, dynamic>> _response) async {
    final response = await _response;
    return PerformanceHistoryModel.fromJson(response);
  }

redpajama_set_name: RedPajamaStackExchange


This is an original watercolor picture (41x28 cm - picture external dimensions, 42X29 - dimensions of the paper).
A snow-covered forest landscape. A peaceful painting - the perfect gift for somebody who likes nature and winter.
The picture is made on Stone paper. Stone Paper is a type of strong paper manufactured from calcium carbonate bonded with high-density polyethylene (HDPE). The production of Stone Paper uses no water, acid and no bleach or optical brighteners, it is very good for nature.


text:
Pylaemenes sepilokensis (Syn. Datames borneensis sepilokensis, Pylaemenes borneensis sepilokensis) ist ein auf Borneo, genauer im malaiischen Bundesstaats Sabah, vorkommender Vertreter der Gespenstschrecken (Phasmatodea).

Merkmale
Die Weibchen erreichen in der Nominatform eine Länge von 45 bis 48 mm. Die Männchen werden 39 bis 45 mm lang. Beide Geschlechter haben orangene Augen und eine braune, nicht glänzende Färbung, die bei den Männchen etwas dunkler ist. Diese Färbung und die stark strukturierte Körperoberfläche sorgen für eine Phytomimese, bei der die Tiere der Rinde von Bäumen ähneln.

Die Unterart Pylaemenes sepilokensis kinabaluensis bleibt etwas kleiner. Sie wird im männlichen Geschlecht lediglich 36,5 mm und im weiblichen Geschlecht 41 mm lang. Die Tiere unterscheiden sich von Pylaemenes sepilokensis sepilokensis durch das sich nach hinten deutlich verjüngende Mesonotum. Es ist beim Weibchen vorn 6,5 und hinten 5,5 mm breit. Beim Männchen verjüngt es sich von 5,5 auf 3,5 mm. Ansonsten ähnelt die Unterart morphologisch der Nominatform.

Vorkommen und Lebensweise
Die Nominatform wurde an verschiedenen Orten im Distrikt Sandakan, meist im Sepilok Forest Reservat, gefunden. Die Unterart Pylaemenes sepilokensis kinabaluensis wurde im Nationalpark Kinabalu am Rand der Straße zum Gipfel des Kinabalu nahe dem Park-Hauptquartier gefunden. Die Art frisst an Blättern verschiedener Aronstabgewächse, an Curculigo-Arten (Familie Hypoxidaceae) sowie an Schraubenbäumen.

Die nachtaktiven Tiere verstecken sich tagsüber und reagieren bei Störung meist, indem sie sich totstellen. Die Weibchen legen ein, seltener zwei Eier pro Woche ab. Diese sind braun, 3,5 mm lang und 2,5 mm breit. Ihre Oberflache ist mit ca. 0,5 mm langen, am Ende mit einem Doppelhaken versehenen Borsten bedeckt. Nach etwa 14 bis 18 Wochen beginnen die zunächst sehr hellen, ca. 11 mm langen Nymphen nachts zu schlüpfen. Während sie heranwachsen, zeigen sie oft Grüntöne in der ansonsten hellbeigen Grundfärbung. Bis sie adult sind, vergehen bei den Männchen fünf bis sechs, bei den Weibchen sechs bis acht Monate.

Systematik
Die Art wurde 1998 von Philip E. Bragg als eine von drei Unterarten von Datames borneensis beschrieben. Als Holotypus wurde ein bereits am 29. Juni 1927 nahe Sandakan gesammeltes Weibchen ausgewählt. Es war bereits im F.M.S. Museum hinterlegt und wurde ins heutige Naturalis überführt. Paratypen sind zwei Weibchen und drei Männchen, die aus der Sepilok Forest Reserve stammen. Die Weibchen wurden im September 1982 von C.L. Chan gesammelt und befinden sich gemeinsam mit je einem 1992 und einem 1994 gesammelten, männlichen Paratypus in dessen Privatsammlung. Das dritte, ebenfalls 1994 gesammelte Männchen befindet sich in der Privatsammlung von Francis Seow-Choen. Sowohl der ursprüngliche Art- als auch der Unterartname bezieht sich auf den Fundort.

Frank H. Hennemann synonymisierte 1998 die Gattung Datames mit Pylaemenes und zählt zu dieser lediglich Pylaemenes coronatus, Pylaemenes oileus und Pylaemenes pusillus (heute Planispectrum pusillum). Da die entsprechende Arbeit nur wenige Tage nach der Veröffentlichung von Braggs Beschreibung erschienen ist, sind hier unter anderem die drei Unterarten von Datames borneensis noch nicht berücksichtigt. Erstmals  werden Pylaemenes borneensis sepilokensis und die beiden anderen Unterarten 2004 als Vertreter dieser Gattung genannt.

Seow-Choen erhob 2016 alle drei Unterarten in den Status eigener Arten. Gleichzeitig beschrieb er mit Pylaemenes sepilokensis kinabaluensis eine Unterart zur Nominatform von Pylaemenes sepilokensis. Sowohl der männliche Holotypus, als auch der weibliche Paratypus wurden im September 2011 von Seow-Choen und Olivia Seow Wen im Kinabalu-Nationalpark gesammelt. Beide Typen sind im Sabah Parks Natural History Museum hinterlegt, welches auch als "Kinabalu Park Museum" bezeichnet wird und sich am Hauptquartier des Kinabalu-Nationalparks befindet.

Bei einer 2021 veröffentlichten molekulargenetischen Untersuchung wurden zwei als Pylaemenes sepilokensis angesprochene Stämme von unterschiedlichen Fundorten in Sabah, nämlich Sepilok und Tawau, als nicht konspezifisch ermittelt. Dem folgend müsste es sich bei dem in Tawau gesammelten Stamm um eine andere, noch unbeschriebene Art handeln.

Terraristik
Pylaemenes sepilokensis wurde für die Terraristik erstmals durch Mark Bushell im Sommer 2001 auf Borneo, genauer in der Nähe von Sepilok gesammelt und nach Europa gebracht. Die Art erhielt von der Phasmid Study Group die PSG-Nummer 245. Nachdem sie zwischenzeitlich verschollen war, ist sie nach weiteren Importen durch Ian Abercrombie seit 2015 wieder in Zucht. Neben einem Zuchtstamm aus Sepilok existiert ein weiterer aus Tawau, der bisher ebenfalls als Pylaemenes sepilokensis angesprochen wird, aber einer eigenen Art zugerechnet werden muss.
Als Futterpflanzen eignen sich anders als bei den meisten anderen Datamini dauerhaft weder Haseln, noch Brombeeren oder andere Rosengewächse. Die Art lässt sich dagegen, wie auch ihre engeren Verwandten, gut mit Efeututen, Philodendren oder Dieffenbachien halten und vermehren.

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 Heiminsekten.de von Daniel Dittmar mit Bildern und Informationen u. a. zu Pylaemenes sepilokensis 'Sepilok' und 'Tawau'

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

Building a system to do household chores such as laundry is a challenging robotics goal.
One component of this is ironing, which is aimed at removing
\emph{wrinkles} from fabric, making the garment look more dressy or
formal.
Figure~\ref{fig:iron_intro} shows our proposed robotic ironing setup.
A Baxter robot is ironing a wrinkle on a piece of cloth, which is detected by a surface curvature scan using a Kinect depth sensor and a discontinuity scan using a Kinect RGB camera and additional light sources.
Figure~\ref{fig:flowchart} shows a complete pipeline of post-laundry garment
manipulations, starting from grasping, continued by visual recognition,
regrasping, unfolding, placing flat, ironing, and folding.
Our previous work~\cite{LiICRA2014}\cite{LiIROS2014}\cite{LiICRA2015}\cite{LiIROS2015}
has successfully addressed all the stages of the pipeline with the exception of the ironing task.
This paper adds an ironing component to our existing pipeline.

