text:
How VR helped to convict Nazi guard at Auschwitz
The Atlantic has created a documentary about how VR was used as evidence to convict a Nazi guard at Auschwitz.
The case against the guard was not easy. The guard claimed that he knew nothing about the execution of prisoners, and that from his assigned position, he could not have seen anything. There was no direct evidence that he was involved.
The prosecution painstakingly created a VR model of Auschwitz, which enabled the judge and jury to see things as he would have seen them. In VR, they could see that he would have been able to see prisoners being sent to the gas chambers, undermining his claim that he could not have seen them being led to their deaths. Based largely on this evidence, the guard was convicted and sentenced to 5 years in prison, although he appealed the sentence and passed away before the appeal could be decided.
I believe that as 360 photos and videos become more common, they will play an increasingly important role as evidence in all cases, both criminal and civil.
Time 100 Best Inventions of 2020 includes 360 camera and VR inventions
Watch 6DOF Videos on your phone, desktop or VR (shot on Google's 6DOF Light Field Camera)
MIT researchers have created the world's first flat fisheye lens – why it's revolutionary for the 360 industry
How to watch Facebook Connect and the launch of the Oculus Quest 2
Oculus Quest 2 price leak; prediction confirmed?
Nazi? I never hear about a country called Nazi. They were called Germans
Mic Ty says:
alright you grammar german
Robo Recall for Oculus Quest: first screenshots posted!
Nintendo is bringing Mario and Zelda to Labo VR on April 25


Google recently revamped the tool and now it's even better.
* Email and export reports: Schedule or send ad-hoc personalized report emails and export reports in PDF format.
* Custom Dashboard: No more digging through reports. Put all the information you need on a custom dashboard that you can email to others.
* Trend and Over-time Graph: Compare time periods and select date ranges without losing sight of long term trends.
* Contextual help tips: Context sensitive Help and Conversion University tips are available from every report.
And, on a related note – Google purchased Feedburner (the leading blog and podcast RSS metrics provider) and will certainly be looking to create a one source for web metrics tool that includes RSS feeds. Should be interesting. What a success story for the folks at Feedburner too.
So, how are you tracking your leads and conversions? Are you?


The Riviera Maya, also known as the Mayan Riviera is a 130 kilometer long stretch of Caribbean coastline that runs between the resort city of Cancun to the north, down to the Mayan ruins of Tulum at its southern end. The Riviera Maya is in the state of Quintana Roo, Mexico's most eastern state on Mexico's most eastern body of land—the Yucatan Peninsula. The Riviera Maya is part of the Mexican Caribbean which describes the entire Caribbean coast of Mexico from Cancun down to Quintana Roo's capital city of Chetumal, and the southern border with Belize, Central America. The island of Cozumel, Mexico's largest island, is also part of the Mayan Riviera.
The Riviera Maya is your window to the Mexican world of Cancun, Cozumel, Playa del Carmen, Isla Mujeres, Akumal, Puerto Aventuras, Tulum, Puerto Morelos and the complete Mayan Riviera. This is a little paradise along the coastline of the Yucatan Peninsula. Full of Mayan ruins, tropical waterparks and many fashionable resorts, here you can also enjoy the white-sand beach resorts and the blue waters of the Caribbean Sea, where you can scuba dive along the world's second largest coral reef. You can also swim in fresh water pools in submerged caverns, known as cenotes. I know as I swam through them. It is an unforgettable experience. Yes, even for seniors, as you wear a life jacket and the stream pulls you all along an overhead underground tunnel.
MexConnect is an electronic magazine devoted to providing quality information about Mexico, and promoting Mexico to the world. The magazine is supported by a searchable and cross-indexed database of over 4,000 articles and 350 photo galleries of over 3500 photographs. More than 500,000 people read us each and every month. Here seniors can access information on Travel, Culture & Arts, History, Cuisine, Business, Places as well as Forums.


