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Chief: Back to back shootings overnight in Jackson not related
It was a particularly deadly weekend in Jackson.
Chief: Back to back shootings overnight in Jackson not related It was a particularly deadly weekend in Jackson. Check out this story on clarionledger.com: https://www.clarionledger.com/story/news/local/2018/06/25/overnight-news-three-fatal-jackson-shootings/729948002/
Harold Gater and Therese Apel, Mississippi Clarion Ledger Published 7:10 a.m. CT June 25, 2018 | Updated 5:53 p.m. CT June 29, 2018
Four shootings, three dead: What's the latest in the investigation? Therese Apel/ Clarion Ledger
A Jackson police car and an ambulance are shown in this file photo.(Photo: Harold Gater)
The four shootings — three of which were fatal — happened almost back to back overnight Sunday and into Monday morning.
Police Chief Anthony Moore said in a Monday afternoon press conference that the shootings do not appear to be related.
"These are really, really senseless acts and senseless violence in the city of Jackson," Moore said. "Our detectives and investigators are working diligently to bring these perpetrators to justice. These things are just so senseless."
JPD's resources are tight as numbers are low and homicides are up, but robbery/homicide detectives worked through the night.
"Sometimes it's tough but we have to call out all the resources we have like we did last night," Moore said. "Typically we don't have them like this, we don't have them back to back to back."
It started Sunday at 11 p.m. when Ricky Ollie, 39, died at the hospital with multiple gunshot wounds. He had been taken there by private vehicle. Jackson Police Department spokesman Roderick Holmes said in a release that the shooting appears to have occurred in the 500 block of Meadowview Drive.
There is still no information on a suspect and a motive remains unknown.
At midnight, Jackson police found Caleb Kinnard, 19, suffering from a gunshot wound to the head in the 1600 block of Riverwood Drive. He was taken to a local hospital where he passed away shortly afterward.
Police say they believe his shooter was possibly driving a small dark colored sedan. Four days after the crime, JPD arrested two brothers, Brontavious, 19, and Xzavier, 17, Tyler at an undisclosed location with help from the U.S. Marshal Services. They have been charged with murder and were denied bond.
Brontavious Tyler (Photo: Courtesy of Jackson Police Department)
Around 1:30 a.m. Monday, the third fatal shooting occurred at the Addison Place Apartments on Robinson Street.
When officers got to the complex, they found JDarrien McClendon, 19, in the parking lot suffering from a gunshot wound to the chest. He was transported to a local hospital where he later died.
Police are looking for 22-year-old Joshua Fulgham, who is charged with murder. The motive still remains unknown.
Joshua Fulgham (Photo: Jackson Police Dept.)
At 4 a.m., Jackson police responded a shooting that occurred on Belvedere Road, but the victim had traveled to the vicinity of Meadow Ridge Drive.
Cottrell Wilson had been shot in the leg and hand, police said. The 30-year-old man told police that he was shot by an unknown suspect while he was sitting in his vehicle.
Wilson was transported to an area hospital and is listed in stable condition. There is no suspect or motive information available so far.
Moore had a message for the citizens of his city.
"I want to reassure them that JPD, along with our partners are going to be very aggressive in fighting crime in the city of Jackson," Moore said. "We're not going to stop, not going to rest until we put those thugs behind bars."
When proactive teams like the Gun Crimes Interdiction Team are on the streets, criminals are quiet, Moore said. But on a night that they're not on patrol, increased visibility from patrol officers would help curb some of the crime. To that end, Jackson Police Department is currently putting together a recruit class, Moore said.
"We want to get our ranks back to where we need to be and that's going to allow the city to get back to where we need to be," he said.
More: 2 men dead in fatal shooting in Ridgeland
If you have knowledge of this or any crime, please call JPD at 601-960-1234 or Crime Stoppers at 601-355-TIPS (8477). Send a text to 847411 and enter "JPD," followed by your tip information, then press "send." You may also submit a tip online by clicking on the web tip link on the Central MS Crime Stoppers website.
One important message the Gun Crimes Interdiction Team is trying to impress on citizens: Just tell the truth. Just be honest. Therese Apel/ Clarion Ledger
Contact Harold Gater at 601-961-7368 or hgater@gannett.com. Follow him on Twitter.
Contact Therese Apel at 601-961-7236 or tapel@gannett.com. Follow her on Facebook and Twitter.
Read or Share this story: https://www.clarionledger.com/story/news/local/2018/06/25/overnight-news-three-fatal-jackson-shootings/729948002/
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RPS Vs Mezmer: Stalin Vs Martians Impressions
News by Kieron Gillen Contributor
So. Stalin Versus Martians has been released. I thought I'd have a quick crack at the full code and bring back some initial thoughts on the Eastern front. Initial and probably final, as I strongly suspected I'd never go back there. Because... well, it was clear it was going to be absolutely terrible.
Or was it?
Okay, after a level or two, this is how I thought this feature would go:
THINGS I LOVE ABOUT STALIN VERSUS MARTAINS:
Its name. Like, obv.
The fact that instead of an opening cut-scene for the game, they put up an image of the USSR flag and play all its national anthem.
That it has a tick-box in the general options to mark whether you like cats or not. It appears to do nothing.
Its loading screens feature spot-the-difference games in the style of touched-up communist party photos. Except instead of taking watches off the wrists of soldiers or disappearing the purged ones, it's pasting in random bears or a random incongruous aliens.
That characters say things like "My name is Ivan. I like you" when you click on them, with either camaraderie, bonhomie or homoerotic glee. Maybe all three.
The gags in the manual, especially the one about the T-34.
That it has an intermission after four levels for more music video dancing Stalin metal-screaming retro-Commie-chic fun.
That people seem to be spending a lot of time debating whether this is in good taste on forums. Of course it isn't. Move on!
The interview they did with us.
That I didn't have to pay for it.
THINGS I HATE ABOUT STALIN VERSUS MARTIANS:
Every-fucking-thing else.
Except then it clicked. And I realised it wasn't actually abominably awful.
Was there a sketch where Benny Hill dressed up as Napoleon? I seem to have a memory of one. Anyway - Stalin Versus Martians bears as much resemblance to the normal RTS game as Benny Hill did to Napoleon. While pause-able, the game moves at hyperspeed levels, which made me presume that there was something wrong with the game and it was running at 300% of normal speed.
(And that wouldn't be an enormous surprise if it was - at least on my machine, it's twitchy to say the least. The mouse-cursor disappeared after a cut-scene which I had to restart to get back and I keep on dropping down to low-textures occasionally when the game has a little think.)
If you try to play it as a methodical RTS, you're basically screwed. The second level when you get the slower-moving longer-firing anti-artillery weapons is where you may go awry. You start trying to use that range... except the basic straight-from-Toy-Story-surely-Disney-will-sue aliens still outshoot you if you have to get close to fight them. So you lose your men, run out of money and you can't call for reinforcements (i.e. no basebuilding) and you have to play again. You wonder what you're missing. At which point, it clicks. I was being too clever. I had to embrace the game.
You remember Dune 2, where you used to rush around in your tanks, crushing anyone even vaguely squishy beneath your treads? You do that, with dozens of tanks at a time, moving back and forth to squish everything. By moving at range, you dodge the heavy enemies, and the masses of foot soldiers (who will be mowed down by your machine-gun too) drop power-ups. This is the game's currency, and they disappear if you don't get 'em quickly. In other words, by rushing around, you're maximising your pick-ups, boosting your troops' abilities and getting cash. When your soldiers die, call in another mini-division of T-34s and send them on a Blitzkreig. You end up using these units something like a shotgun in a First-Person Shooter. You move while they're re-loading their main guns, then right click on a target to annihilate it, and repeat. It's very silly, almost completely brain-dead, a bit of a giggle, and not actually totally abominable after all. It's merely just a bit rubbish. Well, a lot rubbish, but just-about-playable which is better than the active horrible un-fun gulag of a game which it initially appeared.
Would I recommend you buy it after my experience of five of its twelve levels? For fifteen quid? Not on your nelly. But there's certainly car-crash value, especially if you tie yourself in theoretical knots deciding exactly how much of the game is satire. As Troy Goodfellow just noted on his twitter: "...is beginning to think that this game is a satire, but not sure of what. Games? Communism? Communist Games?" I think satire may being over-generous. I'd go for the far more earthy description of "piss-take". And as far as piss-takes go, occasionally a funny one. And, as such, I suspect the majority of its consumers will be people who bought it whilst drunk.
Which probably makes it lucky I got it free.
Stalin vs. Martians
Kieron Gillen is robo-crazy.