A garment is typically manufactured by stitching together pieces of fabric,
each of which is cut out from an originally flat fabric sheet.
As long as the contacts between the weft and warp threads do not slide over each other,
a regular garment is thus locally \emph{developable}, meaning that the Gaussian
curvature (the product of the two principal curvatures) is zero everywhere except along the seams.
When experiencing forces due to squeezing or swirling motions, the garment may undergo a series of deformations,
resulting in (possibly a mixture of) the following two types of developable
regions: (1) non-smooth regions; (2) smooth regions.

\begin{figure}[t]
\begin{center}
\includegraphics[width=0.48\textwidth]{fig/intro-eps-converted-to.pdf}
\end{center}
   \caption{
	{\sc{top:}} A Baxter robot is ironing a piece of cloth on the table, assisted by a Kinect sensor and two light sources.
	{\sc{bottom:}} Samples of smooth region (left) and non-smooth region (right). The smooth regions are defined as height bumps, which can be removed by iterative pulling the cloth boundary.
	The non-smooth regions are defined as wrinkles which can be removed by ironing.
There is also a Kinect sensor on top of the table to capture depth and color images (not shown).}
\label{fig:iron_intro}
\end{figure}

Non-smooth regions usually cannot be flattened by iterative pulling.
We define those regions as \emph{permanent wrinkles}, which are the ones we want to use the iron on.
For the smooth regions, most of them can be flattened by pulling the boundaries iteratively.
We try to remove the permanent wrinkles (purple rectangle in Figure~\ref{fig:flowchart}), through a series of techniques
described in this paper using an iron mounted on one of the Baxter robot hands.

\begin{figure*}[t]
  \centering
  \includegraphics[width=0.99\textwidth]{fig/BaxterFlowChart-eps-converted-to.pdf}
  \caption{
    {\sc Top Row: } The entire pipeline of dexterous manipulation of deformable objects~\cite{LiICRA2014}\cite{LiIROS2014}\cite{LiICRA2015}\cite{LiIROS2015}.
    In this paper, we are focusing on the phases of garment ironing, as highlighted in the purple rectangle.
    {\sc Bottom Row: } Detailed ironing process from wrinkle detection to motion planing and ironing. We first detect height bumps using the depth fusion algorithm. Then applying GMM to fit those height bumps. We also employ diffuse reflection to detect surface discontinuities. Combining these two results, permanent wrinkles are detected using our probabilistic multi-sensor framework. Finally, all the detected wrinkles are sorted in an optimized way and exported to the Baxter robot for ironing.}
\label{fig:flowchart}
\vspace{-0.3cm}
\end{figure*}

For a permanent wrinkle smaller than the iron base with its surrounding garment region being
more or less flat, we found that we can reduce the permanent wrinkle by
static placement of the iron on the surface or dynamic sliding of the iron onto the surface for larger ones.
For a region with mixed deformations (i.e., smooth and non-smooth regions), we expect that we can pull the fabric to
locally remove the developable deformation (by using e.g., \cite{sun2015}).

Permanent wrinkles correspond to high curvatures or discontinuities in the gradient of the garment shape.
Other deformed regions are much smoother, and their height deviations are larger.
An off-the-shelf sensor, like Kinect, is useful for capturing regions with large variation in height.
But it is usually too low resolution for capturing smaller surface discontinuities.
On the other hand, because of the rapid change in the gradient (or normal)
around the permanent wrinkles, there is a rapid change in the lighting effect.
Therefore, an illumination based approach suffices to capture the permanent wrinkles.
We found that using a combination of a 3D depth scan and an illumination based approach allows us to robustly identify permanent wrinkles from other deformations without a carefully calibrated system.

We start by roughly placing the garment flat on the table, which can be achieved by ours and others previous
work~\cite{Towner2011}\cite{DoumanoglouICRA2014}\cite{LiICRA2015}.
We used a Kinect with a custom two axes mount, which is placed about $80$ cm above the table.
The axes of the motors are aligned in orthogonal directions to obtain depth images with enough parallax for reconstruction and fusion of multiple scans~\cite{Newcombe2011}.
We also place two light sources at two adjacent sides of the table, as shown in Figure~\ref{fig:iron_intro}.
The garment lit by the two light sources will have differences in the lighting effect around the non-smooth regions (permanent wrinkles).
We combine a 3D height map image and a 2D illumination image in a probabilistic framework, and classify and rank the deformations for ironing.
The robot aligns the principal axis of the iron with the target wrinkle, computes the trajectory and approach to the garment and performs ironing.
After several iterations, we obtain a desired ironed result with most of the permanent wrinkles removed. The contributions of our paper are:
\begin{itemize}
\item[-] A taxonomy of a few common wrinkles on a piece of cloth and garments, as well as the physical-level explanation.
\item[-] A multi-sensor probabilistic framework for classifying detected wrinkles for robotic ironing, which combines curvature-based and discontinuity-based images.
\item[-] Experiments with a Baxter robot showing effective robotic ironing using both static and dynamic ironing.
\end{itemize}

\section{Related Work}
\label{sec:relatedwork}

There are many challenges associated with the manipulation of a deformable object such as a garment.
Many researchers started with recognizing the category and pose of a deformable object using a large database,
which contains exemplars either from off-line simulation or real garments~\cite{DoumanoglouECCV2014}\cite{LiICRA2014}\cite{LiIROS2014}\cite{Willimon2013}.
By iterative regrasping of the garment by hands by a robot, the garment finally reaches a stable state that can be placed flat on a table~\cite{Towner2011}\cite{LiICRA2015}\cite{StriaIROS2014}.
These methods proceed to garment folding by first parsing of its shape~\cite{LiICRA2015}\cite{Milleretal_IJRR2012}\cite{millerICRA2011}\cite{StriaIROS2014}.
With the shape parameters, a folding plan can be generated and executed either by a humanoid robot~\cite{LiIROS2015}\cite{vandenberg2010}, or by two industrial arms~\cite{StriaIROS2014}.

What is left in our pipeline (see Figure~\ref{fig:flowchart}, top row) is to have an efficient ironing process, and identifying wrinkles is the first step of it.
To compute the surface curvature, many researchers proposed methods to extract features from depth visual cues~\cite{Shepard2010}\cite{RamisaICRA2012}\cite{Willimon2013}.
Those detected wrinkles are useful for robotic grasping, regrasping, and object classification.
One notable work that uses detected wrinkles to achieve a flattened surface is by Sun \emph{et al.}\xspace~\cite{sun2015}.
They apply two SLR cameras as a stereo pair to reconstruct a high quality depth map of garment surface.
Then by estimating the volume of the ridges, the robot arms are able to flatten the garment by iterative dragging.

Robotic ironing of deformable garments is a difficult task primarily because of the complex surface analysis, regrasping, and hybrid force/position control of the iron.
Without wrinkle detection, Dai \emph{et al.}\xspace introduced an ironing plan that spreads out the whole garment surface by
dividing it into several functional regions~\cite{Dai2004_traj}.
For each region, in terms of the size and shape, an ironing plan is automatically generated.
Dai \emph{et al.}\xspace also addressed the ironing problem considering the folding lines~\cite{Dai2004_folding}.