Private information ends up in the public record in two ways: on formation documents (addresses) and on annual reports (names and signatures). To remain anonymous in Florida, the private information listed on these documents must be replaced with information that is acceptable if the public finds it.
This is where the Private Florida LLC structure is critical.
When you hire Florida Registered Agent LLC, we are legally allowed to list our registered office address as your principal address on your formation document. Your address is then kept from the public record.
We will also form two LLCs, not one. In Florida, at least one member is required to sign an annual report each year. By forming two LLCs, we will establish that each Florida LLC owns the other. Thus, they are "members" with the right to sign annual reports.
When LLC One files an annual report, it will list LLC Two as the member, and vice versa. Your name is now never placed into the public record.
Is the Private Florida LLC Structure Legal?
Yes. There is nothing illegal about one company owning another. This happens everyday. Holding companies are, in fact, very common.
Does My Second LLC Have to Conduct Any Business?
No. An LLC is not legally required to do any business. It can be formed purely to be a holding company. A holding company is simply a business that owns assets but does nothing else.
Can I Set Up the LLCs On My Own and Be Anonymous?
No. You need a registered agent in Florida, because a registered agent can list their registered office address as your principal address.


text:
\section{Discussion}
In this paper, we describe the \pyrobot framework, which provides a high-level hardware independent API to control different robots. We believe \pyrobot when combined with low-cost robots such as {\locobot}, will reduce the barrier to entry into robotics. In the immediate future, we will continue to grow the functionality in \pyrobot such as by interfacing with simulators (like AI Habitat~\cite{habitat19arxiv}, Gibson~\cite{xiazamirhe2018gibsonenv} and MuJoCo~\cite{todorov2012mujoco}), improving controllers such as be implementing gravity compensation for \locobot. But more broadly, we believe \pyrobot will lead to the development of a research and teaching ecosystem.

\textbf{\pyrobot for robotics instruction.} Having a beginner-friendly and open architecture is great for robotics education, as affordable robotic setups with LoCoBot and PyRobot could easily be assembled and scaled for hands-on instruction. 10 LoCoBots were used in the Spring 2019 offering of 16-662: Robot Autonomy (by Professor Oliver Kroemer) in the Robotics Institute at CMU, to support homework assignments and projects.
We believe many more such courses will follow.

\textbf{\pyrobot as a research ecosystem.} Compared to other fields, benchmarking in robotics is challenging due to several reasons. \pyrobot's unified API and \locobot's standard hardware, will allow researchers to share their high level algorithmic implementations, models and datasets collected on a real robot. This will allow researchers to collaborate and iterate faster on robotics applications. We will continue to expand the set of pre-trained models. Hopefully, other researchers will find the \pyrobot framework useful and contribute their models for others to use as well.

\section{PyRobot Framework}

PyRobot is a python-based robotics framework that isolates the ROS system~\cite{quigley2009ros} from the user-end and supports the same API across different robots (see Figure \ref{fg:architecture} for an overview). Essentially, it provides a python wrapper around the mid-level features provided by ROS and the low-level C++/C controllers and driver backends. PyRobot has common utility functions for all robots, such as joint position control, joint velocity control, joint torque control, cartesian path planning, forward kinematics and inverse kinematics (based on the robot URDF file), path planning, visual SLAM, among other features. Though it abstracts away the complexity of the underlying software stack, users still have the flexibility to use components at varying levels of the hierarchy, such as commanding low-level velocities and torques by-passing a planner. We summarize the design philosophy behind PyRobot below.

\begin{listing}[t]
\caption{PyRobot example for position control on LoCoBot and Sawyer.}
\label{code:jp_control}
\begin{minted}{python}
# LoCoBot - Arm
from pyrobot import Robot
bot = Robot('locobot')
target_joints = [0, 0, 0, 0, 0]
bot.arm.set_joint_positions(target_joints)

# LoCoBot - Base
target_position = [1, 1, 1]
bot.base.go_to_absolute(target_position)

# Sawyer
from pyrobot import Robot
bot = Robot('sawyer',
            use_arm=True,
            use_base=False,
            use_camera=False,
            use_gripper=True)
target_joints = [0, 0, 0, 0, 0, 0, 0]
bot.arm.set_joint_positions(target_joints)
\end{minted}
\end{listing}

\begin{figure}
  \begin{center}
    \includegraphics[width=\linewidth]{figures/architecture_v4.pdf}
    \caption{Overview of PyRobot system architecture.
}
  \label{fg:architecture}
  \end{center}
\end{figure}

\textbf{Beginner-friendly.} Ideally, new users should be able to start commanding a robot in just a few lines of code, as shown in the Listing~\ref{code:jp_control}, without learning ROS or the underlying software and firmware stack.