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5 things you need to know for Monday
By Alejandro Chavez
FOXBORO, MA - SEPTEMBER 22: J.J. Watt #99 of the Houston Texans looks on during the first half against the New England Patriots at Gillette Stadium on September 22, 2016 in Foxboro, Massachusetts. (Photo by Adam Glanzman/Getty Images)
Hey there football fans! Here are five things from yesterday that you need to know to start off your week:
J.J. Watt will play in the Texans' preseason opener. The star defensive lineman will look to get some work in after missing most of last season.
Watt struggled with injury throughout last year. After missing the entire preseason after surgery, he managed just 157 snaps in the regular season before he was sent on the season-ending IR. By Watt's exceptionally high standards, he had poor year, producing just nine quarterback pressures on 88 pass-rushing snaps and achieving a PFF overall grade of just 52.7, the lowest season grade of his career.
Over the last few years, Watt has been one of the best defensive players in football. From 2012 to 2015, he earned PFF overall grades of 97.9, 99.5, 97.9 and 94.9, respectively, and he led all 3-4 defensive ends in pass-rush productivity (the PFF metric that measures pressure on a per snap basis with weighting towards sacks) in every year. Over the course of his career, J.J. Watt has accumulated 424 quarterback pressures on 2875 pass-rush snaps, and averages a sack, hit or hurry once every 7 pass rushing snaps.
Jay Cutler signed with the Miami Dolphins. Cutler will postpone his retirement, instead taking a one-year deal. Ryan Tannehill partially tore his ACL.
Cutler played just 274 snaps in 2016, and earned a career low in passing grade (47.1), overall grade (47.1), and his adjusted completion percentage of 71.4% was his lowest since 2012. He announced his retirement in May of 2017, choosing to join Fox Sports as a game analyst.
The 34-year-old signal-caller has now postponed his retirement to reunite with his former offensive coordinator Adam Gase in Miami. Cutler played under Gase for the 2015 season, and under Gase's tutelage, Cutler improved his passer rating from 88.6 to 92.3, his adjusted completion percentage from a clean pocket went from 75.8% to 76.1%, and he cut his interceptions from 18 to 11.
One of Cutler's best attributes throughout his career has been his willingness to stay in the pocket and make throws while under pressure. Of the 42 quarterbacks that have at least 400 passing attempts while under pressure since 2006, Cutler's adjusted completion percentage of 62.3% ranks 17th and his passer rating of 71.7 ranks sixth.
CB Bresaud Breeland left practice with an injury. The Washington cornerback has an indeterminate timetable for his return.
Breeland stood out during the 2015 season, where he graded very well against the run. On 311 snaps against the run, Breeland produced 13 stops (solo tackles that constitute a 'win' for the defense), for a run stop percentage of 4.2 percent that ranked fourth of 97 qualifying cornerbacks. He ended the season with a run defense grade of 87.2, the second highest grade among the league's corners.
In coverage, Breeland allowed 1.35 yards per coverage snap (above the NFL average of 1.24), and his coverage grade of 79.6 ranked 25th among the league's cornerbacks.
However, he saw a drop in production in 2016. His run defense grade dropped dramatically to 51.8, and his run stop percentage of 2.1 percent ranked 16th of 94 qualifying cornerbacks. In coverage, Breeland put up slightly better numbers, (allowing 1.15 yards per coverage snap), but saw a drop in coverage grade, and ended the season with a coverage grade of 49.7. Once he recovers, Breeland will be looking to return to 2015 form as he enters the final year of his rookie contract.
The San Francisco 49ers' Malcolm Smith will miss the year. The former Super Bowl MVP tore a pectoral muscle.
Smith's best season was 2013 with the Seattle, when he played 631 snaps and his 83.0 overall PFF grade ranked 16th of 56 qualifying linebackers. After signing with Oakland in 2015 and becoming a three-down linebacker, Smith's performance suffered and he posted a 46.3 grade in 2016, 68th of 88 linebackers.
Smith struggled in coverage, allowing six touchdowns in 2016, the second-most of any linebacker. His 1.16 yards per cover snap last season ranked 38th out of 51 linebackers with at least 200 snaps in coverage.
Deone Bucannon should be ready for the regular season. He is still recovering from offseason ankle surgery.
Along with the entire Cardinals team, Bucannon is coming off a letdown season. His overall grade of 61.8 ranked 47th out of 86 linebackers, and wasn't up to the standard of his 14th ranking 82.7 grade in 2015.
Despite taking a step back with overall play in 2016 Bucannon was still one of the best linebackers in coverage. His 84.6 coverage grade ranked eighth among linebackers and his 0.75 yards allowed per cover snap ranked sixth. He didn't allow a touchdown into his coverage all season.


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Catholics in this Virginia diocese get dispensation to stay home Sunday morning
News // Nation/World
Pennsylvania Avenue looking toward the U.S. Capitol in Washington is virtually empty, early Friday, Jan. 22, 2016, as the Nation's Capital hunkers down in preparation for a major snowstorm expected to begin later in the day. The Federal Government will close all of their offices in the area at noon.AP Photo/J. David Ake
WASHINGTON >> The latest on the heavy snowfall expected to hit the Washington area and the Northeast (all times local).
A northern Virginia bishop is giving Catholics in his diocese the OK to stay home from Mass on Sunday, when the region is expected to be buried in snow.
Most Rev. Paul Loverde, the bishop of Arlington, said in a statement released Thursday that Catholics in the diocese aren't obligated to attend Mass this Sunday as usual because of serious concerns about travel conditions. The National Weather Service estimates a blizzard could bring 2 feet of snow to Washington.
Washington Archdiocese spokeswoman Chieko Noguchi says that archdiocese, which covers the nation's capital and five southern Maryland counties, will remind people Friday that dangerous travel conditions are a legitimate excuse from fulfilling their Sunday Mass obligation.
Both encourage Catholics who can't safely attend Mass to watch a televised Mass.
According to flight tracking service FlightAware, airlines canceled more than 2,400 flights Friday to, from or within the U.S. as a major snowstorm bears down on the East Coast.
Another 2,400 were canceled for Saturday. The bulk of those Friday cancellations were in Charlotte and Raleigh, North Carolina. Saturday's cancellations center around Philadelphia, Washington and — to a lesser extent — New York.
By Sunday afternoon, however, the airlines hope to be back to full schedule to handle the influx of business travelers heading out for the week, one of the busiest travel periods.
The only good news for fliers facing flight cancellations as a winter storm approaches the East Coast: Saturday is the slowest travel day of the week.
According to flight tracking service FlightAware, there are a little more than 22,000 flights scheduled to, from or within the U.S. That's about 5,000 fewer flights — and 400,000 fewer passengers — than on Thursday or Friday.
All major airlines have issued waivers for travel over the weekend, allowing passengers to rebook onto earlier or later flights to avoid the storms. The airports included vary by airline but include some cities in Kentucky, Tennessee and West Virginia all the way up the coast to New Hampshire and Massachusetts. American Airlines alone has issued waivers for 42 airports.
The major storm swirling toward the East Coast is already leading to travel disruptions in Pennsylvania.
All flights into and out of Philadelphia International Airport have been canceled for Saturday, when the blizzard conditions are expected to be in full swing.
Airport spokeswoman Diane Gerace says airlines are being proactive ahead of the expected storm and decided to cancel all flights.
She says airlines hope to resume flights Sunday, but travelers should check with their carriers to get detailed information.
The National Weather Service on Friday issued a blizzard warning for Philadelphia and its northern suburbs.
Snow is expected to start falling after 7 p.m. Friday and won't slow down until Sunday around 10 a.m. As much as 18 inches could fall around Philadelphia, and two feet is possible for inland places like Gettysburg.
Gov. Bill Haslam's office says all state offices across Tennessee will be closed Friday as the state feels the effects of a winter storm that threatens to bring record snowfall to the Washington area.
A previous statement said offices in Middle and East Tennessee would be open for a half-day, but Haslam spokeswoman Jennifer Donnals said conditions deteriorated earlier than was forecast.
Snow was falling across many areas in Tennessee before sunrise. The Tennessee Department of Transportation warned motorists to drive with caution due to slick conditions.
While some residents and businesses worry about the effect of a large storm making its way across the U.S., at least one industry is loving all the snow: ski resorts.
Many resorts got a late start to the season because of record high temperatures in December. The storm that started to arrive in some states Friday is expected to dump feet of snow in some areas. In West Virginia, up to two feet is forecast.
Joe Stevens of the West Virginia Ski Areas Association says, "There is never too much snow on the slopes." But he admitted that getting to and from resorts on icy roads could be problematic, as could clearing snow from parking lots packed with visitors.
Still, he says, skiing and snowboarding will be excellent at the state's four major resorts: Snowshoe Mountain, Canaan Valley, Winterplace and Timberline.
Officials say Washington taxicabs will charge an additional $15 during the snow storm.
District of Columbia Taxicab Commission spokesman Neville Waters says the "snow emergency fare" will go into effect at 9:30 a.m. Friday.
Waters says the $15 will be in addition to the regular metered charge. The taxi commission says the fee was added to encourage some taxis to remain in service during the storm.
The fare period will remain in effect for 12 hours unless it is extended.
According to Washington municipal regulations, a snow emergency fare period can be put into place when there are hazardous driving conditions, such as significant accumulation of snow on the streets.
Waters says possible fare extensions will be reviewed Friday and determined by weather conditions.
Pennsylvania's governor has declared a state of emergency as an approaching winter storm targeting the Washington area and the Northeast is expected to dump more than a foot of snow on much of the southern part of the state.
Gov. Tom Wolf's declaration allows authorities to respond quickly to any problems. State officials are expected to have more to say at a Friday afternoon news conference.
Forecasters say snow accumulations over 12 inches are expected in the southern half of the state, with the Gettysburg area and southeastern Pennsylvania likely to see the most snow.
The Southeastern Pennsylvania Transportation Authority on Friday will discuss storm preparations.
Amtrak's Keystone Service between Harrisburg and New York will have a modified schedule with fewer trains.
Meanwhile, utility crews are dealing with a major water main break in Pittsburgh's Banksville neighborhood.
A statement from the Shelby County Mayor's Office says snow and freezing rain are creating hazardous driving conditions in the Memphis area.
Shelby County Mayor Mark H. Luttrell Jr. says salt and sand trucks have been out since early Friday morning treating main roadways, but icy conditions have been reported on some bridges and overpasses. Officials urged people to stay off the roads if possible.
Forecasters say snow and sleet accumulations could reach 4 to 6 inches in West Tennessee. In Memphis, where blizzard conditions are possible, salt trucks and plows are ready to clear roads of snow and ice. Three warming centers are open for those seeking refuge from below-freezing temperatures.
Tennessee Gov. Bill Haslam has ordered state offices in West Tennessee closed all day. Other state offices will close at noon.
A major winter storm dropped 6 inches of snow in the Little Rock area overnight, breaking a snowfall record set more than 20 years ago.
The National Weather Service says it's recorded 6.2 inches of snow at its office in North Little Rock, just outside the capital city. The winter storm shut down schools and state government offices in central Arkansas on Friday as the snow continues to fall.
A winter storm warning remains in effect until noon Friday. The National Weather Service says strong winds with gusts of up to 40 mph will make driving difficult, especially in the eastern part of the state.
The state's largest utility, Entergy Arkansas, says about 12,500 homes and businesses are without power Friday morning, primarily in the eastern half of the state.
The National Weather Service says the blizzard about to hit the Eastern United States could rank near the top 10 ever to hit the region.
Meteorologist Paul Kocin with the service's Weather Prediction Center says snowfall as heavy as 1 to 3 inches an hour could continue for 24 hours or more in the area. That puts estimates at more than 2 feet for Washington, a foot to 18 inches for Philadelphia and 8 inches to a foot in New York.
Five states and the District of Columbia have declared states of emergency ahead of the slow-moving system. The federal government announced Thursday night that its offices would close at noon Friday.
Weather service director Louis Uccellini says resident should expect brutally high winds, dangerous inland flooding, white-out conditions and even the possibility of thunder snow.