Figure~\ref{fig:failure_case} shows some examples of robotic ironing.
The top row shows a case of ironing onto a height bump.
If ironing a height bump, we can remove the air trapped in the bump, but permanent wrinkles could also be created.
This implies that we need to avoid ironing a height bump.
The bottom row shows a comparison of pulling the boundaries of the fabric, and ironing for wrinkle removal.
We can see that pulling can only remove some height bumps (smooth regions) but not permanent wrinkles.
But with further ironing, all the permanent wrinkles can be removed.

\begin{figure}[!htpb]
\begin{center}
\includegraphics[width=0.48\textwidth]{fig/failure_case-eps-converted-to.pdf}
\vspace{-0.5cm}
\end{center}
   \caption{Best viewed by zooming.
	{	{\sc{top:}} Effects of ironing on a bump. (A): A typical height bump on a piece of cloth. (B): Results of ironing on the height bump.
	\sc{bottom:}} A comparison of effects of pulling the boundaries and ironing on wrinkles. (C): A region with height bumps and permanent wrinkles. (D): After pulling the boundaries of the region, there are still some permanent wrinkles left. (E): The results of our ironing method showing the removal of the permanent wrinkles.
	}
\label{fig:failure_case}
\vspace{-0.3cm}
\end{figure}\section{Problem Formulation}
\label{problem_formulation}
In our approach, we employ two different types of visual scans to detect non-smooth and smooth regions.
One is a curvature scan by a Kinect sensor which fuses multiple depth images to find \emph{height bumps} (see Sec.~\ref{sec:curvature_scan}).
Height bumps are non-flat regions with smooth curvature.
The other one is a discontinuity scan using diffuse reflection to find \emph{permanent wrinkles} (see Sec.~\ref{sec:wrinkle_detection_diffuse}).
In terms of the scan resolution, the Kinect has relatively lower resolution in the surface reconstruction, whereas the diffuse reflection is able to capture smaller surface discontinuities.
Empirically, the non-smooth regions are mostly the permanent wrinkles as we defined in Sec.~\ref{sec:intro}.
The height deviation of smooth regions detected by the curvature scan are likely height bumps, caused by frictional force between the garment and the table, which can be removed by iterative pulling~\cite{sun2015}.

With the two scan methods mentioned above, we build a probabilistic multi-sensor framework that can efficiently detect and classify the permanent wrinkles that need to be ironed.
Since it is expensive to set up a well-calibrated diffuse reflection system to accurately reconstruct and measure the volume of the wrinkles, we argue that our framework is more generalizable and easy to deploy.

For the discontinuity scan, we are only interested in the position of the permanent wrinkles but not full 3D reconstruction.
The regions to be evaluated here are permanent wrinkles (non-smooth regions), which are from the discontinuity scan.
Let $\mathcal{K}$ represent a set of the detected height bumps from the curvature scan and $\mathcal{D}$ represent a set of the illumination discontinuities from discontinuity scan.
We first define a pixel-wised probability.
The probability of an illumination discontinuity ${d_i} \in \mathcal{D}$ in a permanent wrinkle set $\mathcal{W}$ is evaluated as,
\begin{equation}
\label{eq:pixel_wise}
\begin{aligned}[rl]
P(d_i \in \mathcal{W}) &= \sum_{d_i} P(x \in \mathcal{W}) \\
&=\sum_{d_i} P(x \in \mathcal{D}) P(x \in {\overline {\mathcal{K}}})R(d_i)
\end{aligned}
\end{equation}
where $x$ represents a pixel in the image, and $R({d_i})$ evaluates the confidence of a discontinuity ${d_i}$ to be classified as a permanent wrinkle in terms of the local shape features, etc.
Then we further define,
\begin{equation}
\label{eq:qd}
Q({d_i} \cap \mathcal{\overline K}) = \sum_{d_i} P(x \in \mathcal{D}) P(x \in \overline{\mathcal{K}})
\end{equation}
where $Q({d_i} \cap \mathcal{\overline K})$ evaluates the probability of a discontinuity ${d_i}$ in $\mathcal{D}$ not intersecting with height bumps using the results $\mathcal{K}$ from the curvature scan, and $\mathcal{\overline K}$ represents regions other than detected height bumps.
From Eq.~(\ref{eq:qd}), we can infer that $Q({d_i})=1$.
And Eq.~\ref{eq:pixel_wise} can be written as,
\begin{equation}
\label{eq:eq3}
P({d_i} \in {\mathcal{W}}) = Q({d_i} \cap \mathcal{\overline K}) \cdot R({d_i})
\end{equation}

\subsection{Joint probability evaluation}
We could calculate $P(d_i \in \mathcal{W})$ using Eqs.~(\ref{eq:qd}) and~(\ref{eq:eq3}).
For robust ironing, we want to avoid ironing regions that are close to a height bump or in between adjacent height bumps.
We found that using a Gaussian Mixture Model (GMM) as follows works well to approximate $P(d_i \in W)$ for our purpose.
We start by first using the results from the curvature scan and then the discontinuity scan in the detection pipeline.
The probability of a discontinuity $d_i$ to be a permanent wrinkle given detected height bumps from curvature scan in set $\mathcal{K}$ is evaluated by $Q({d_i} \cap \mathcal{\overline K})$.
Using the Bayes rule, it can be written as,
\begin{equation}
\label{eq:bayes}
Q({d_i} \cap \mathcal{\overline K}) = Q({d_i}|\mathcal{\overline K}) \cdot Q({\mathcal{\overline K}})
\end{equation}
$Q(\mathcal{\overline K})$ is a joint distribution of ${k_1},{k_2}...{k_N} \in \mathcal{K}$.
We further simplify the scenario that all the height bumps are created independently. Applying the chain rule with conditional dependency assumption,
\begin{equation}
\begin{aligned}[rl]
Q({d_i} \cap \mathcal{\overline K}) &=Q({d_i}|{\overline{k}_1},{\overline{k}_2} \cdot  \cdot  \cdot {\overline{k}_N})Q({\overline{k}_1},{\overline{k}_2} \cdot  \cdot  \cdot {\overline{k}_N}) \\
&= \prod\limits_{j = 1 \cdot  \cdot  \cdot N} {Q({d_i}|{\overline{k}_j})}=\prod\limits_{j = 1 \cdot  \cdot  \cdot N} ({Q({d_i})-Q({d_i}|{k_j})}) \\
&= \prod\limits_{j = 1 \cdot  \cdot  \cdot N} ({1-Q({d_i}|{k_j})})
\label{eq:chain_prob}
\end{aligned}
\end{equation}
Considering the height bumps detected from the curvature scan are mostly smooth regions, we can formulate those regions as an hypothesis for the permanent wrinkles.
The detected height bumps can be represented as several Gaussian distributions.
Eq.~(\ref{eq:chain_prob}) can be written as,
\begin{equation}
\prod\limits_{j = 1 \cdot  \cdot  \cdot N} (1-{Q({d_i}|{k_j})}) = \prod\limits_{j = 1 \cdot  \cdot  \cdot N} (1-{Q({d_i}|\mathcal{N}(k_j^{(x,y)},\Sigma_j^{(x,y)}))}
\end{equation}
where $k_j^{(x,y)}$ is the center of the height bump $k_j$.
The covariance matrix $\Sigma_j^{(x,y)}$ is defined as,
\begin{equation}
\Sigma_j^{(x,y)} = \left[ {\begin{array}{*{20}{c}}
   {{D_1}} & 0  \\
   0 & {{D_2}}  \\
\end{array}} \right]
\end{equation}
where $D_1$ and $D_2$ is the fitted first and the second principal axes of the segmented height bump.
The closer the $d_i$ to the height bump, the higher probability $Q(d_i|k_j)$ gets.
For each detected discontinuity $d_i$, we will evaluate its probability to be ironed as in Eq.~(\ref{eq:chain_prob}).
This formulation can be further approximated by a Gaussian Mixture Model (GMM).

\subsection{Individual probability evaluation}
In this part, we show the inference of $R({d_i})$.
The images captured from the discontinuity scan themselves carry useful information for permanent wrinkle classification, such as texture and edges.
Therefore, we propose a SIFT-SVM based classifier to find permanent wrinkles at pixel level.