\textbf{Hardware-agnostic design.} PyRobot is designed to easily accommodate common robotic manipulators and mobile bases. Currently, it supports LoCoBot, a low-cost mobile robot with a 5-DOF manipulator and a Sawyer robot. Each robot has a YACS~\cite{yacs} configuration file that specifies the necessary robot-specific parameters: joint names, ROS topics to get state and set commands, base frame, end-effector frame, planner configuration, inverse kinematics solution tolerance, whether it has an arm or base or camera, \etc. A PyRobot object requires the config file for initialization. As shown in Listing~\ref{code:jp_control}, the Sawyer robot can be commanded in a manner identical to that of LoCoBot.

\textbf{Open Source.} Robotics systems development has typically been constrained to robotics experts in academia and industry with access to expensive and niche robotics systems. However, the extensive scope of artificial intelligence requires strong collaboration between researchers to build and maintain these large systems and one can contribute to all layers of the stack with open sourcing. Apart from the open software, LoCoBot works as an affordable open hardware that can be easily assembled for use with PyRobot. While simulation is useful for software testing and running experiments, writing software that works on the real robot is the eventual goal of the field and has severe challenges. As more developers have access to both open hardware and software, high quality applications tested on real robots can be publicly shared.

\section{High-Level AI Applications}
We discuss implementation of a few example high-level AI applications through the \pyrobot API.

\subsection{Visual SLAM}\label{sec:slam}
Visual SLAM algorithms provide more accurate odometry as compared to odometry that is derived purely from inertial sensors on the base. We deployed ORB-SLAM2~\cite{murORB2}, a leading visual SLAM systems in the \pyrobot library. ORB-SLAM2 is a feature-based indirect visual SLAM system that uses ORB features to perform tracking, mapping, and loop closing. We adapt the open-source ORB-SLAM2 code into a ROS package. This package saves RGB and depth images of the keyframes and continuously publishes camera trajectory and camera pose. PyRobot uses this published pose information to return the robot base state and trajectory. This state derived from visual SLAM can be used in downstream controllers or algorithms for more accurate behavior. \pyrobot also supports dense map reconstruction, by integrating depth image observations using the ORB-SLAM2 estimated camera pose. This can be used for motion planning for navigation tasks.
\begin{figure*}[h!]
\centering
\includegraphics[width=1.0\linewidth]{figures/map.png}
\caption{An example of Navigation via SLAM and Path Planning. First row corresponds to the 2-D map constructed using the on-board SLAM and the second row corresponds to the actual motion of the robot.}
\label{fg:mapping}
\end{figure*}

\subsection{Navigation via SLAM and Path Planning}
We deployed Movebase~\cite{movebase} ROS package on LoCoBot and \locobotlite for safe navigation in environments with obstacles. We use the occupancy map as obtained from visual SLAM, to compute a 2D cost-map that denotes regions of the environment where the robot is safe to move. Movebase uses this cost-map to generate collision free trajectories to goals specified in the environment. These trajectories can be executed using any of the controllers implemented in \pyrobot. These steps are run continuously, and the plan is updated if it becomes infeasible as the robot perceives previously unseen parts of the environment.

\subsection{Learned Visual Navigation}
We deploy learned policies for visual navigation on \locobot
using \pyrobot API. We work with the cognitive mapping and planning
policy (CMP) from Gupta \etal~\cite{gupta2017cognitive}. Given an input
goal location, CMP policy takes in the current image from the on-board
camera to output one of four macro-actions
(stop, turn left, turn right or go straight). We use the base position
control interface in \pyrobot API to execute these actions.
Listing~\ref{code:cmp} shows simplified code, and Figure~\ref{fg:cmp} shows
frames from a sample execution.
\input{cmp}

\subsection{Grasping}

\begin{figure*}[h!]
  \begin{center}
    \includegraphics[width = 1.0\linewidth]{figures/grasps.pdf}
    \caption{Grasps selected by the grasp model and execution by the robot.
}
  \label{fg:grasps}
  \end{center}
\end{figure*}

We deploy a learned-based grasping algorithm to grasp objects placed on the ground from RGB images using the PyRobot API. The model is trained on data from people's homes~\cite{robotsinhome} and is robust to a wide variety of objects and backgrounds. This model outputs a grasp in the image space. This grasp is parameterized by 2D location in the image and the gripper orientation. We convert this 2D location and orientation into the \textit{grasp position} (3D location and orientation) using known camera parameters, and the depth image. We command the robot to the \textit{pre-grasp location}, that is a few centimeter above the grasp position, lower the arm to reach the object, and close the gripper to grasp the object.
Listing~\ref{code:grasping} shows simplified code, and Figure~\ref{fg:grasps} shows sample grasps using the LoCoBot.