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1-й Янаул () — деревня в Татышлинском районе Республики Башкортостан Российской Федерации. Входит в состав Кудашевского сельсовета.

География

Географическое положение
Расстояние до:
 районного центра (Верхние Татышлы): 21 км,
 центра сельсовета (Верхнекудашево): 10 км,
 ближайшей ж/д станции (Куеда): 45 км.

Население

Примечания

Ссылки
 Совет муниципальных образований Республики Башкортостан.
 1-й Янаул на портале «Генеалогия и Архивы»

Населённые пункты Татышлинского района

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Tag: Aengus Ó Snodaigh
Dáil Éireann Written Answers 12/06/19 – Irish Air Corps – Health & Safety
Aengus Ó Snodaigh (Dublin South Central, Sinn Fein)
Deputy Aengus Ó Snodaigh asked the Taoiseach and Minister for Defence when he first received the report on the findings of the independent third party appointed to investigate protected disclosures relating to chemical exposure in the Air Corps; the steps he has taken to act on its findings since then; and if he will make a statement on the matter. [24571/19]
Paul Kehoe (Wexford, Fine Gael)
Three written disclosures were made, in November and December 2015 and January 2016, under the provisions of section 8 of the Protected Disclosures Act 2014, relating to alleged failings in the Defence Organisation in the area of Health and Safety. Legal advice was sought on how best to progress certain disclosures as elements related to matters which are the subject of the ongoing litigation. As the Deputy will be aware, the State Claims Agency is currently managing nine claims taken against the Minister for Defence, for personal injuries alleging exposure to chemical and toxic substance whilst working in the Air Corps in the period 1991 to 2006.
I appointed an independent reviewer to examine the disclosures. Following receipt of the report of the independent reviewer, which was submitted to me on 19 June, 2016, I invited the views of those who had made the disclosures and published the report. I also sent the report to the Chief of Staff for the views and actions of the military authorities to be set out.
In parallel to the independent review, following an inspection in 2016, the Air Corps had continued to work with the Health and Safety Authority (HSA) to improve its health and safety regime. I have been informed by the military authorities that the HSA has formally noted the considerable progress made to-date by the Defence Forces towards implementation of a safety management system for the control of hazardous substances. Subject to completion of the improvement plan the HSA investigation is closed. However, it must be noted that in the Air Corps health and safety is a matter of ongoing monitoring, supervision and adjustment.
The matter of the disclosures is receiving consideration in the context of the responses I received from the parties and legal advices in the context of ongoing active litigation…..blah blah blah blah blah blah blah blah blah 18 22 men dead since Minister for Defence first notified minister considering report for a year 2-years now.
Minister for Defence was first notified of ongoing Health & Safety issues at Irish Air Corps in November 2015.
Twenty Two men have died since this date, three by their own hand. Some of these men could have been saved.
There has been ZERO medical assistance offered to Air Corps survivors.
There has been ZERO assessment of the chemical exposure effects to even serving personnel.
Minister Kehoe is happy to let serving and former Air Corps personnel die while he takes 2 years to consider his next step.
Meanwhile the State Claims Agency who were awarding the Air Corps awards for excellence in Health & Safety while they actively poisoned personnel are frustrating legal cases by tying them up in appeals.
Tune in next year for another bullshit reply in the Dail from Paul Kehoe.
Author ColliePosted on 20/06/2019 20/06/2019 Categories Dáil ÉireannTags Aengus Ó Snodaigh, air corps, Baldonnel, death by inaction, defence forces, Leo Varadkar, Paul Kehoe, Toxic Chemicals, whistleblower2 Comments on Dáil Éireann Written Answers 12/06/19 – Irish Air Corps – Health & Safety
Author ColliePosted on 18/04/2019 24/04/2019 Categories News ArticlesTags Aengus Ó Snodaigh, air corps, appeal, chemicals, dail motion, defence forces, delay, Fine Gael, inquiry, Irish Air Corps, Leo Varadkar, Mickey Mouse, Paul Kehoe, Simon Coveney, Sinn Fein, State Claims Agency, Toxic ChemicalsLeave a comment on DIE – Varadkar & Kehoe happy to let Irish Air Corps personnel die unnecessarily
DENY – An Taoiseach Dr. Leo Varadkar denies chemical link at Baldonnel
If only those foreign governments or Samsung had the medical advice on hand here in Ireland. Perhaps they would have held tough and refused compensation to their sick workers if they'd heard this suggestion by an Irish doctor:
"As a medical doctor, it is not possible for me to say if exposure to chemicals caused all or any of these illnesses because they are commonplace in the community at large."
"If it was one specific illness resulting from a known chemical that caused such an illness, that would be one thing. These are not the allegations that are being made, however,"Dr Leo Varadkar told the Dáil in February 2018.
However, the US Agency for Toxic Substances and Disease Registry would not support Dr Varadkar's view that we should be looking out for "one specific illness resulting from a known chemical" in the Air Corps case. It says there is sufficient evidence to be sure that exposure to TCE is causation for kidney cancer, non-Hodgkin lymphoma, and cardiac defects.
They say the evidence is sufficient to conclude that a causal relationship is likely between exposure to TCE and leukaemia, liver cancer, multiple myeloma, end-stage renal disease, Parkinson's disease, and scleroderma.
The agency says there are 21 different health effects — including various cancers, miscarriages, and birth defects — that have been found in at least one study that evaluated exposure to TCE and/or PCE.
Aside from that list of life-changing illnesses arising from exposure to TCE, it is worth bearing in mind that this was not the only chemical used in Baldonnel.
Varadkar and Kehoe's stock answer to date is that there should be no examination of any connection between conditions in Baldonnel until the seven ongoing court cases are resolved. The first of these was lodged five years ago, and the State Claims Agency has fought these cases tooth and nail.
Author ColliePosted on 17/04/2019 17/04/2019 Categories News ArticlesTags Aengus Ó Snodaigh, air corps, appeal, chemicals, dail motion, defence forces, delay, Fine Gael, inquiry, Irish Air Corps, Leo Varadkar, Mickey Mouse, Paul Kehoe, Simon Coveney, Sinn Fein, State Claims Agency, Toxic ChemicalsLeave a comment on DENY – An Taoiseach Dr. Leo Varadkar denies chemical link at Baldonnel
DELAY – Irish Air Corps Chemical Deaths Mickey Mouse Inquiry
It is now over three years since whistle-blowers lifted the lid on issues in Casement Aerodrome, Baldonnel.
Five years have passed since the first personal injury claim against the State was lodged in the High Court.
The Irish Examiner reports that first highlighted these issues were published over two years ago.
With some exceptions, very little progress has been made in addressing the concerning matters at the heart of this scandal in the intervening period.
Writing in this newspaper last year, columnist Michael Clifford noted how there are two categories of inquiry frequently undertaken by a State agency or government organ.
"The standard inquiry is designed to find out whether something went wrong, how it happened, and who may be responsible," he wrote.
"The other category frequently used, we shall refer to as the Mickey Mouse inquiry. This is designed to respond to a controversy.
"Turning over stones and digging for information is not the primary function of a Mickey Mouse inquiry.
"Instead, the main focus is to present the inquiry as an exhibit to show that something, anything, is being done," he said.
Mr Clifford was referring to an inquiry into allegations by a Prison Service whistle-blower and recalled the initial attempts to "investigate" issues raised by Sergeant Maurice McCabe.
But he could easily have been referring to the lip service the Government has paid to serious allegations raised by Air Corps whistle-blowers, some ex-Defence Forces, and one still serving.
Author ColliePosted on 16/04/2019 16/04/2019 Categories News ArticlesTags Aengus Ó Snodaigh, air corps, appeal, chemicals, dail motion, defence forces, delay, Fine Gael, inquiry, Irish Air Corps, Leo Varadkar, Mickey Mouse, Paul Kehoe, Simon Coveney, Sinn Fein, State Claims Agency, Toxic ChemicalsLeave a comment on DELAY – Irish Air Corps Chemical Deaths Mickey Mouse Inquiry
Delay, deny, and die: The official response to Air Corps chemical exposure fears
The Dáil is set to debate the establishment of a special committee to conduct hearings into the possible health effects of toxic chemical exposure among Air Corps personnel, after two years of revelations in the Irish Examiner, with TDs expected to back the investigation before the summer. Joe Leogue looks at what has brought us to this point.
It also calls for measures, including medical cards, "to address the health needs of personnel that have been exposed to hazardous chemicals, and extend these measures to any civilians affected and to students who may be affected while on work experience".
The move comes years after whistleblower allegations, court cases, and revelations in this newspaper that have prompted many questions.
There are some who believe those in positions of power are happy to leave those questions unanswered.
Those who believe that Air Corps technicians are seriously ill because they suffered undue exposure to harmful chemicals while working in Casement Aerodrome say the Government response to their concerns can be summed up by "three Ds".
Delay – Deny- Die
Delay any meaningful investigation into their claims; deny there is an issue; and finally, wait for these sick troublemakers to die and stop rocking the boat.
Truth be told, nothing the Government — or successive ministers for defence — have done in recent years would dispel anyone of that notion.
Author ColliePosted on 14/04/2019 14/04/2019 Categories News ArticlesTags Aengus Ó Snodaigh, air corps, appeal, chemicals, dail motion, defence forces, delay, Fine Gael, inquiry, Irish Air Corps, Leo Varadkar, Paul Kehoe, Simon Coveney, Sinn Fein, State Claims Agency, Toxic ChemicalsLeave a comment on Delay, deny, and die: The official response to Air Corps chemical exposure fears
Number of cases being defended by Department of Defence against former staff rises to eight
The Department of Defence has confirmed that the number of cases it is defending against former Defence Forces staff over chemical exposure in the Air Corps has risen to eight.
Detail of the new case emerged as Sinn Fein prepares a motion calling for Oireachtas inquiry into the health and safety management at Air Corps headquarters at Casement Aerodrome, Baldonnel.
In January 2017, this newspaper revealed how the Department of Defence had received a number of protected disclosures from whistleblowers alleging serious shortcomings in how Air Corps maintenance staff were protected from exposure to cancer-causing substances.
We also reported how, at the time, six former members who suffer a range of chronic illnesses, took High Court action against the State over what they said was a failure to train them properly on the dangers of the chemicals they used, or to provide them with adequate personal protective equipment.
These six former members had received the opinion of a toxicopathologist who linked their illnesses to their working conditions.
The Department has now confirmed that the number of cases has risen to eight, and this newspaper understands that a number of others are considering similar action.
https://www.irishexaminer.com/breakingnews/ireland/number-of-cases-being-defended-by-department-of-defence-against-former-staff-rises-to-eight-908103.html
Author ColliePosted on 04/03/2019 04/03/2019 Categories News ArticlesTags Aengus Ó Snodaigh, air corps, appeal, chemicals, dail motion, defence forces, delay, Fine Gael, inquiry, Irish Air Corps, Leo Varadkar, Paul Kehoe, Sinn Fein, State Claims Agency, Toxic ChemicalsLeave a comment on Number of cases being defended by Department of Defence against former staff rises to eight