The training data is collected by capturing dozens of images with normalization under a Lambertian reflection model (see Sec.~\ref{sec:wrinkle_detection_diffuse} for more details).
Then we manually label those wrinkles which are considered as the permanent wrinkles in the image at pixel level to form a positive training set ${\mathcal{T}_p}$.
We also create a negative training set $\mathcal{T}_n$ by scattering a certain amount of pixel points over the whole image.
Since the wrinkles only occupy a small set of pixels in the image, all the scattered points are mostly negative samples.

For each pixel in training set ${\mathcal{T}_p}$ or ${\mathcal{T}_n}$, we compute the SIFT descriptor~\cite{vedaldi08vlfeat}. Then we create two training sets $\{\bf{X}\}^{|{\mathcal{T}_p}|}$ and $\{\bf{X}\}^{|{\mathcal{T}_n}|}$, where ${\{{\bf{X}}\}^{|N|}}=\{{\bf{x}}_1, {\bf{x}}_2,...{\bf{x}}_N\}$ contains $N$ sets of $128$ dimensional feature vector.
Each pixel will be considered as a training sample in training a SVM classifier.
The output is a classification confidence score that will be assigned to each pixel $I_{u,v}$ as,
\begin{equation}
S(I_{u,v}) = sigmoid (\sum\limits_{j = 1}^N {{a_j}{y_j}\kappa({x_j},x) + b} )
\end{equation}
where $(a_1, a_2,...,a_N, b)$ are parameters from SVM training,
and $\kappa({x_j},x)$ is a kernel function.
Then the individual probability of a discontinuity to be a permanent wrinkle is calculated as a normalized summation of pixels that overlaid on itself as,
\begin{equation}
R({d_i}) = \frac{1}{{\left| {{d_i}} \right|}}\sum\limits_{{I_{u,v}} \in {d_i}} {S({I_{u,v}})}
\end{equation}
where $\left| {{d_i}} \right|$ represents number of pixels associated with this discontinuity.

\section{Multi-sensor Detection}
From Sec.~\ref{problem_formulation}, we assume that the garment or a piece of cloth has been roughly flattened on a table,
with some non-smooth and smooth regions existing.
In this section, we focus on the detection of height bumps and discontinuities over the surfaces.

\subsection{Curvature scan}
\label{sec:curvature_scan}
\subsubsection{Surface Reconstruction}
To obtain a distribution of the height bumps, a Kinect fusion algorithm~\cite{Newcombe2011} is employed.
The Kinect sensor projects infrared light onto the surface of the cloth and receives the reflection by a monochrome CMOS sensor, which is able to capture 3D information of the projected surface.
Considering the resolution of the Kinect depth fusion stream ($640 \times 480$), such fusion process will lose details of some small local curvature.
However, it can robustly capture the fused height deviation over the surface, which is an important hypothesis for the probabilistic multi-sensor wrinkle detection framework, as described in Sec.~\ref{problem_formulation}.

Since the reconstruction requires disparity between each camera frame, simply rotating the Kinect along one axis is not enough.
This will generate little or no parallax between depth frames, which leads to a singularity for a reconstructed 3D point.
We designed a two-axis motor structure to overcome such cases, see Figure~\ref{fig:kinect_recon}.
Each time the two joints will rotate simultaneously and create enough parallax.
Figure~\ref{fig:kinect_recon} right shows a reconstruction result from the setting.

\begin{figure}[!htpb]
\begin{center}
\includegraphics[width=0.98\linewidth]{fig/motor_and_recon-eps-converted-to.pdf}
\end{center}
   \caption{{\sc{left:}} A Kinect attached to two-axis motors rotation module.
	{\sc{Right:}} A reconstructed cloth surface rendered with color.
	Most of the height bumps are caught, but not the detailed discontinuity information.}
\label{fig:kinect_recon}
\end{figure}

\subsubsection{Height bump detection}
\label{sec:height_bump}
As seen from Figure~\ref{fig:kinect_recon}, right, the reconstructed mesh has some ridges and rugged terrains.
To find smooth bump-like regions, the \emph{Hessian matrix} is calculated over the whole image $I$ pixel by pixel.
The second order Hessian matrix $\bf{H}$ is defined as,
\begin{equation}
\bf{H} = \left[ {\begin{array}{*{20}{c}}
   {\frac{{{\partial ^2}I}}{{\partial {x^2}}}} & {\frac{{{\partial ^2}I}}{{\partial x\partial y}}}  \\
   {\frac{{{\partial ^2}I}}{{\partial x\partial y}}} & {\frac{{{\partial ^2}I}}{{\partial {y^2}}}}  \\
\end{array}} \right]

\end{equation}
For each pixel, we can calculate two eigenvalues $\lambda_1$ and $\lambda_2$ of $\bf{H}$.
Assuming $\lambda_1 > \lambda_2$, then pixels that satisfied the following equation will be classified as a bump point and added to a set $\mathcal{R}$~\cite{KOENDERINK1992}.
\begin{equation}
\frac{2}{\pi }{\tan ^{ - 1}}\left( {\frac{{{\lambda _1} + {\lambda _2}}}{{{\lambda _1} - {\lambda _2}}}} \right) \in [ - \frac{1}{8},\frac{5}{8})
\end{equation}
Those connected bump points in $\mathcal{R}$ can be viewed as a height bump.
Since each pixel is associated with a depth value, the total volume of each region can be estimated by summation of all normalized depth values within the region.
Furthermore, all the bumps can be ranked in terms of their volume, and large volume smooth regions will be defined as the height bumps.
Given a cluster of all ridge points associated with a height bump, the principal axis can be calculated by the PCA algorithm.
Sample results of reconstructed mesh and the detected height bumps will be shown in Sec.~\ref{section:experiments}.

\subsection{Discontinuity scan}
\label{sec:wrinkle_detection_diffuse}
To catch discontinuities over the surface of the cloth, the resolution of the Kinect sensor is not enough.
Therefore, we employ diffuse reflection~\cite{zhang1999shape}.
In Eq. (\ref{eq:bayes}), we have modeled the scenario that the detected height bumps from the curvature scan are considered as the hypothesis for the discontinuity scan.
To generate an efficient ironing plan, we only care about the discontinuity on the surface, which means we do not have to go through a calibration stage.

When using multiple light sources for the reconstruction, calibration of lighting condition is very important.
In terms of the distance from the light source, the decay of illumination may result in missing of a wrinkle detection.
Most of our experimental cloth or garments are made from cotton or natural fabrics, which have the property that the surface's luminance is isotropic.
For generality, we employ a Lambertian reflectance model~\cite{Oren1995} to formulate the surface luminance.
The Lambertian model can be written as,
\begin{equation}
I(u,v)=a(u,v) \cdot {\bm{n}}(u,v) \cdot {\bm{s}(u,v)}
\end{equation}
where for a pixel location $(u,v)$, $I$ is the intensity of the diffusely reflected light, $a$ is the albedo, $\bm{n}$ is the surface normal, and $\bm{s}$ is the intensity of incoming lights.
For two different light sources, $a$ will be the same, and $\bm{n}$, $\bm{s}$ are different.
To catch the discontinuity in all directions, two orthogonal light resources are used.