\subsection{Pushing}
We deploy a heuristic-based pushing algorithm using \pyrobot. It relies on the depth sensor, and thus the quality of the pushing depends on how well the stereo-based depth sensor behaves in different background. To achieve the best performance, it is best to place the robot on a floor with non-uniform texture.

The algorithm can be summarized with the following steps: (1) Move the arm out of the camera's field of view. (2) Filter the point cloud seen by the RGBD camera, specifically removing points too far away and those that correspond to the floor by coordinate thresholding. (3) Project the remaining point cloud onto the xy-plane and use DBSCAN \cite{ester1996density} algorithm to automatically cluster the projected points. (4) Randomly select one cluster and choose a random push-start point on the enclosing bounding box of the cluster. (5) Move the gripper to the push-start point and move the gripper horizontally towards the center of the cluster. Listing~\ref{code:pushing} shows simplified code.
\section{Introduction}
Over the last few years there have been significant advances in AI, specifically in the fields of machine learning, computer vision, natural language processing and speech. Most of these advancements have been fueled by high-capacity neural networks and the availability of large-scale datasets. However, an often overlooked reason for this fast-paced progress has been the development of a conducive research ecosystem. Platforms such as Caffe~\cite{jia2014caffe}, PyTorch~\cite{paszke2017automatic}, TensorFlow~\cite{tensorflow2015-whitepaper} have reduced the entry barrier, which has democratized and accelerated research in these fields.
For example, a new researcher in computer vision can get started with training state-of-the-art detectors using PyTorch and MSCOCO~\cite{lin2014microsoft} in less than a day. Common platforms and datasets have also led to standardized evaluations and benchmarks which also helps quantify progress in these areas.

The field of data-driven robotics has also seen tremendous excitement and energy in the past several years~\cite{pinto2016supersizing, levine2016end, levine2018learning, mahler2017dex, anymal2019, openaihand, zhu2018dexterous, pinto2016curious, agrawal2016learning, finn2017deep, pinto2017supervision, robotsinhome}. However, compared to other areas in AI, it has been relatively hard for a new researcher to get started and contribute to the progress in robotics. Why is that the case? One obvious reason is that researchers have to set up significant hardware infrastructure. This creates a high entry-barrier for researchers both in terms of financial cost and development time. Fortunately, there has been substantial progress on this front with the development of low-cost robots such as Blue~\cite{blue2019}, LoCoBot~\cite{robotsinhome} and others~\cite{robotis, yang2019replab}. In fact, the cost of a robot is now comparable to that of the cost of a GPU! However even with these low-cost robots, getting started in robotics is still hard due to the lack of research platforms and a self-sustaining ecosystem.

Frameworks such as ROS~\cite{quigley2009ros} have made setting up robots substantially easier by providing a common mid-level communication layer and tools that are agnostic to low-level hardware and program context. However, there are two issues with such open-source frameworks:

{\bf ROS requires expertise:} Dominant robotic software packages like ROS and MoveIt! are complex and require a substantial breadth of knowledge to understand the full stack of planners, kinematics libraries and low-level controllers. On the other hand, most new users do not have the necessary expertise or time to acquire a thorough understanding of the software stack. A light weight, high-level interface would ease the learning curve for AI practitioners, students and hobbyists interested in getting started in robotics.

{\bf Lack of hardware-independent APIs:} Writing hardware-independant software is extremely challenging. In the ROS ecosystem, this was partly handled by encapsulating hardware-specific details in the Universal Robot Description Format (URDF) which other downstream services could read from. Yet, from the perspective of high-level AI applications, most robotics code is still hardware dependent. As a community, we lack a research platform and a common API that we can use to share code, datasets and models.