Call for inquiry into allegations members of Defence Forces suffered due to toxic chemical exposure
The Dáil is to consider establishing a special Oireachtas inquiry into claims that Defence Forces personnel suffered serious health consequences over decades as a result of toxic chemical exposure – allegations first revealed by the Irish Examiner.
They believe these exposures could have caused the deaths and serious illnesses of former staff.
These whistle-blowers also submitted a complaint to the Health and Safety Authority, who inspected conditions at Casement Aerodrome in Baldonnel and threatened legal action against the Defence Forces unless it made improvements in how Air Corps staff are protected from the effects of the toxic chemicals.
Meanwhile, the State is defending seven personal injury claims from former Air Corps members who have been told by a toxico-pathologist that their chronic illnesses were caused by their exposure to chemicals used in the line of duty.
The Government first received protected disclosures from whistleblowers in December 2015, and an independent report on the claims found appropriate records to demonstrate the Air Corps compliance with health and safety standards "are not readily available."
However, despite receiving that report in the summer of 2017, no subsequent action has been taken by the Government, nearly two years later.
https://www.irishexaminer.com/breakingnews/ireland/call-for-inquiry-into-allegations-members-of-defence-forces-suffered-due-to-toxic-chemical-exposure-907751.html
There have been 22 untimely deaths of Irish Air Corps serving & former personnel since the first health and safety related protected disclosure was made to Simon Coveney in December 2015.
This Fine Gael government appear quite happy to sit back and let our colleagues die. At least 3 of the 22 deaths were suicides and therefore preventable.
Author ColliePosted on 01/03/2019 01/03/2019 Categories News ArticlesTags Aengus Ó Snodaigh, air corps, appeal, chemicals, dail motion, defence forces, delay, Fine Gael, inquiry, Irish Air Corps, Leo Varadkar, Paul Kehoe, Sinn Fein, State Claims Agency, Toxic ChemicalsLeave a comment on Call for inquiry into allegations members of Defence Forces suffered due to toxic chemical exposure
Dáil Debates Other Questions 17/1/19 – Defence Forces Equipment
To ask the Taoiseach and Minister for Defence if all Defence Forces and Air Corps officers are trained in the use of respirators and-or breathing apparatus in the context of handling chemicals and toxic material; if the use of same is now mandatory; and the date on which it became mandatory. [1803/19]
This question relates to the change in the health and safety regime brought about in recent years because of disclosures from whistle-blowers, which have led to changes in health and safety in the Air Corps in particular. Are all Defence Forces and Air Corps officers trained in the use of respirators and breathing apparatus in the context of handling chemicals and toxic material which, in the past, were wrongly handled and possibly exposed people to poisoning and ill-health?
I am advised by the military authorities that all members of the Defence Forces are trained in the fitting of the general service respirator as part of their basic training and that tests of elementary training are conducted annually in a respirator test facility. This training is in keeping with chemical, biological, radioactive and neurological (WTF?) training that all Defence Forces personnel undergo following basic training.
I am further advised by the military authorities that only those Defence Forces personnel who are required to work with chemicals and toxins are required to undergo respiratory protective equipment training. Such training is provided to members of the Defence Forces in accordance with the relevant health and safety legislation.
With regard to the Air Corps, I am advised that it uses two types of respiratory protective equipment depending on the type of activity being carried out. These are respirators, which are air purifying, and breathing apparatus, through which air is supplied. I am advised that personnel who require respiratory protective equipment training are trained as necessary.
I welcome the Minister of State's statement but part of the question was when did it become mandatory. The final part of the reply seems to suggest that not all Air Corps personnel are trained in the use of respirators. When exactly did it become mandatory for all Defence Force personnel to have this training? Is the training in full use currently?
With regard to the Air Corps, I am surprised that people who specifically deal with chemicals are trained in the wearing of respirators only if they are involved in dealing with these types of chemicals. Full training is given to these people and they undergo relevant retraining to ensure they are fully trained.
The question is when that happened.
I do not have a specific date but to my knowledge full training is carried out in line with what is required. I will come back to the Deputy with a specific date.
Author ColliePosted on 25/01/2019 25/01/2019 Categories Dáil ÉireannTags Aengus Ó Snodaigh, air corps, Baldonnel, defence forces, Leo Varadkar, NBC, Paul Kehoe, respirators, Toxic Chemicals, whistleblower1 Comment on Dáil Debates Other Questions 17/1/19 – Defence Forces Equipment
Dáil Éireann – Public Accounts Committee – 08/11/18
Catherine Murphy (Kildare North, Social Democrats)
I will move on to another area regarding the State Claims Agency. It relates to the Air Corps. The Air Corps used to hold information in relation to health and safety. Deputy Ó Snodaigh looked for information and stated it was misplaced. Subsequently, there was a court case. There were some whistleblowers. The State Claims Agency stated that no admission was made that the defendants exposed the plaintiff to dangerous chemicals or solvents, and that is the nub of what it relates to.
The State Claims Agency stated that it could confidently claim that there were no injuries due to any act or omission on its part and yet there was no documentation that could provide that confidence. Subsequently, there was a report, the O'Toole report, which stated that the records to demonstrate health and safety compliance are not readily available.
In such a situation where there is the absence of information, how can the State Claims Agency state it can confidently predict or state something when records were not available?
Mr. Ciarán Breen (State Claims Agency)
I apologise Chairman, I did not realise we were going to examine the general indemnity scheme. Generally, I am vaguely familiar with the particular case. While I do not have the exact facts or recollection of it, I am guessing that the reason we confidently stated what we did was either because of where the person was working or we had come to an independent view informed by the Air Corps around those liability issues. I really cannot put it further than that.
Could Mr. Breen follow up with a note on it?
I will certainly. Maybe afterwards, the Deputy might give me the name of the case and I will follow it up.
The State Claims Agency were aware from late 2013 / early 2014 that the Health & Safety failings at Baldonnel were in fact an "ongoing" issue and not just a "legacy" issue and failed to intervene by requesting the services of the HSA to protect Air Corps personnel. It took the actions of whistle-blowers at the end of 2015 before the HSA intervened in 2016 to improve Air Corps Health & Safety.
The State Claims Agency Risk Management branch had been carrying out "Safety Management Systems" audits of the Irish Air Corps, in selected units and at formation level, for a decade before the Health & Safety Authority were forced to intervene to protect personnel from ongoing CMR chemical exposures in 2016.
The NTMA operates a discretionary performance-related payments scheme for eligible employees, which includes staff assigned to the State Claims Agency. The scheme rewards exceptional performance having regard to the employee's own performance, the performance of the employee's area of responsibility and the overall performance of the NTMA. Performance-related payments are made in accordance with parameters approved by the Agency's non-executive Remuneration Committee.
Author ColliePosted on 19/11/2018 19/11/2018 Categories Dáil ÉireannTags Aengus Ó Snodaigh, air corps, Baldonnel, Catherine Murphy, Ciarán Breen, death by inaction, defence forces, Leo Varadkar, NTMA, Paul Kehoe, SCA, State Claims Agency, Toxic Chemicals, whistleblowerLeave a comment on Dáil Éireann – Public Accounts Committee – 08/11/18
Dáil Éireann Written Answers 06/11/18 – Department of Defence Health and Safety
QUESTION NO: 124
To ask the Taoiseach and Minister for Defence the action he has taken or plans to take on foot of the O'Toole Report which has been sent to the whistle-blowers 12 months ago and feedback received a number of months ago; and if he will make a statement on the matter 45046/18.
The State Claims Agency is currently managing 7 claims taken by former and current members of the Air Corps for personal injuries alleging exposure to chemical and toxic substances whilst working in the Air Corps.
Three written disclosures were made, in November and December 2015 and January 2016, under the provisions of section 8 of the Protected Disclosures Act 2014, relating to alleged failings in the Defence Organisation in the area of Health and Safety. Legal advice was sought on how best to progress certain disclosures as elements related to matters which are the subject of the ongoing litigation. I appointed an independent reviewer to examine the disclosures.
Following receipt of the report of the independent reviewer, I invited the views of those who had made the disclosures and published the report. I also sent the report to the Chief of Staff for the views and actions of the military authorities to be set out. In parallel to the independent review, following an inspection in 2016, the Air Corps had continued to work with the Health and Safety Authority (HSA) to improve its health and safety regime. I have been informed by the military authorities that the HSA has formally noted the considerable progress made to-date by the Defence Forces towards implementation of a safety management system for the control of hazardous substances. Subject to completion of the improvement plan the HSA investigation is closed. However, it must be noted that in the Air Corps health and safety is a matter of ongoing monitoring, supervision and adjustment.
I am considering the responses I received from the parties and legal advice in the context of ongoing active litigation before deciding on the next steps to be taken….blah blah blah blah blah blah blah blah blah 18 men dead since Minister for Defence first notified minister considering report for a year now.
Author ColliePosted on 15/11/2018 15/11/2018 Categories Dáil ÉireannTags Aengus Ó Snodaigh, air corps, Baldonnel, death by inaction, defence forces, Leo Varadkar, Paul Kehoe, Toxic Chemicals, whistleblowerLeave a comment on Dáil Éireann Written Answers 06/11/18 – Department of Defence Health and Safety


We tried out Forza Coffee Company because the line a Black Tie was too long. The lesson learned here is that patience is a virtue, and those who don't have it get bad coffee.
Forza could probably compete with Starbucks when it comes to brewing forgettable coffee. What possibly makes the Tacoma based mini-chain worse, however, is that they're really trying. I mean, honestly, I think Starbucks stopped a while back. They have about 72 million franchised locations out there, so why even pretend like they make good coffee? 15th Avenue Coffee & Tea aside, there aren't many more places to go.
Forza, meanwhile, hasn't given up. They really really really want to be your neighborhood Italian coffee shop. And bless them for that. It doesn't work too well, though, when their Americanos just taste like burnt beans. There's no depth, there's no nuttiness, there's really little of anything. Just espresso that seemed to have been brewed amazingly quickly. That's not a good thing.
Black Tie is just across the street. Various outlets serving Doma are within a one mile radius. I'm sure there must be a Thomas Hammer not too far away. Forza just isn't worth it.
Do you recommend Forza Coffee Company? Make your voice heard!