We assume the environmental illumination is negligible when the indoor lights are turned off.
From the camera capture, the current view can be captured as $I_{ref1}$ and $I_{ref2}$ using the first and the second light sources.
With a new piece of cloth, we turn the first and the second light source on, independently, and record the new camera views as $I_1$ and $I_2$.
Given the previous camera observation, a reflection look-up table can be established.
Then the calibrated value of ${{I'}_1}$ and ${{I'}_2}$ can be calculated as,
\begin{equation}
{I'_{1}}(u,v) = {{{I_{1}}(u,v)} \mathord{\left/
 {\vphantom {{{I_{ref}}(u,v)} {{I_{ref1}}(u,v}}} \right.
 \kern-\nulldelimiterspace} {{I_{ref1}}(u,v}})
\end{equation}
\vspace{-0.5cm}
\begin{equation}
{I'_{2}}(u,v) = {{{I_{2}}(u,v)} \mathord{\left/
 {\vphantom {{{I_{ref}}(u,v)} {{I_{ref2}}(u,v}}} \right.
 \kern-\nulldelimiterspace} {{I_{ref2}}(u,v}})
\end{equation}

The final output image is an combination of images from two light sources by $I = \sqrt {I{'}_1^{2} + I{'}_2^{2}}$.

With the normalized surface image, we run the previous trained SIFT-SVM classifier on each pixel and classify them into permanent wrinkle pixels by the confidence score.
Given all wrinkle pixels, in terms of their connectivity, the Hough transform is applied to find line segments as the detected permanent wrinkles.
Non-Maximum Suppression is used for avoiding multiple wrinkles at one location.
Sample results are shown in Sec.~\ref{section:experiments}.
\vspace{-0.05cm}

\section{Ironing Procedure}

\subsection{Position-based control vs. force-based control}
Force-based control usually requires a precise force sensor to generate real-time feed back, which is another cost.
Empirically, the ironing task does not require very accurate force feedback to control the path.
Therefore, for the ironing task, we start with an alternative method --- position control.
We place a foam (about 6 cm thick) under the ironing target, with which position-based control can gain similar press effects of force-based control.
Essentially, the foam will passively response to the depth of the iron press and provide a spring-like force feedback; the force will be a linear function of the depth in a simple spring model.
In addition, the position-based control is easier and more convenient for deploying such ironing functionality on a household robot, whereas the force-based control may require a more sophisticated system.

\subsection{Ironing path planning}

\subsubsection{Ironing orientation}
Most irons are equipped with a V shape head which can easily push the air out from under the wrinkle and flatten the surface.
In our scenario, for each targeted wrinkle, the principal axis is calculated.
Then the end effector of an arm will align the head of the iron with the axis, given that the robot has previously stored the orientation of the iron to its base.

\subsubsection{Ironing motion}
Given the targeted permanent wrinkle, the start and end ironing position can be generated in terms of the center of the iron base.
As mentioned before, we place a foam under the ironing target, so that when the iron is placed lower than the surface of the target, pressure will be created.

We also define two ironing motions, which are static ironing and dynamic ironing.
The length of the wrinkle is transformed back to the world coordinate system, and one of the motions is selected based upon the length.
More specifically, if the length of the wrinkle is less than $70\%$ of the longer axis of the iron, the static ironing motion is selected, otherwise, the sliding motion.
However, as the iron slides on the cloth, it may cause an effect of air accumulation, which may create more permanent wrinkles and height bumps.
Thus, we limit the length of the detected wrinkle in the Hough transform at most twice the length of a iron, and break down a longer one into shorter ones.

\subsubsection{Ironing path optimization}
During the final step of surface analysis, a set of permanent wrinkles $\mathcal{W}$ will be detected, all of which will be ironed.
In our scenario, each permanent wrinkle is represented by a line segment.
For each of the line segment, the iron will move from one end point to the other end point as an iron action.
If a line segment is selected randomly at each time, the whole process could take longer time because the iron may move back and forth.
Therefore, we design an algorithm that minimize such time using a greedy search.
The first selected permanent wrinkle is the one with the highest probability calculated from our framework.
Each time, the iron looks for the closest end point of another line segment for the next ironing process.

				%

\section{Experimental Results}
\label{section:experiments}

To evaluate our results, we tested our method on several different garments and pieces of cloth for multiple trials.
A high resolution video of our experimental results is online at {\url{http://www.cs.columbia.edu/\textasciitilde yli/ICRA2016}}.

\subsection{Robot Setup}
In our experiments, we use a Baxter research robot, which is equipped with two arms with seven degrees of freedom.
We mount a Kinect sensor~\cite{Zhang_kinect_2012} on top of the table, facing down, which has been calibrated to the robot base frame, as shown in Figure~\ref{fig:kinect_recon}, left.
As described in Sec.~\ref{sec:curvature_scan}, a two-axis module is attached to the Kinect to create enough parallax for depth fusion.

\begin{figure*}[h]
\begin{center}
\includegraphics[width=0.98\linewidth]{fig/whole_iron_copy-eps-converted-to.pdf}
\end{center}
   \caption{Best viewed by zooming.
	Two examples of whole process of the robotic ironing.
	(A): original roughly flattened cloth (white arrows show some obvious wrinkles). (B): Detected height bumps. (C): GMM fitting results. (D): SVM-based discontinuity detection results. (E): Final permanent wrinkle detection results, which combines result from C and D. (F): The Baxter robot ironing. (G): The ironing result. (H): The ironing result after manually flattening.}
\label{fig:iron_results}
\end{figure*}

\subsection{Curvature scan and discontinuity scan}
The curvature scan aims at detecting large height bumps over the cloth surface.
For each scan, we start the two motors simultaneously for two completed rotations.
The quality of the reconstructed mesh is gradually improved as more scans are taken.
As described in sec. ~\ref{sec:curvature_scan}, the height bumps are detected by computing the Hessian matrix and volume estimation.
In terms of the bump volume, we discard small ones with a given threshold.

The discontinuity scan aims at detecting shadow discontinuities over the cloth surface.
We manually create a training dataset which contains thousands of pixels on the discontinuity region by manually labeling.
Then we apply the trained SVM classifier on new images.

\subsection{Robotic ironing}
We have tested our approach on several different pieces of cloth and garments.
Here we demonstrate two examples of all the steps in robotic ironing in Figure~\ref{fig:iron_results}.
It starts with the curvature scan to detect height bumps using the Kinect sensor.
The detected bumps are shown in (B).
Then We apply GMM approximation on (B) given the number of bumps as shown in (C).
With discontinuity scan (D) and our probabilistic multi-sensor model, permanent wrinkles are detected as shown in (E) in green line segments.
Those wrinkles, represented as line segments, are sorted in a way that robot can iron them with minimum movement and alignment.
(G) shows an image of the cloth after ironing, and (H) is after manually flattening (note that permanent wrinkles cannot be removed by such flattening).
We can see that some discontinuities on or close to the height bumps can be removed in the final permanent wrinkle detection.

\subsection{Ironing with optimized path}
We have tested our ironing path plan on several different garments with more than one permanent wrinkle detected.
When multiple permanent wrinkles are detected, an optimized ironing path is generated, and the iron will traverse all the wrinkles.
An optimized path will reduce the unnecessary alignment and movement of the iron, as well as inverse-kinematics computation.