In this white-paper, we attempt to tackle these challenges via an open-source research platform -- {\bf PyRobot}. \pyrobot is a light weight, high-level interface on top of ROS that provides hardware independent mid-level APIs and high-level examples for manipulation and navigation. \pyrobot also provides libraries for hand-eye calibration, tele-operation, trajectory tracking, and SLAM-based navigation.
We believe \pyrobot combined with the recently released LoCoBot robot will reduce both the financial cost and development time -- leading to democratization of data-driven robotics. The hardware-independent API will lead to development of code and datasets that can be shared across the community. While the current \pyrobot release interfaces with LoCoBot and Sawyer, we plan to release integration with several new robots like the UR5~\cite{ur5spec} and Franka~\cite{franka}, and simulator platforms like MuJoCo~\cite{todorov2012mujoco} and Habitat~\cite{habitat19arxiv}.
\section{Acknowledgements}
We would like to thank Soumith Chintala for countless discussions and providing software engineering guidance. We would also like to thank Deepak Pathak and Shubham Tulsiani for testing, advice and discussions. Finally, we would like to thank Oliver Kroemer, Timothy Lee and Mohit Sharma for introducing LoCoBots in teaching \textit{16-662: Robot Autonomy} at CMU, and Justin MacEy for helping with the motion capture experiments.

\bibliographystyle{ieee}

\section{Supported Hardware and Simulators}
\pyrobot is currently integrated with the following robots. In addition to real robots, \pyrobot can also be used to control robots in simulators like Gazebo.

\textbf{LoCoBot}: LoCoBot, shown in Figure~\ref{fg:cover_figure}~(left), is a low-cost mobile manipulator platform built for easy setup and benchmarking robot learning research. It consists of a Trossen Widow X robotic arm~\cite{arm} assembled with Dynamixel XM-430 and XL-430s servo motors. The arm has five degrees of freedom (DOFs) - with a working payload of \SI{0.2}{\kg} and a maximum reach of \SI{0.55}{\m}. The robot comes in two versions, with the arm rigidly mounted on a Kobuki mobile base \cite{kobuki}. The Kobuki base is about \SI{0.12}{\m} high with payload capacity of around \SI{4.5}{\kg}. For visual perception, an Intel Realsense D435 RGBD camera \cite{camera} is mounted with a pan-tilt attachment at a height of about \SI{0.6}{\m} above the ground. An automatic camera calibration routine is implemented in the software suite. LoCoBot also comes with a Intel NUC (i5, 8GB RAM) machine rigidly attached on the base, which could be used for on-board compute. Kobuki base is powered through its own battery that can run base for about 2 hours. We use a 185 Wh battery pack \cite{battery} to power the arm, pan-tilt mount, and the on-board computer. On a full charge, the complete system is able to run for 50-60 minutes. \locobotlite, shown in Figure~\ref{fg:cover_figure}~(right), is a cheaper version of \locobot that uses the Create2 base~\cite{create2} instead of the Kobuki base.

\textbf{Sawyer}: The Sawyer is a 7-DOF collaborative robot arm from Rethink Robotics \cite{sawyerspec}. \pyrobot interfaces with the Intera SDK provided with the Sawyer.

\textbf{Simulators}: PyRobot currently supports Gazebo simulator~\cite{koenig2004design}, a 3D rigid body simulator popular in the robotics community. For \locobot and \locobotlite, \pyrobot supports tight integration with Gazebo \ie, the same code can be run on both Gazebo and the real robot.

\begin{figure}[t]
  \begin{center}
    \includegraphics[width=1.00\linewidth]{figures/both.jpg}

    \caption{\locobot (left) and \locobotlite (right). Both robots have a 5 DOF arm mounted on top of a mobile base (Kobuki or Create2). Robots are equipped with a RGB-D camera mounted on a pan-tilt stand. Robots come with a battery pack and an on-board computer.}

  \label{fg:cover_figure}
  \end{center}
\end{figure}

\begin{figure}[t]
  \begin{center}
    \includegraphics[width=1.00\linewidth]{figures/many.jpg}

    \caption{{\locobot} is low-cost and hence scalable.}
  \label{fg:many}
  \end{center}
\end{figure}

\input{base_bench}

\section{\pyrobot Controllers}
While a number of robots come with their own implementations for low-level control, \pyrobot implements basic controllers for differential drive bases. It also interfaces with planners such as MoveIt!~\cite{chitta2012moveit} and Movebase~\cite{movebase}. We measure the performance of these controllers and planners implemented in PyRobot for the LoCoBot base and arm.