Curious where we are on campus?
Well.....here we are; Martin Alumni Center. Located on the corner of Benton and Webster across from (west side) of Sunderland Field and the past home of the Sigma Nu Fraternity. We have all sorts of wonderful things here. Need information on convocation, planned giving, annual giving, interested in becoming active with alumni council or volunteer activities for alumni? Whatever your needs, we would like to help! Take a trip down memory lane, any one of us would be pleased to give you a tour.
From summer to winter, we are here for you all year long.


text:
\section{Introduction}

An interesting branch of research in robotics is the study of  multi-robot systems, popularly known as {\it robot swarm}. A $robot$ $swarm$ is a collection of small autonomous, memoryless, communication-less, homogeneous, indistinguishable,
  inexpensive mobile robots working cooperatively to achieve some goal.
Although large in numbers, collectively this swarm of robots is less expensive than a big robot.
Increasing or decreasing the number of robots in this system involves very simple hardware or software modifications and thus provides good
scalability. Moreover, having similar capability, if some robots fail, others can manage to execute the
work. This feature makes the system to be more resilient to malfunction.
 The fields of application for such a distributed system of robots are also versatile. One can use the robots to search for persons in a hazardous environment
\cite{sugihara1990distributed}, which typically include disaster hit areas. The robots can even work together to build a complex 3D structure \cite{michael2011cooperative}.
Other applications include mining in hazardous areas, agricultural tasks like foraging etc. Multi-robots systems are also used in defense.
A large number of robots can act as an autonomous army. The U.S. Navy has created a swarm of boats which can track an enemy boat, surround it and then destroy
it \cite{steinberg2006intelligent}. {\it Gathering or Homing} \cite{Santoro2012} or {\it Get-together}, (i.e., collecting the robots to a point not defined in advance) is a fundamental coordination problem for a
group of mobile robots. This paper proposes an algorithm for a get-together of the multiple mobile robots deployed in a three dimensional plane.

\subsection{Framework}
The distributed model \cite{Santoro2012} for a swarm of robots or multi robot system, represents the mobile entities by distinct points located in the region of deployment. Most of the existing literature deals with deployment in the Euclidean plane. This paper considers the {\it three dimensional} Euclidean plane. The robots
are anonymous, indistinguishable, having no
explicit communication through wired or wireless medium. As they stand, they agree on up and down directions. However, origin, axes, clockwise direction and unit distance are not same for the robots.
 Each robot has sensing capability, by {\em vision}, which enables it to determine
 the positions (on its own coordinate system) of  the other robots.
The robots operate by executing {\em Look-Compute-Move} cycles asynchronously.
All robots execute the same algorithm.
The robots are oblivious, i.e., at the beginning of each cycle, they forget
their past observations and computations. The robots execute the cycles asynchronously where the  robots may not start or complete cycles together.
The vision enables the robots to communicate and coordinate their actions by sensing their relative positions. Otherwise, the robots are silent and have no explicit message passing. Some of the robots may be faulty in the sense that suddenly they can stop working forever.
   These restrictions enable the robots to be deployed in extremely harsh
environments where communication is not possible, e.g., an underwater
deployment or a military scenario where wired or wireless communications are
impossible or can be obstructed or erroneous.

\subsection{Contribution of This Paper}
{\it Gathering or homing} is one of the most visited problems \cite{Bouzid2013,Cieliebak2002,Cieliebak2003,Cieliebak2012,Degener2011,Dieudonne2012,Flocchini2005,Gordon2008,Izumi2007,Katayama2007,Prencipe2007} in the domain of the multi-robot
systems. One of the goals of these investigations has always been to find out the minimum capabilities which  the robots must have to be gathered in finite time \footnote{there is a variation of gathering such as, convergence \cite{Cohen2005}; where the robots come as close as possible but do not gather at a single point. However, in this paper we only consider gathering at a single point.}. Deterministic gathering of $n>2$ asynchronous robots is impossible without the assumption on multiplicity detection (the robots can detect a point consists of multiple robots) or common agreement in coordinate systems or remembering the past \cite{Prencipe2007}. Flocchini et al. \cite{Flocchini2013}, have reported an algorithm for gathering two robots using constant number of memory bits. Flocchini et al. \cite{Flocchini2005}, have shown
that gathering is possible if the robots have agreement in direction and orientation of both the axes, even
when the robots can observe limited regions of certain radius, around themselves. If the robots agree on direction and orientation, Gathering is possible even if the robots have different visibility radii \cite{icdcit2015}. Agreement in coordinate system is an important parameter for gathering. If the robots agree only on orientation or chirality, i.e., they have common clockwise direction but no common direction of $X$ axis, gathering is not possible for two robots.
Many researchers \cite{agmon2006fault,Defago2006,Bouzid2013,Bhagat201650} have considered errors in the system in various aspects, e.g., the robots can behave arbitrarily without properly following the algorithm or they can cease to work.
Recently it has been shown that gathering of opaque robots is possible in two dimensional plane with only agreement in one axis and without any other assumption, even in the presence of faulty robots \cite{Bhagat201650}. This paper extends the result in \cite{Bhagat201650} to work for 3D.
Forming of arbitrary pattern by the robots in 3D \cite{DBLP:journals/corr/YamauchiUY15}, forming a plane by the robots \cite{DBLP:conf/wdag/YamauchiUKY15} are some examples of the reported results on 3D. However, these results consider that the robots execute {\it look-compute-move} cycle synchronously. Gathering of multiple robots in a 3D plane is not yet reported. {\it In this paper we prove that one axis agreement is enough for gathering asynchronous, oblivious robots in three dimensional plane and propose a collision free gathering algorithm for such robots. We also consider that the robots may stop working forever at any point of time before or after meeting at a point.}

\section{Model and Terminologies}

The robots are represented as points in a three-dimensional plane. They are able to move freely on the plane.
Let $\mathcal{R}=\{r_1, r_2,\ldots, r_n\}$
denote the set of $n$ homogeneous, indistinguishable mobile robots. This robots follow the $CORDA$ model \cite{Santoro2012}
with some additional features. At any point of time, a mobile robot is either active or inactive(idle). The activation scheduling of the robots is asynchronous and
independent from the others. Each
active robot executes cycles consisting of  a sequence of states, namely {\it look-compute-move}, repeatedly in asynchrony.
The duration of each operation and the delay
between the intra-sequence operations are finite but  unpredictable.
In {\it Look} state, a robot observes its surrounding in all directions and spots the positions of the other robot in
its local coordinate system to form a local view of the world. The robots do not share any common global coordinate system.
Each robot has its own local Cartesian coordinate system the origin of which is at the point in the space occupied by that robot.
The robots agree only on one axis, the $Z$ axis. The orientation of the other two axes may be different for different robots. The robots are physically transparent, i.e., they not obstruct the visibility of
other robots. In {\it Compute} state, a robot, using the input received in the {\it Look} state, computes its destination point. Finally in {\it Move} state,
it moves to the computed destination. A robot may stop before reaching its destination and start a fresh computational cycle.
However, to guarantee the finite time termination, it is assumed that
whenever a robot moves, it travels at least a finite minimum distance $\delta > 0$ towards
its destination. The value of $\delta$ is not known to the robots.
Due to asynchrony, a robot may observe other robots in motion. However, it can not detect
their motion. It only traces the locations of the mobile robots at the time of its observation. This implies that the computations of the robots may be based on locations which are no longer true. The robots do not remember the data computed in any of the previously completed cycles i.e., they are oblivious. The robots do not pass massages.
Initially the robots are stationary. Multiple robots can occupy a single point.
However, it is assumed that the robots can not detect the presence of multiple robots at the same point i.e., they do not have the capability of $multiplicity$ detection.
Thus, the multiple occurrences of the robots at a single point is counted by the robots as a single occurrence.
The robots may become faulty at any time during the execution of the algorithm. This paper considers \textit{crash
faults} where faulty robots stop executing cycles permanently. However, a faulty robot physically remains in the system without doing any action. The robots do not have the capability to distinguish the faulty robots. A crash fault model is denoted by $(n, f)$, where  at most $f < n$ robots can become faulty during the execution of the algorithm.

\begin{itemize}
 \item \textit{Configuration of the robots:} Let $r_i(t)$ denote the position occupied by the robot $r_i$ at time $t$. By a
configuration $\mathcal C(t) = \{r_1(t),\cdots, r_m (t)\}$, $m\le n$, we denote the set of positions occupied by the
robots in $\mathcal R$ at time $t$ (occurrence of multiple robots at a single point is counted once).
Let $\widetilde{\mathcal C}$ denote the set of all such robot configurations.
\item The line segment joining two points $r_i(t)$ and $r_j(t)$ is denoted by $\overline{r_i(t)r_j(t)}$ and its length is denoted by $|\overline{r_i(t)r_j(t)}|$.
\item The positive direction of $Z$-axis is called as \textit{upward} direction and the negative direction of $Z$-axis is called as \textit{downward} direction.
The directions which are perpendicular to the $Z$ axis will be called \textit{horizontal} directions; all other directions are \textit{non-horizontal}.
Planes, having $Z$ axis as their normal, are drawn through the robot positions in $\mathcal C(t)$. An ordering among these planes can be obtained according to their positions
along the $Z$ axis from topmost downwards. Let $PL_i(\mathcal C(t))$ denote the $i^{th}$ plane from the top,
containing the points in $\mathcal C(t)$ (Figure \ref{Theo-case-111}(a)). We define,

\begin{center}
 $\mathcal P(\mathcal C(t))=(PL_1(\mathcal C(t)), PL_2(\mathcal C(t)),\ldots, PL_k(\mathcal C(t)))$, $k\le n$.
\end{center}