Figure~\ref{fig:iron_path} shows an example of the ironing with an optimized path.
(A): A piece of cloth contains several height bumps and permanent wrinkles. Green line segments are detected permanent wrinkles. White circle is the starting position and white arrows show the path orientation.
(B): Results after ironing and manually flattening.
(C)-(H): Key frames of the whole ironing process in an order.
The iron first aligns with the first wrinkle and moves towards the starting position.
After each ironing, the iron will be lifted up about $5 cm$, and move to the next permanent wrinkle.
In this case, the whole ironing process takes about $35$ seconds, which is faster than a path without optimization or a randomized path.

\begin{figure}[!htpb]
\begin{center}
\includegraphics[width=0.99\linewidth]{fig/iron_path_cameraready-eps-converted-to.pdf}
\vspace{-0.5cm}
\end{center}
   \caption{ An example of robotic ironing with an optimized path. In this case, three permanent wrinkles are detected.
	(A): Green line segments are detected permanent wrinkles. White circle is the starting position and white arrows show the path orientation.
(B): Results after ironing and manually flattening.
(C)-(H): Key frames of the whole ironing process in an order.
	}
\label{fig:iron_path}
\vspace{-0.1cm}
\end{figure}

\section{Conclusion}

In this paper, we have presented a probabilistic multi-sensor framework for wrinkle detection in a robotic ironing task.
We analyze the surface by first using a curvature scan by a Kinect sensor to find height bumps, which should not be included in the ironing.
Then by using a discontinuity scan with two light sources, and a SVM based classifier to find discontinuities on the surface.
Combining results from the two scans, permanent wrinkles can be detected and represented as line segments.
A Baxter robot, holding an iron in one hand, irons the surface guided by those detected line segments in an optimized order.
Experimental results show that with our detected wrinkles, the Baxter robot is able to iron and remove them iteratively and produce a wrinkle-free area on the cloth.

Robotic ironing is a very challenging task.
A full solution to the problem requires complex surface analysis, regrasping, and hybrid force/position control of the iron.
In this paper, we have addressed the surface analysis problem and also used a position controlled robotic arm to implement ironing.
While position control can remove many wrinkles, we also believe that with more accurate force control, the effects of ironing can be improved.
One of our future directions is to add the force control component to our system.
The Lambertian assumption used in the discontinuity scans works for many garments but it is not clear it will work for all garments.

\textbf{Acknowledgments}
We'd like to thank R. Ying for many discussions.
We'd also like to thank NVidia Corporation, and Intel Corporation for the hardware support.
This material is based upon work supported by the National Science Foundation under Grant No. 1217904.

\bibliographystyle{plain}

redpajama_set_name: RedPajamaArXiv


It's Spring! It has well and truly thawed up here in the North, and I decided to celebrate a few weeks ago with planning some Spring looks. I must admit, most of my looks at the moment are still airing on the side of caution and staying wrapped up, but when the sun does appear I wanted to be ready. I thought I'd show you an outfit I wore out for a day out which incorporated some essential layers!
I bought this H&M shirt/dress whilst in London in January. As you all know my love for stripes, it won't surprise you that I was bowled over by it. I intended to wear it as a dress, but this happy accident came whilst I was trying on some new jeans and discovered that it looks quite good layered as a shirt. I also thought It was mix up the 70s flare vibe, and make it a bit more modern. I wore a plain white tee underneath and undid the shirt when it was warmer.
The flares have become my 'go to' night time jeans. I always feel so glam when a wear them, and they are really easy to pair with tops and shoes.
I finished the look with my staple H&M bag (see almost every other post) but tucked the strap in to use it as a clutch. I just love functional pieces!
Hope you guys are enjoying the sun, I am making the most of it! See you soon!
Loving this outfit Lauren, the jeans are so 70s!
Great Design of clothing.Keep up the good work.


All Hands Magazine honors the 120th birthday of the chief petty officer with this current photo story and a reprint of an article highlighting the history of Navy chiefs from Pull Together: Newsletter of the Naval Historical Foundation and the Naval Historical Center, Vol. 32, No. 1 (Spring-Summer 1993).
All Hands Magazine honors the 120th birthday of the chief petty officer.
It is a sure bet that one of the proudest days in an enlisted individual's naval service is the date on which a first class petty officer dons the uniform and is accepted into the Chief Petty Officer community. At this time, the PO1's leadership and professional abilities are recognized by superiors. These qualities continue to be honed with experience and maturity until retirement.
This article covers the history of the grade of Chief Petty Officer. April 1, 1993, marked the 100th anniversary of the creation of that grade. It is necessary, however, to look back to the origins of the Continental Navy to establish the foundation of relative grades and classifications that led to the ultimate establishment of the CPO grade. During the Revolutionary War, Jacob Wasbie, a Cook's Mate serving on board the Alfred, one of the first Continental Navy warships, was promoted to "Chief Cook" on June 1, 1776. Chief Cook is construed to mean Cook or Ship's Cook which was the official rating title at that time. This is the earliest example of the use the term "Chief" located to date by the author.
The United States Navy was reauthorized under the Constitution by an act of March 27, 1794. The fledgling Navy was to consist of four forty-four gun frigates and two thirty-six gun frigates. The action taken by Congress on that date was based upon the need to counter the Algerian pirates. However, a treaty was reached between the United States and Algiers prior to completing any of the vessels, and the act was allowed to expire.
The construction or completion of three frigates was later directed under an act of July 1, 1797. Those ships were the Constitution and United States, each rated at forty-four guns, and the Constellation, mounting 36 guns. Personnel allowed to the two classes of warships were the same under both acts. Petty officers, who were appointed by the Captain, consisted of one Captain's Clerk, two Boatswain's Mates, a Coxswain, a Sailmaker's Mate, two Gunner's Mates, one Yeoman of the Gun Room, nine Quarter Gunners (eleven were allowed for the two larger vessels), two Carpenter's Mates, an Armorer, a Steward, a Cooper, a Master-at-Arms, and a Cook. Non-petty officers, as listed in the 1797 act, consisted of 103 Ordinary Seamen and Midshipmen and 150 Able Seamen for the larger frigates; the smaller vessel, Constellation, was allowed 130 Able Seamen and Midshipmen and 90 Ordinary Seamen. None of those figures included Marines, which added three Sergeants, three Corporals, one Drummer, one Fifer, and 50 Marine Privates to the complement of the larger ships. The 36 gun frigate was allowed 1 less Sergeant and Corporal and 40 rather than 50 Marines.
Generally speaking, precedence of petty officers was not really introduced until the U.S. Navy Regulations, approved February 15, 1853, were published. It must be pointed out that those regulations were declared invalid by the Attorney General on May 3, 1853, and were rescinded due merely to the fact that the President rather than Congress approved them. However, this did not mean that the information and the guidelines contained in them were inaccurate. Conversely, the Secretary of the Navy submitted a set of naval regulations for Congressional acceptance on December 8, 1858, but they were never acted upon in that session of Congress. Based upon pay tables of the period, the contents of the 1858 plan, like the regulations of 1853, appear to have contained the current rating structure of that period.
Prior to 1853, one could infer a quasi-precedence of ratings based upon the sequence in which ratings were listed within complement charts; this is backed by differences in pay of various petty officers. Another issue to be considered is the fact that the order of the names of the petty officers as they appeared on muster rolls could generally be considered an order of precedence. Precedence of ratings was explicitly spelled out in Navy Regulations approved on March 12, 1863. At this point it is useful to review the early Civil War petty officer rating structure just prior to the official usage of "Chief" with rating titles. Petty officers were listed under two categories--Petty Officers of the Line and Petty Officers of the Staff as shown in Table 1.
The 1863 Regulations made the priority of ratings clear: "Precedence among petty officers of the same rate, if not established particularly by the commander or the vessel, will be determined by priority of rating. When two or more have received the same rate on the same day, and the commander of the vessel shall not have designated one of that rate to act as a chief, such as chief boatswain's mate, chief gunner's mate, or chief or signal quartermaster, their precedence shall be determined by the order in which their names appear on the ship's books. And precedence among petty officers of the same relative rank is to be determined by priority of rating; or in case of ratings being of the same date, by the order in which their names appear on the ship's books." That lengthy paragraph was shortened in the 1865 regulations to read simply, "Precedence among Petty Officers of the same rate shall be established by the Commanding Officer of the vessel in which they serve."
Precedence by rating was a fact of Navy life for the next 105 years and was substantiated by rating priority and the date of an individual's promotion. Precedence of ratings remained in effect until the issue of Change #17 of August 15, 1968, to the 1959 Bureau of Naval Personnel (BUPERS) Manual. At that time, precedence among ratings was eliminated and changed to a single system for military and non-military matters based on pay grade and time in grade.
During 27 1/2 years of naval service, the author has been audience to an appreciable number of boiling point arguments on the ship's fantail and in the Chiefs' messes concerning seniority of ratings. As one can determine from the foregoing evidence, Boatswain's Mates have not always been the senior rating in the Navy. However, if one tries to enlighten some of them they will usually get their danders up and argue until red in the face. Likewise, Aviation Machinist's Mates have not always been the senior rating within the Aviation Branch. From 1924 to 1933, and again from 1942 to 1948, the rating of Aviation Pilot topped the mechs as well as all other aviation ratings.
It is not the intention of this synopsis to present an extended dissertation on individual ratings. However, at this point, clarification of a longstanding controversy and its resultant misconceptions regarding the Chief Boatswain's Mates, Chief Gunner's Mates, and Chief or Signal Quartermasters of the 1864-93 era is necessary. Those three ratings have at one time or another been erroneously identified and argued as being Chief Petty Officers. General Order #36 of May 16, 1864, effective July 1, 1864, listed Navy ratings along with monthly pay for each rating. Among the ratings included were Chief Boatswain's Mate, Boatswain's Mate in Charge, Boatswain's Mate, Chief Gunner's Mate, Gunner's Mate in Charge, Gunner's Mate, Chief Quartermaster and Quartermaster. Boatswain's Mates and Gunner's Mates received $27.00 monthly and Quartermasters, $25.00. Chief Boatswain's Mates and Chief Gunners's Mates were paid $30.00 per month and were listed for service only on board vessels of the lst and 2nd rates. Chief Quartermasters were paid the same except for a $2.00 reduction while serving in ships of the 3rd and 4th rates. Boatswain's Mates in Charge and Gunner's Mates in Charge were also paid $30.00 per month.
The primary difference between the Chief Boatswain's Mate and Boatswain's Mate in Charge and the Chief Gunner's Mate and Gunner's Mate in Charge lay in their assignments. Chief Boatswain's Mates and Chief Gunner's Mates were permitted on board ships of the first two classes of vessels (1st and 2nd rates with 100 or more crewmen). The Boatswain's Mate in Charge and the Gunner's Mate in Charge could be assigned to any of the four classed vessels (1st, 2nd, 3rd, and 4th rates) and specifically only when a Warrant Boatswain or Warrant Gunner was not assigned to the ship. Boatswain's Mates in Charge and Gunner's Mates in Charge appeared in the rating structure for only five years. They were last listed in the pay table included in the Navy Register for July 1, 1869, and were eliminated from this list with the issue of January 1, 1870. From that date, according to complements set in 1872, Chief Boatswain's Mates and Chief Gunner's Mates were assigned to vessels of all four classes. Then, five years later, by the allowance list of 1877, they were assigned only to ships without a warranted Boatswain or Gunner.
The title of Chief or Signal Quartermaster was mentioned in the 1863 Regulations and requires explanation. The term Signal Quartermaster was utilized from at least the early 1800s. That title identified those Quartermasters who were principally involved with signaling and the care of flags, halyards, markers, lanterns and other paraphernalia as opposed to Quartermasters who were mainly concerned with navigational and steering duties.
From 1863 to 1865, the rating titles of Chief Quartermaster and Signal Quartermaster were virtually synonymous. Furthermore, the 1863 Navy Regulations and the 1864 pay order did not present a distinction between those two titles. In 1865, however, by U.S. Navy Regulations approved April 18, 1865, a distinction was made between Quartermaster (not Chief Quartermaster, which was never listed) and Signal Quartermaster listed under Petty Officers of the Line. Signal Quartermaster was listed as third in precedence (after Gunner's Mate), whereas Quartermaster was sixth (after Coxswain to Commander in Chief of a Squadron or Fleet). Those two ratings continued to be carried in successive issues of Navy Regulations until 1885. It is of note that Signal Quartermaster was never listed as a separate rate from Chief Quartermaster in the pay tables covering those twenty years. Therefore, the title of Signal Quartermaster, instead of Chief Quartermaster, can be considered as the official title from April 18, 1865, to January 8, 1885. The title of Chief Quartermaster, primarily found in Navy pay tables for that same period, can be judged to be an alternate or common-use title for Signal Quartermaster. In other directives and correspondence these two titles were often used interchangeably.