\subsection{Accuracy of Base Control}
\pyrobot implements position controllers to command
the robot base to a desired target position (parameterized as a
3-DOF pose, $(x,y)$ location of the base and its heading
$\theta$: $[x, y, \theta]$). We implement the following three controllers: \\
\textbf{DWA Controller from Movebase}: We implemented Dynamic Window Approach Controller (DWA) \cite{dieterDWA} for our robot through Movebase \cite{movebase} navigation engine. In this approach, we repeatedly sample a discrete sequence in the robot's control space with the highest score and execute the sequence until the target is reached. \\
\textbf{Proportional Controller}: We decompose the motion into an on-spot rotation, linear motion and a final on-spot rotation at the target location. Each segment of this motion is executed using a proportional controller that applies velocities proportional to the tracking error. For smooth motion, we bound the velocities and the change in velocities. \\
\textbf{Linear Quadratic Regulator}: We analytically compute a trajectory (a sharp one that breaks the motion into on-spot rotation, straight motion and a final on-spot rotation; or a smooth one by fitting a b\'ezier curve between the stating state and the ending state). We sample this trajectory to obtain a state trajectory using constraints on maximum linear and angular velocities. We linearize the dynamics of the robot (assumed to be a bicycle model~\cite{aastrom2012introduction}) around this state trajectory, and construct a LQR feedback controller~\cite{aastrom2012introduction} to track this state trajectory.

We conducted trials on the robot to quantify the accuracy of each of these different position controllers on both \locobot and \locobotlite. We measured accuracy using the difference in commanded state \vs the achieved state as measured using a Vicon motion capture system. The error was factored into  translation (difference in $(x,y)$  location), and  rotation (difference in the heading $\theta$). We report these errors in Table \ref{tb:locobot_base_error}. We group trials into the following three categories: \textit{a) Linear motion}: 5 trials each with targets \SI{2}{\m} in front ($[2,0,0]$), or \SI{2}{\m} behind ($[-2,0,0]$); \textit{b) On-spot rotation}: 5 trials each with target being left rotation by $\pi/2$ ($[0, 0, \pi/2]$), right rotation by $\pi/2$ ($[0,0,-\pi/2]$); \textit{c) Combined linear and rotation motion}: 5 trials each with targets $[1,1,0]$ and $[-1,-1,0]$.

Table~\ref{tb:locobot_base_error} reports translation and rotation errors for the different controllers for the two robots for these different cases. We generally note that errors are lower for \locobot \vs \locobotlite. Additionally, LQR and proportional controller generally perform better than the DWA controller from Movebase. As all these controllers close the loop on the base odometry, we additionally include errors with respect to base odometry in right part of the table. We observe that the LQR controller is more effective
at closing the loop.

\pyrobot also implements trajectory tracking (using
feedback controllers as described above). We show qualitative comparisons between different controllers in Figure~\ref{fg:tracking}.

\subsection{Repeatability Tests for Manipulator}
Compared to expensive industrial and collaborative robots, low-cost manipulators like \locobot suffer from control errors that can be attributed to a range of factors: manufacturing and assembling error, gear backlash, hardware execution error, kinematics inaccuracy, hand-eye calibration error, motor wear and tear, etc. The position-control repeatability was analyzed by commanding the arm to 4 different 3D poses (and the home pose) in a 2D grid at a fixed height without carrying a payload for a total of 10 repetitions per pose. The ground truth positions were measured using a Vicon motion capture system at \SI{120}{\hertz}. The arm always started at the home pose (when the joint angles are all 0) before moving to the commanded end pose. The results are summarized in Table \ref{tb:arm_error}. Overall, the arm had a repeatability error of \SI{0.33}{\milli\meter} to \SI{0.58}{\milli\meter}, computed based on ISO9283 standard. Poses 1 and 3 were closer to the robot torso and had lower error compared to Pose 2 and 4 where the arms were extended at the extremities of the workspace. The standard deviation along the z axis was also higher across all poses due to gravity. For comparison, the Sawyer and UR5 robots are reported to have a repeatability of \SI{0.1}{\milli\meter} \cite{ur5spec, sawyerspec}. The position control in the initial release only relies on proprioceptive feedback, and using feedforward model-based control in future release could reduce the error further. The PID gain settings are exposed to the user for more specialized robot or task-specific tuning.