Let $RPL_i(\mathcal C(t))$ denote the set of robot positions on the plane $PL_i(\mathcal C(t))$. We define,
\begin{center}
 $\mathcal RP(\mathcal C(t))=(RPL_1(\mathcal C(t)), RPL_2(\mathcal C(t)),\ldots, RPL_k(\mathcal C(t)))$.\\
\end{center}
\vspace{.5cm}
 The number of robot positions on $PL_i(\mathcal C(t))$ is denoted by $|RPL_i(\mathcal C(t))|$.
 \vspace{.5cm}

   \begin{figure}[h]
\begin{center}
 \includegraphics[scale =1]{Top-Tr}
 \end{center}
 \caption{An example of   $\mathcal P(\mathcal C(t))$ and $\triangle r_iT_{ij}r_j(t)$}
 \label{Theo-case-111}
\end{figure}

\ite
An equivalence relation $\prec$ is defined on $\widetilde{\mathcal C}$ as follows:
$\forall$ $ \mathcal C, \mathcal C' \in \widetilde{\mathcal C} $,
$ \mathcal C\prec  \mathcal C'$ iff $|RPL_1(\mathcal C)|=|RPL_1(\mathcal C')|=1$ or $|RPL_1(\mathcal C)|=|RPL_1(\mathcal C')|=2$ or both $|RPL_1(\mathcal C)|$ and
$|RPL_1(\mathcal C')|$ are greater than 2.
This relation yields following three equivalence classes: (i) $\widetilde{\mathcal C_1}=\{\mathcal C\in \widetilde{\mathcal C}: |RPL_1(\mathcal C)|=1\}$  (ii) $\widetilde{\mathcal C_2}=\{\mathcal C\in \widetilde{\mathcal C}: |RPL_1(\mathcal C)|=2\}$ and (iii) $\widetilde{\mathcal C}_{>2}=\{\mathcal C\in \widetilde{\mathcal C}:
|RPL_1(\mathcal C)|>2\}$.
 \item  For a plane $PL_m(\mathcal C(t))$ with $|RPL_m(\mathcal C(t))|\ge 2$, consider two points $r_i(t)$ and $r_j(t)$ on it. Let $\triangle r_iT_{ij}r_j(t)$ denote the equilateral triangle
 on $\overline{r_i(t)r_j(t)}$ and having the side length $|\overline{r_i(t)r_j(t)}|$ such that the direction of the perpendicular bisector of $\overline{r_i(t)r_j(t)}|$ is parallel to the $Z$ axis and $T_{ij}(t)$, the pick of the triangle, is on the upward direction (Figure \ref{Theo-case-111}(b)).

 \item Consider $PL_1(\mathcal C(t))$ with $|RPL_i(\mathcal C(t))|>2$. If the robot positions on $PL_1(\mathcal C(t))$ are co-circular, let $S(PL_1(\mathcal C(t)))$ denote the circle  of the co-circularity. Otherwise, $S(PL_1(\mathcal C(t)))$ denotes the minimum enclosing circle of the robot positions on $PL_1(\mathcal C(t))$. The set
 of robot positions on $S(PL_1(\mathcal C(t)))$ is denoted by $CS(PL_1(\mathcal C(t)))$. Let $W(S(PL_1(\mathcal C(t))), Z, 45^o)$ denote the right circular cone
 with $S(PL_1(\mathcal C(t)))$ as the base,  axis of the cone parallel to $Z$ axis, semi-vertical angle equals to $45^o$ and vertex $V(PL_1(\mathcal C(t)))$ of the cone is on the upward direction
 (Figure \ref{Theo-case-1112}).

   \begin{figure}[h]
\begin{center}
 \includegraphics[scale =.5]{Cone}
 \end{center}
 \caption{An example of $W(S(PL_1(\mathcal C(t))), Z, 45^o)$}
 \vspace{-.7cm}
 \label{Theo-case-1112}
\end{figure}

 \end{itemize}

 \begin{itemize}
 \item $\mathbf{CheckLevel3D():}$ This is a function which takes $\mathcal P(\mathcal C(t))$ and $r_i(t)$ as arguments.
 It returns the value $k$ such that $r_i(t)$ is a point on the plane $PL_k(\mathcal C(t))$.

 \item $\mathbf{ComputeCircle3D():}$ This function takes a set of points $\mathcal A$ lying on a plane as arguments.
 This returns the circle passing through the points in $\mathcal A$ if the points are co-circular. Otherwise, it returns the minimum enclosing circle of the points in $\mathcal A$. It also returns the points of $\mathcal A$ which lie on the circumference of the computed circle.
\item $\mathbf{ComputeConeVertex():}$ This function takes the set of points on the circumference of  a circle $S(PL_i(\mathcal C(t)))$ as argument and computes  the cone
$W(S(PL_i(\mathcal C(t))), Z, 45^o)$. It returns  $V(PL_i(\mathcal C(t)))$, the vertex of the cone.

\item $\mathbf{ComputeTrianglePeak3D():}$ This function takes two robot positions, $p_i(t)$ and $p_j(t)$ lying on the  plane $PL_m(\mathcal C(t))$ for some $m$, as argument. It computes the equilateral triangle $\triangle{p_iT_{ij}p_j}(t)$
 and returns the point $T_{ij}$.
\item $\mathbf{ClosestPoint():}$ This is a function which takes a robot $r_i(t)$ and a set of points $\mathcal A$ as arguments. It returns the
closest position in $\mathcal A$ from $r_i(t)$ (tie, if any, is broken arbitrarily).

\end{itemize}

These functions are use to describe our proposed algorithm $\mathbf{Gathering3D}$. This algorithms is formally presented in section \ref{algo3d}.
The non-faulty robots in the system execute the algorithm $\mathbf{Gathering3D()}$ independently. During the execution of this algorithm, all the robots are allowed
to perform their respective actions simultaneously i.e., the algorithm is { \it wait-free}.

\section{Algorithm}
\label{algo3d}

This section describes our gathering algorithm for a set of mobile robots $\mathcal R$. If it is possible to define a unique point which remains intact under
 the motion of the robots, this point can be used as the point of gathering. Since the robots are oblivious, the movements of the robots towards gathering point
 should be planned carefully so that this point does not change. If such a point is not available in the system, the current configuration is changed
 by the planned movements of the robots in finite time into the one
 in which such a point is possible to define. Due to asynchrony, during the whole execution of the algorithm, it may be possible that different such points are discovered  by the robots. However, for gathering, the robots  must agree on a single point after a finite time.
 The different scenarios and corresponding solution strategies are as follows:\\

\begin{itemize}
 \item {\bf Case 1: $\mathcal C(t) \in \widetilde{\mathcal C_1}$:}
 The plane $ PL_1(\mathcal C(t))$ contains single robot position, say $r_i(t)$ (there may be multiple robots at this position but the robots can count all the appearances as the single one). The robots on $ PL_1(\mathcal C(t))$ do not change position. Rest of the robots move towards $r_i(t)$
 along  the line segment joining their position to $r_i(t)$.
 \begin{figure}[h]
\begin{center}
 \includegraphics[scale =.7]{Alg}
 \end{center}
 \caption{An example of different scenarios of $Gathering3D$}
 \label{Theo-case-11123}
\end{figure}

 \item {\bf Case 2: $\mathcal C(t) \in \widetilde{\mathcal C_2}$:}

 Let $r_i(t)$ and $r_j(t)$ be two robot positions on $ PL_1(\mathcal C(t))$. The active robots on $ PL_1(\mathcal C(t))$,
 compute the equilateral triangle $\triangle {r_jT_{ij}r_k}(t)$ and move towards $T_{ij}(t)$ along the  corresponding non-horizontal sides of the triangle.
A robot which does not lie on the plane $PL_1(\mathcal C(t))$, moves to the nearest point among $r_i(t)$ and $r_j(t)$ (break the tie, if any, arbitrarily).
A robot moves along the straight line joining its current position to the destination point.

\item {\bf Case 3:  $\mathcal C(t) \in \widetilde{\mathcal C}_{>2}$:}
The robots on $PL_1(\mathcal C(t))$ first compute the circle $S(PL_1(\mathcal C(t)))$. The robots which lie on the circumference of $S(PL_1(\mathcal C(t)))$, compute $W(S(PL_1(\mathcal C(t))),  Z, 45^o)$ and mark $V(PL_1(\mathcal C(t)))$ as their destination point. They move towards $V(PL_1(\mathcal C(t)))$ along the straight lines joining their position to $V(PL_1(\mathcal C(t)))$.
The robots which lie inside the circle $S(PL_1(\mathcal C(t)))$ and the robots which do not lie on the plane $PL_1(\mathcal C(t))$ move to the respective nearest robot position  on the circumference of $S(PL_1(\mathcal C(t)))$. They move along the
straight lines joining their current positions to the respective destinations.