Keno is a game of chance. It is also a favorite in casinos and online. Players choose this game because the chance of winning and the amount of payment is based on chance, not someone's ability to fix numbers. The word Keno is French. The first keno game was played to help raise money in hopes of building the Great Wall of China. The game cards were delivered by pigeons to villagers because the game was not accepted before the 19th century. The game was popular and eventually, immigrants introduced it to the West when they came across the Pacific. Today the game is very popular gambling or not. Everyone that plays this game hopes to hit the jackpot.
The keno game board has 80 numbers for you to choose from. You pick the numbers 1-10 for regular keno. Select your bet and push the button. The balls begin to fall with random numbers from 1-80. If you are playing 10 numbers, you hope to hit 5 to get a minimal payback. Every number over 5 gives you the chance to win 2 times your bet, 3 times your bet, and so on. Some people enjoy playing 4-card keno at the casino. Other people may choose to play all 20 numbers. Everyone has their favorite Keno game that they race for when they have the opportunity.
The odds of winning a jackpot depends on the amount of bet and the numbers that pull. Each time the numbers pull and drop they come up in different sequences. People make bets starting as little as twenty-five cents up to twenty dollars a pull. It is said that the odds of a person hitting all of the 20 numbers at one time are 3.5 Quintilian to one. People that are playing 20 numbers are happy to hear that if they hit 17, 18, or 19 out of 20 the pay is almost the same as hitting 20.
Keno comes in different games. Basic Keno, Caveman Keno, Cleopatra Keno, and Power-ball Keno are some of the different Keno games that you can choose from when you play online or in a casino. Let's examine the different types of Keno that are available to play. People can choose one card up to 20 cards at a time. One card keno is the favorite. Below are some options for different types of keno games found around the world.
Basic Keno: Basic Keno is set up like bingo. The numbers range from 1-80. To play this game you will need to choose from one to 20 numbers. After marking your numbers you will choose your bet. Place your bet then hit the roll button. The balls begin to drop one by one. Each ball has one number from one through eighty. You can win if you hit the number combination showing.
Caveman Keno: Caveman Keno card appears the same as the basic except in the design. There is a caveman decoy that sits in the corner of the game board. There is also 3 dinosaur eggs that mark three of the spots. You can double your winnings if eggs open during the roll. If you hit two eggs the winnings are x4. If you hit all three eggs open, the winnings are x 8. Caveman keno comes complete with dinosaur-bird sound effects and hammering noises. Instead of dots covering the numbers, cement tires cover the numbers that hit.
Cleopatra Keno: Cleopatra Keno plays the same as the other keno games except when you hit Cleopatra you can end up getting a bonus round with several chances to win. The free spins can pay great if the correct number of numbers are covered.
Power-ball Keno: Power ball Keno gives you the chance to win 4 times your bet or 10 times your bet depending on power ball strikes and the amount of your bet. If the Power ball strikes on your number you win big.
Keno is the perfect game for someone that has a small amount of money to play but wants to play for a while. There is no real strategy to the game except your number picks. Some people have their favorite numbers they play every game and others do a random pick. Each time the balls drop you have a better chance of hitting the jackpot because every number combination will eventually hit. The probability of winning is due to the combination of the numbers and the function. To figure out your possibility of winning you must understand how the combinations work. If there are 80 numbers and you start with 20 then the combinations are almost endless.
If you choose to play a 1 spot you have 1 chance in 80 to hit the one number. If the player bets one dollar and hits the one number, he will win $3. dollars. This makes the probability of hitting the winning number .25%. The winnings increase with the amount of money bet and the number of numbers that are marked.
Keno is popular online and in casinos around the world. People can download the keno game to play without making a real money bet. The game is one of the favorite games to download as an application for phones and tablets. Keno is popular in casinos online because it gives the player the chance to play alone and while others are playing. The odds of winning increase with more plays.
Every time the numbers are pulled, the possibility of a hit it increased. Some of the most popular number combinations to play are the 5 spot, the 7 spot, and the 8 spot. These give a great winning when 3 or more numbers are hit for the 5 spot. If four or more numbers hit while you are playing the 7 or 8 spot, you are sure to have a good winning.