\begin{table}
\footnotesize
\centering
\caption{Locobot Arm Pose Repeatability}
\label{tb:arm_error}
\begin{tabular}{lccccc}
\toprule
\multirow{2}{*}{\textbf{Std Dev.(mm)}} & \multicolumn{5}{c}{\textbf{Poses}} \\
  & 1  & 2 & 3 & 4 & Home \\
\midrule
x                & 0.12 & 0.13 & 0.07 & 0.11 & 0.15  \\
y                & 0.13 & 0.07 & 0.10 & 0.14 & 0.27   \\
z                & 0.21 & 0.33 & 0.22 & 0.31 & 0.24  \\
\midrule
\textbf{Repeatability (mm)}       & 0.41 & 0.58 & 0.33 & 0.50 & 0.52      \\
\bottomrule
\end{tabular}
\end{table}

\begin{figure}
\centering
\includegraphics[width=1.0\linewidth]{figures/kobuki.png}
\includegraphics[width=1.0\linewidth]{figures/create.png}
\caption{Qualitative comparisons for trajectory tacking for \locobot and \locobotlite. Reference trajectory (a circle of radius \SI{0.4}{m}) is shown in red.}
\label{fg:tracking}
\end{figure}

\section{Related Work}

\textbf{Robotics Software Design.}
The robotics community has embraced a layered hierarchical software design from the early days \cite{brooks} and re-usability has been a core design principle \cite{thinsoftware}. We refer readers to Tsardoulias and Mitkas~\cite{emmanouil2017} for a comprehensive review. There have been several motion planning libraries such as OpenRave \cite{diankov08}, MoveIt! \cite{chitta2012moveit}, OMPL \cite{ompl} which provide hardware-agnostic core functionalities that can be compiled for each specific robot. In the likes of ROS, there have also been robotics ecosystems, such as OROCOS \cite{herman2001} and the Microsoft Robotics Studio that support kinematic libraries, distributed processes, state machines for the real time control of robots.

\textbf{Low-cost Mobile Manipulators.}
There has been very limited research on learning on low-cost robots, given that most researchers use standard industrial or collaborative robots. Deisenroth \etal~\cite{deisenroth2011} used model-based RL to teach a cheap inaccurate 6 DOF robot to stack multiple blocks and a previous iteration of LoCoBot was used in Gupta \etal~\cite{robotsinhome} to learn visual grasping policies with real data collected in people's homes. Recently, Gealy \etal~\cite{blue2019} proposed a compliant low-cost arm using quasi-direct drive actuation.

\textbf{Open Source Manipulators.}
There has been very limited work in open sourced manipulators. Raven is a open architecture surgical research robot \cite{raven}. Recently, the Open Manipulator project from Robotis allows one to build their own low cost robot with custom kinematics and design \cite{robotis}.

\textbf{Research Ecosystems in AI Fields.} Research in a number of AI fields has benefited from there being common tasks (such as object detection in computer vision or parsing in NLP), common datasets (such as BSDS~\cite{MartinFTM01}, ImageNet~\cite{ILSVRC15}, PASCAL VOC~\cite{Everingham15} and MSCOCO~\cite{lin2014microsoft} in computer vision, or Penn Tree Bank~\cite{marcus1993building}, GLUE~\cite{wang2019glue}, SentEval~\cite{conneau2018senteval} and WMT in NLP, \etc), and common code bases to experiment with (DPMs~\cite{voc-release5}, Caffe~\cite{jia2014caffe}, Stanford CoreNLP~\cite{manning2014stanford}, spaCy~\cite{spacy2}, \etc). While some people argue that such use of common tasks and datasets can prevent creative progress, at the same time, it has lead to rapid progress in these fields, as researchers can quickly replicate results and build upon each other work.