Next we present the formal description of the algorithms. The algorithms are executed in all robot sites in their {\it compute} state independently and
asynchronously. In the main algorithm $Gathering3D$, the robots use $ComputeDestination3D()$ to determine the destination points to move to

\begin{algorithm}[H]
\KwIn{$ r_i(t), \mathcal P(\mathcal C(t)), RP(\mathcal C(t))$.}
\KwOut{A destination point of $r_i$.}

$h \leftarrow |RPL_1(\mathcal C(t))|$\;
$k\leftarrow CheckLevel3D(\mathcal P(\mathcal C(t)), r_i(t))$\;
\eIf{ $k==1$}
{
\eIf{ $h==1$}
{$r\leftarrow r_i(t)$\;}
{
\eIf{$h==2$}
{$r \leftarrow ComputeTrianglePeak3D(PL_1(\mathcal C(t)))$\;}
{
$(S(PL_1(\mathcal C(t))), CS(PL_1(\mathcal C(t)))) \leftarrow ComputeCircle3D(PL_1(\mathcal C(t)))$\;
\eIf{$r_i(t)\in CS(PL_1(\mathcal C(t)))$}
{
$r \leftarrow  ComputeConeVertex(S(PL_1(\mathcal C(t))))$\;
}
{$r \leftarrow   ClosestPoint(CS(PL_1(\mathcal C(t))))$\;}
}
}
}
{
$(S(PL_1(\mathcal C(t))), CS(PL_1(\mathcal C(t)))) \leftarrow ComputeCircle3D(PL_1(\mathcal C(t)))$\;
$r \leftarrow   ClosestPoint(CS(PL_1(\mathcal C(t))))$\;
 }
return $r$\;
\caption{ComputeDestination3D()}
\end{algorithm}

\begin{algorithm}[H]
\KwIn{$r_i \in R $}
\KwOut{$r_i$ moves towards its destination.}

Compute $\mathcal P(\mathcal C(t))$\;
Compute $\mathcal RP(\mathcal C(t))$\;
$r \leftarrow ComputeDestination3D(r_i(t), \mathcal P(\mathcal C(t)), RP(\mathcal C(t)))$\;

Move to $r$ along the line segment $\overline{r_i(t)r}$ \;
\caption{Gathering3D()}
\end{algorithm}

\section{Correctness}

In this section, it is established that the gathering of the robots will be achieved, in
finite time, if the robots follow our proposed algorithm. To guarantee gathering in finite time, it has to be shown that a
point which remains intact under the motion of the robots, can be defined in the system. If the initial configuration admits existence of such a point, then it can
serve as the gathering point. Otherwise, the movements of the robots are coordinated in such a manner that after a finite time, the initial configuration is changed
to one in which defining such point is possible. Since the robots can not determine multiple occupancy of the robots at a single point, they count all such positions as single points.

 \begin{obs}
 \label{equilateral-3D}
  Let $W(S, Z, 45^o)$ be a right circular cone. Let $P=\{P_1, P_2,\ldots,P_k\}$, $k\ge3$, be a set of co-circular points on the surface of $W(S, Z, 45^o)$ such that the plane containing these points is parallel to the base of $W(S, Z, 45^o)$. Let $S'$ be the circle passing through points of $P$. Then the cones $W(S, Z, 45^o)$ and $W(S', Z, 45^o)$ have the same vertex.
 \end{obs}

  \begin{lemma}
Suppose $\mathcal C(t_0)) \in \widetilde{\mathcal C}_{2}$ with $r_i(t_0)$ and $r_j(t_0)$ being the two robot positions on $PL_1(\mathcal C(t_0))$. If at least one robot on $PL_1(\mathcal C(t_0))$ starts moving towards $T_{ij}(t_0)$ along the corresponding non-horizontal side of $\triangle{r_iT_{ij}r_j}(t_0)$, then
all the robots on $PL_1(\mathcal C(t))$ will lie on the non-horizontal sides $\triangle{r_iT_{ij}r_j}(t)$ for $t>t_0$.
\end{lemma}
\textbf{Proof}.
 We prove the lemma by induction on the number of completed movements in the system after time $t_0$. Let $l$ denote the number of completed movements in the system. For the base case i.e, for $l=0$, the robots on the topmost plane $PL_1(\mathcal C(t_0))$ lie on two vertices of the the base of $\triangle{r_iT_{ij}r_j}(t_0)$ and the lemma holds.  Suppose the lemma holds up to time $\hat t$, the time when $l^{th}$ movement ends. We prove that the result is also true for $(l+1)^{th}$ movement in the system. Let $t$ be the time  when the $(l+1)^{th}$ movement ends. Now if the $(l+1)^{th}$ movement starts at a time before $\hat t$, then by induction hypothesis, result holds. Otherwise, the robot which makes the $(l+1)^{th}$ movement in the system, must start from point on or below the plane $PL_1(\mathcal C(\hat t))$.
First suppose that a robot not lying on the topmost plane, makes the $(l+1)^{th}$ move. It moves to one of the vertices of the the base of $\triangle{r_iT_{ij}r_j}(t_0)$ and lemma holds. On the other hand, if a robot on the topmost plane, makes the $(l+1)^{th}$ move, it moves towards $T_{ij}(t')$ along the non-horizontal side of $\triangle{r_iT_{ij}r_j}(t')$, where $t_0\le t'<t$. Either it will reach $T_{ij}(t)$ which is same as $T_{ij}(t_0)$ or stops in between.  This implies that the result holds after the $(l+1)^{}th$
movement in the system. Since the length of the $(l+1)^{th}$ movement is arbitrary, the result also holds during the motion.
\qed

 \begin{lemma}
Suppose $\mathcal C(t_0) \in \widetilde{\mathcal C}_{>2}$. Then there exists $t'\ge t_0$, such that all the robots on $PL_1(\mathcal C(t'))$ lie on the surface of $W(S(PL_1 (\mathcal C(t_0))), Z, 45^o)$.
\end{lemma}
\textbf{Proof}.
Since  $\mathcal C(t_0) \in \widetilde{\mathcal C}_{>2}$, the robots on $PL_1(\mathcal C(t_0))$ compute $S(PL_1 (\mathcal C(t_0)))$ as either the circle of co-circularity   of the robot positions on  $PL_1(\mathcal C(t_0))$ or the minimum
enclosing circle of the robot positions on  $PL_1(\mathcal C(t_0))$. If $S(PL_1 (\mathcal C(t_0)))$ is the circle of co-circularity, then $t'=t_0$
and lemma is true. On the other hand,  if $S(PL_1 (\mathcal C(t_0)))$ is the minimum enclosing circle of the robot positions on  $PL_1(\mathcal C(t_0))$, all
the active robots on the circumference of $S(PL_1 (\mathcal C(t_0)))$ compute $W(S(PL_1 (\mathcal C(t_0))), Z, 45^o)$ and move to $V(PL_1(\mathcal C(t_0)))$ along the surface of the cone.
Rest of the active robots in the system move towards the nearest robot position on the circumference of $S(PL_1 (\mathcal C(t_0)))$.
Let $r_i$ be the robot which started moving from the circumference of $S(PL_1 (\mathcal C(t_0)))$ and is the first one to stop. Let  $t'$ be the time when it stops. Since it has been moving along the surface of the cone, its current position is also on the surface of the cone.
The robots not on the circumference of $S(PL_1 (\mathcal C(t_0)))$, could reach the topmost plane only by reaching the robot positions on circumference of  $S(PL_1 (\mathcal C(t_0)))$.  Irrespective of whether $r_i$ is on the top most plane or not, the only other robots which can lie on the top most plane are the ones which are either going to the vertex of the cone or ones which are following such robots. Hence, $PL_1(C_{t'})$ contains all the robots on surface of the cone.

\qed

\begin{theorem}
 The algorithm \textit{Gathering-3D} solves the gathering problem in finite time for a set of robots working in three dimensional space under  one-axis agreement with
 arbitrary number of faulty robots.

\end{theorem}
\textbf{Proof}.
Our strategy looks for a point so that all the robots could agree on that point to gather and this point remains intact under the motion of the robots.
Since robots are oblivious and the scheduling of the actions of the robots are asynchronous, our strategy looks for the invariants present in the robot configurations. If
 the initial configuration provides such an invariant point, the point serves the purpose. Otherwise, the motion of the robots are coordinated in such a way that after
 a finite time it would become possible to have such invariants. The algorithm \textit{Gathering-3D}, first classifies the initial configuration $\mathcal C(t_0)$ into any one of the three classes and  then accordingly plans the movements of the robots.
 \begin{itemize}
  \item {\bf Case 1: $ \boldsymbol{\mathcal C(t_0) \in \widetilde{\mathcal C_1}}$}:
  In this case, $PL_1(\mathcal C(t_0))$ contains a single robot position, say $r_i(t_0)$. According to our algorithm, the robots at $r_i(t_0)$ do not move and rest of the non-faulty robots move towards $r_i(t_0)$ along the straight line joining their respective positions to $r_i(t_0)$. Since no robot reaches a position other than $r_i(t_0)$
  on $PL_1(\mathcal C(t_0))$, this point remains intact under the motion of the robots. The point $r_i(t_0)$ serves as the point of gathering.

  \item {\bf Case 2: $\boldsymbol{\mathcal C(t_0) \in \widetilde{\mathcal C_2}}$}:
 Here, the plane $PL_1(\mathcal C(t_0))$ contains two robot positions, say $r_i(t_0)$ and $r_j(t_0)$. By lemma 1,  there exists $t'$, such that all the robots on
 $PL_1(\mathcal C(t'))$ will lie on the non-horizontal sides of $\triangle{r_iT_{ij}r_j}(t_0)$ for $t'>t_0$. If $|RPL_1(\mathcal C(t'))|=1$ and all the non-faulty robots are aware of it, then the robot position on $PL_1(\mathcal C(t'))$ can serve our purpose. Otherwise, the robots on $PL_1(\mathcal C(t'))$ compute $T_{ij}(t')$ and move towards it. Once at least one robot reaches $T_{ij}(t')$, the point $T_{ij}(t')$ becomes a static point which can serve as the gathering point. Note that, if for some $t^*\ge t'$,  $|RPL_1(\mathcal C(t^*))|>1$, then  $T_{ij}(t^*)$ and $T_{ij}(t_0)$ are the same point.