text:
ADVISORY BOARD / INDUSTRY PARTNERS
CRAWFORD ACADEMY FOUNDATION
ACADEMY FACULTY
ACADEMY COURSE SEQUENCE
FIELD TRIPS & SPEAKERS
MR. BEATTIE'S CLASS PAGE
AoLJ IN THE NEWS
Academy of Law and Justice
Hon. Dwayne K. Moring
California Governor Arnold Schwarzenegger appointed Dwayne K. Moring to a judicial seat on the San Diego County Superior Court on July 21, 2008.
Judge Moring currently hears criminal matters in a general trial department in the South County Courthouse. His previous assignment was in one of the downtown Felony Settlement Departments where half of all the felony cases filed at the main courthouse were heard in his department.
He was also assigned to the Juvenile Delinquency Court where he presided over a daily calendar department that included arraignments, sentencings, and review hearings. Additionally, Judge Moring's department held a weekly Juvenile Drug Court and monthly Teen Watch Pregnancy Court.
Prior to his appointment, Judge Moring was a Deputy District Attorney in the Sex Crimes and Stalking Division of the San Diego District Attorney's Office. As a Deputy District Attorney, he was responsible for reviewing cases for the issuance of charges, conducting plea bargain negotiations, litigating preliminary hearings and trials, and finally argument at sentencing. The range of cases he handled included forcible rape, child molestation, sex offender registration, indecent exposure, and state hospital recommitments for Sexually Violent Predators and Mentally Disordered Offenders.
Previously, Judge Moring was a Deputy Alternate Public Defender with the San Diego Alternate Public Defender's Office. As a Deputy Alternate Public Defender, he was responsible for representing indigent criminal defendants charged with serious felony offenses. He also served rotations in the Juvenile Delinquency Court representing juveniles who were charged with a range of offenses from petty thefts to homicides. Judge Moring also had an additional assignment to the Juvenile Dependency Court where he represented the alleged offending parent accused of harming his or her minor child through physical, sexual or emotional abuse.
Before attending law school he was an admissions counselor and assistant dean of admissions at the University of Redlands. As an admissions officer, he recruited students to the small liberal arts college, coordinated office-wide travel, and produced publications.
Judge Moring is the recipient of several awards for his involvement in the legal community. He was honored with the "Flame Of Inspiration Award" by the Thomas Jefferson School Of Law Black Law Student Association in March 2008 acknowledging his mentorship of minority law students. In 2007, Judge Moring received the "Outstanding Service By A Public Attorney Award" from the San Diego County Bar Association recognizing the combination of excellence in the practice of law with service to the community, the profession, the County Bar Association or legal education. He also received the San Diego County Sexual Assault Response Team's "Response With A Heart Award" in appreciation of his significant contribution to sexual assault prosecution in 2007.
Judge Moring received his juris doctor degree from Pepperdine School of Law in 1991. He also attended Pepperdine University as an undergraduate where he received a Bachelor's degree in journalism.
Judge Moring was born and raised in San Diego, California and is a graduate of Crawford High School.
© 2014 - Crawford Academy of Law


This pastel mint pouch is finished with a golden 'be bright!' on the outside and a secret message on the inside that reads 'be happy, be bright, be you!' the perfect positive message to reminder you to shine bright. All items come beautifully wrapped in Katie's signature bags. Tied with a grosgrain bow, they create the perfect treat for yourself or as a gift.


Speech by our Managing Director at LATAMCAN 2017 BRAZIL.
Successful participation at LATAMCAN 2017 BRAZIL.
Scan Holdings had another successful participation at Metpack 2017 in Essen Fair Ground, Germany. The event once again allowed us to meet and thank our customers from all over the World. New partnerships were formed, which are sure to take the Company to greater heights.
Scan Holdings had a successful participation in China Can conference from 28 March 2017 to 30 March 2017. Our Managing Director was pleased to present his views on the opportunities in Metal Packaging to the august audience from industry.
LATAMCAN – Latin American Can makers Conference is the meeting point for Latin American can makers and the global suppliers of new technologies under one roof. Scan Holdings had a successful participation in LATAMCAN 2016 in Panama.
Scan Holdings had another succesful participation at Metpack 2011 in Germany. It was a time for meeting friends from all over the World and strengthening our win-win relationships.
Scan Holdings successfully completed the entire legal process of acquiring approximately 44 acres (178,000 square metres) of prime industrial land in the state of Gujarat, India. Gujarat is the fastest growing industrial state in India. Its investor and industry friendly policies, world class infrastructure and dynamic leadership have made it a favoured destination in Asia Pacific region. It boasts of several sea-ports on its 1600 km coast line that facilitate import and export of raw materials and finished goods. Scan Holdings plans to build several packaging factories on this land over next few years. These factories are aimed at providing world class packaging to the food, beverage and other industries in the region. It will further encourage large multinationals to invest into India, who have been hesitating so far due to lack of availability of right packaging for their products. Surely, a forward looking step which will not just help Scan Holdings, but revolutionise the whole industry in coming years.
NEW DELHI: The Supreme Court today ordered a ban on the sale of tobacco products like gutkha and pan masala in plastic pouches from March 2011, while asking the government to conduct a survey on the ill effects of these products within eight weeks.
A bench of justices G S Singhvi and A K Ganguly also asked the manufacturers to explore and decide by March next year on the alternative material for packaging them.
The bench issued the directions while brushing aside the pleas of some of the gutkha manufacturers who feared that such a direction could lead to closure of thousands of gutkha and pan masala manufacturing units.
"Let it come," the bench quipped when counsel for one of the manufacturers claimed that the whole industry would come to a standstill.
Cigarettes, which are generally sold in paper packs, are out of the ambit of this ban. While asking the government to conduct a survey on the ill effects of these tobacco products, the bench also asked it to examine the effects of packaging these products in plastics pouches over human health.
The bench recorded an undertaking from Solicitor General Gopal Subramanium that the government would get the required survey done by the National Institute of Public Health on the harmful effects of gutkha, pan masala and other tobacco products and also the adverse effects, if any, of the plastic pouches used for packaging the material.
The bench also directed the Centre to finalise and enforce within eight weeks the Plastic Management and Disposal Rules 2009.
It ruled that despite the rules having been framed in 2009, the authorities are yet to enforce them.
The bench passed the direction while adjudicating a petition by a civil society, which has approached the apex court challenging the alleged unbridled sale of gutkha and pan masala material in the country, seriously impinging upon public health.
Scan Holdings' management had the honour of hearing the Hon'ble Chief Minister of Gujarat, Mr. Narendra Modi's views on packaging industry in one of our meetings with him. Mr. Modi who is hailed by the entire industry for making Gujarat the most investor friendly state in India was vocal about his concern for the environment. He appreciated the plans of Scan Holdings to start factories that produce environment friendly products. With his dynamic vision, he shared many ideas like using the 1600 km long coast line of Gujarat for boosting fisheries in the region, which would in turn give further push to the packaging industry.