 \item  {\bf Case 3: $\boldsymbol{\mathcal C(t_0) \in \widetilde{\mathcal C}_{>2}}$}:
 By lemma 2, there exists $t'\ge t_0$, such that all the robots on $PL_1(\mathcal C(t'))$ lie on the surface of $W(S(PL_1 (\mathcal C(t_0))), Z, 45^o)$. If  $|RPL_1(\mathcal C(t'))|\le 2$  and
 all the non-faulty robots are aware of this, then by Case 1 and Case 2 of the above,  gathering is guaranteed.
 Otherwise, we analyze the possible scenarios which could occur after the time $t'$ in the execution of our algorithm. Consider an active robot $r_i$ on the plane $PL_1(\mathcal C(t'))$. Due to asynchrony, followings are the possible scenarios for the robot $r_i$:\\
 (i) $r_i$ finds  $|RPL_1(\mathcal C(t'))|=1$ and hence it does not move.\\
 (ii) $|RPL_1(\mathcal C(t'))|=2$. $r_i$ decides to move along a side of an equilateral triangle.\\
 (iii) $|RPL_1(\mathcal C(t'))|>2$. $r_i$ decides to move along the surface of a cone towards the vertex of the cone.\\
 (iv) $r_i$ finds itself not on the topmost plane $PL_1(\mathcal C(\hat t))$, $\hat t>t'$
 and moves to the nearest robot position on  $S(PL_1(\mathcal C(\hat t)))$.\\
 For scenario (i), $r_i$ decides not to move until any one of the remaining scenarios occurs.
 When scenario (ii) occurs, the robot $r_i$ leaves the surface of $W(S(PL_1 (\mathcal C(t_0))), Z, 45^o)$.  This may also occurs in the scenario (iv). Once robots start leaving the
 surface of $W(S(PL_1 (\mathcal C(t_0))), Z, 45^o)$, an active robot could find itself in any one of the above four scenarios. It may also find that it does not lie on the circumference of $S(PL_1())$ and will decide to move to the nearest robot position on the same circle $S(PL_1())$. The topmost plane may change many times. To guarantee gathering, we have to show that it will be possible to define an invariant point in finite time. If a robot finds its destination at a distance less than or equal
 to $\delta$, it reaches there without halting in between. We show that if gathering has not been achieved yet, the configuration will converge to the one in which
 the topmost plane either contains a single robot position or the geometric span of the robot positions on the topmost plane is at most $\delta$. If former is true then this point will serve the gathering point. For the later case, depending upon the number of robots on the topmost plane, robots directly move to the vertex of cone
 or to the topmost vertex of an equilateral triangle. Now we measure the maximum decrement in the geometric span of the robot positions on the topmost plane. Let
 $H(S(PL_1 (\mathcal C(t))), Z)$ be the cylinder with $S(PL_1 (\mathcal C(t)))$ as base and axis parallel to the $Z$ axis. The geometric span of the points on the topmost plane $PL_1 (\mathcal C(t))$ is bounded above by the diameter of
 $S(PL_1 (\mathcal C(t)))$. When robots on $S(PL_1 (\mathcal C(t)))$  start moving according, the geometric span reduces. Let $a(t)$ denote the radius of $S(PL_1 (\mathcal C(t)))$.
  \begin{figure}[h]
\begin{center}
 \includegraphics[scale =.45]{Convg2}
 \end{center}
 \vspace{-.7cm}
 \caption{An example showing a robot moving along the surface of a cone}

 \label{Theo-case-1}
\end{figure}

 There are two scenarios:
\begin{itemize}
 \item \textbf{A robot moves along the surface of a cone:} Let $r_i$ be one of the robots which moves along the surface of the cone $W(S(PL_1 (\mathcal C(t))), Z, 45^o)$.  Suppose  $r_i$ stops at $r_i(t')$. We compute the distance of $r_i(t')$ from the axis of  $W(S(PL_1 (\mathcal C(t))), Z, 45^o)$. If the slant height of the cone is greater than  $\delta$, the distance of $r_i(t')$ from the axis of   $W(S(PL_1(\mathcal C(t))), Z, 45^o)$ is at most $a(t)-\frac{\delta}{\sqrt{2}}$ (Figure \ref{Theo-case-1}). Otherwise, at least one non-faulty active  robot would reach $V(PL_1(\mathcal C_t))$ reducing both $a(t)$ and the number of robot positions on the topmost plane.

  \begin{figure}[h]
\begin{center}
 \includegraphics[scale =.6]{Convg1}
 \end{center}
 \caption{ An example showing a robot moving along a side of a triangle}
  \vspace{-.5cm}
 \label{Theo-case-2}
\end{figure}

 \item \textbf{A robot moves along a side of an equilateral triangle:} Let $r_i$ be one of the robots which moves along the side of an equilateral triangle $\triangle r_iT_{ij}r_j(t)$. Suppose $r_i$ stops at $r_i(t')$. If the length of the side of the equilateral triangle is greater than $\delta$, the distance of $r_i(t')$ from the axis of   $W(S(PL_1(\mathcal C(t))), Z, 45^o)$ i.e., the value of $a(t')$ is at most $\sqrt{(a(t))^2-\frac{s^2-(s-\delta)^2}{4}}$, where $s=|\overline{r_i(t)r_j(t)}|$ (Figure \ref{Theo-case-2}). Since $s>\delta$, the reduction in the value of $a(t')$ is bounded below by a function of $\delta$. Otherwise, at least one non-faulty active  robot would reach $T_{ij}(t)$ reducing both $a(t)$ and the number of robot positions on the topmost plane.
\end{itemize}

 Each movement of a robot could reduce the diameter of the base circle of $H(S(PL_1 (), Z)$ by a constant amount. Since the geometric span of the robots in the
 initial configuration is finite, after a finite number of steps, the geometric span of the robot positions would be reduced down to at most $\delta$.

 Once the geometric span is reduced to less than or equal to $\delta$, either gathering will be achieved just in next movements of the robots on the topmost plane or the number of robots on the topmost plane will be reduced  and hence finally become one.

 In the proposed algorithm at any step a non-faulty robot always computes a new destination and moves there, unless it is already at the target position for gathering.
  Thus the algorithm can tolerate an arbitrary number of crash faults; the non-faulty robots would still gather at a point.

 \end{itemize}

\qed

 \section{Conclusion}
This paper shows that agreement in one direction is enough for the oblivious, asynchronous robots in 3D space to meet at a single point. Even if some robots become inactive forever, the active robots complete the get-together successfully. The immediate extension of this work would be to consider the opaque robots instead of the transparent point robots and develop a collision-free gathering algorithm for them.
\end{itemize}

\bibliographystyle{plain}

redpajama_set_name: RedPajamaArXiv


Denmark has decided to become independent from fossil fuels. For the sake of the climate, the economy, and in order to ensure security of energy supply. This film shows how this will happen.
At present wind and solar energy already delivers a good share of Denmark's energy, but renewable energy is a major challenge for an energy system that is built upon fossil fuels. Energy production from wind and solar fluctuates – it fluctuates as the wind blows. So what renewables are reliable when there is no sun or wind energy available?
Another challenge is the transport sector. How do we create an energy system of renewable energy, where also cars, ships and planes can operate on fossil-free energy?
A great example of an energy system that will ensure Denmark a 100% renewable energy system is called: Smart Energy Systems – a coherent, fossil-free energy system that will create lots of new jobs and green energy for the Danes, both in terms of electricity, heat and transport.


text:
Galileo's Conviction As Heretic Reversed By The Catholic Church
February 15, 2011 August 25, 2010 by Affleap
It has never been easy for Galileo the great thinker of his time at being convicted By the Roman Catholic Church in 1633 of hearsay for trouncing the biblical view of the universe. The Galileo case is seen as science's first blow against the faith and power of the church.
The scientist's predicament did not end with his death in 1642. As a convicted heretic he could not be given a church burial, but for years after his death, his followers pushed to give him an honorable resting place.
The Florence's history of science museum recently renovated and renamed it as Galileo Museum to honor Galileo. He was considered by his modern day supporters as secular saint, hero and martyr to science. Galileo was a symbol of his fight for freedom of thought.
In 1992, the church came around to acknowledging that the judge who had convicted Galileo of hearsay had erred, but it came short of clearing him either. In 1737, members of Florence's cultural and scientific elite unearthed the scientist's remains in peculiar Masonic rite.
According to records, the historian and naturalist Giovanni Targioni Tozzetti with the use of a knife took off several fingers, a tooth and a vertebra from Galileo's body as souvenirs. The scientists was then reburied in a ceremony similar to that of a saint beatification, according to Paolo Galluzzi, the director of the Galileo Museum.
The museum which has reopened in June after a high tech renovation that transformed it into one of Italy's best boutique collections. Visitors seemed captivated by the telescope, painted globes, clocks and as nearly room size model of the universe based on Ptolemaic geocentric system commissioned by Ferdinando de Medici in 1588 that Galileo rejected in favor for the Copernican one.
Cardinal Robert Bellarmine, the people's theological watchdog, had Galileo arrested for preaching Copernicanism, the church never acknowledge that his heliocentric theory is correct.
Pope John Paul II reopened the Galileo case in 1981, eleven years later, the church commission's finding has acknowledged that the judge who condemned Galileo had erred in the same token that the scientist has also erred in arrogantly thinking that his theory would be accepted with no physical evidence.
Categories Historical Issue Tags catholic church, copernican, copernicanism, galileo, galileo museum, geocentric system, heliocentric theory, hero, judge, martyr, masonic, museum, pope john paul II, ptolomaic geocentric system, roman catholic, roman catholic church, scientists, secular saint, theological watchdog Post navigation
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Stages of Anxiety. – The Girl with Anxiety.
I created this stage list based on the symptoms that I had 6 years ago and the progression of it.
A lot of people say "that gives me anxiety" but they don't realize but true anxiety is.
If you have an anxiety disorder you may get very offended by people that say they have anxiety so openly and freely. We all must be very careful with how lightly we use mental illness terms. I catch myself saying certain mental illness terms where they don't belong. It is not a small issue and I wish that more people would think about others around them more often. I want to just blurt out "stop saying it like that you're offending people that are suffering", but that would just cause unnecessary stress. All we can do is just try and spread awareness about the use of mental illness terms that are inappropriate.
The stages above are very limited and can vary person to person. This is not how it goes for every single person that has a mental illness. The most important thing to do is analyze yourself, reflect on how you feel and discover what steps you need to take to manage your anxiety.
I never knew how severe my anxiety was until I sat myself down and went through the stages and symptoms that I had and I realized that it was much worse than I thought and I needed to seek help.
Next i am anxious. for no reason.