\textbf{Benchmarking in Robotics.} Benchmarking in robotics is extremely challenging given the vast scope of applications and diversity of physical test conditions (hardware, objects, environment, etc.). It is a well acknowledged concern within the robotics community that we are yet to develop reliable benchmarking metrics that can be widely adopted to quantify research progress. Several workshops have tried to stimulate discourse towards this end \cite{icraworkshop, icraworkshopSLAM} and different task specific metrics have been proposed for grasping \cite{mahler2018}, gripper design \cite{grippermetric}, SLAM \cite{icraworkshopSLAM}, etc. Research has also benefited from creating object datasets with shape and grasp information, such as the Columbia Grasp Database \cite{columbiaGDB}, DexNet \cite{mahler2016dexnet} and KIT Object Models \cite{kit2012}, which could be used for perception and motion planning. The YCB dataset went a step further by distributing a physical dataset of household and kitchen objects with corresponding meta data (shape, RGBD scans, etc) \cite{ycbdataset}. While there is no consensus yet on benchmarking in robotics, we hope that the combination of PyRobot and LoCoBot will facilitate further discussion.

redpajama_set_name: RedPajamaArXiv


The Christmas tree's gone, the decorations put away, the last of the holiday candy and frozen leftovers consumed. The sky is smoky gray and it's snowing bloody hell. What now? Ah, time for a trip to the Bahamas, right? I'm sure that would beat the winter blahs, but I'm not quite in the percent of folks that can do that. So…here's how I do it.
Exercise No. 1 – Meet Mother Nature Head On. I shovel a little path out to the sidewalk in front of my house where my neighbors (bless them) have shoveled a little path down the sidewalk to the coffee shop.
Exercise No. 2 – Force a Smile. I grab my favorite travel mug and Pinkie my trusty laptop and make my way to the Pour House (said coffee shop). I stand in line with the local folks waiting for our steamy mochas and Americanos and grumble about the weather – which we all secretly love. I'm old and I usually don't feel like smiling when it's cold and wet, but I find once my face cracks into a smile the easier the next few are.
Exercise No. 3 – I get a little work done while looking out the window periodically to see if the sun has come out yet. I might even hum a few bars of "Tomorrow." I often play my banjo on really dreadful days…it is nearly impossible to be grumpy while playing a banjo – or even listening to one.
Exercise No. 4 – Escape. I know I mentioned the Bahamas, but this is much cheaper. I have a stash of very old books (1880's to early 1900's). Of course, I found most of them here in lovely downtown Florence. Nearly every antique shop has them. You could pull out your Kindle, but it is just not the same as holding a very old hard back, cloth or leather bound book. The font is beautiful, the language seems almost foreign and the illustrations… the illustrations are wondrous. I read it.


Make reservations online!! Click on the paw to get started!
Welcome to Paws in Paradise of Mt. Pleasant! We are the newest, upscale facility for all sizes and breeds of dogs in the Charleston area. We offer every four legged guest a safe, loving, clean, and healthy environment. Paws in Paradise offers many services from doggie daycare, to boarding, and full service grooming. We have large indoor/outdoor climate controlled play areas that allow dogs to fully interact from morning to night.
Our well-trained staff strives to provide the finest care for your dog. All staff members are thoroughly trained in Dog Language and Group Play using "The Dog Gurus" training courses. Paws in Paradise's owner is a Certified Pet CPR and First Aid Instructor. All staff members are trained and certified in Pet CPR and First Aid!
Whether you are at work or away on vacation, you can relax because your dog is receiving the best care, stress free, and happy. A tired dog is a happy dog!
For your convenience, we are open 7 days a week from 6:30am to 7pm.
Tours are only given between 11am-3pm daily.
All dogs must be in good health - no coughing, vomiting, or diarrhea please!
All dogs must be non-aggressive with humans and dogs - safety is our number one priority!
Due to the high activity level of our facility, we do not accept senior dogs 12 and older.
Quick release collars only! NO harnesses, gentle leaders, buckle collars please!
Any dog(s) not picked up by 7pm, will be charged $1.00 a minute for every minute until 7:15. After that, your dog will be boarded for $50 plus feeding fees.
All new dogs must come for at least a half day of daycare before boarding overnight.
Paws in Paradise is focused on providing high-quality service and customer satisfaction. We will do everything we can to meet and exceed your expectations!
If you have any comments or questions, please feel free to call us.
Come and see what our four-legged guests have been wagging their tails about!!


CrossFit Eta has a lot of impressive women. This is one of their stories.
I have known Christine since the spring of 2014. I was actually her and Mike's Dupree for quite some time. Whenever I would come to Texas to visit, I was their permanent third wheel.
As I have gotten to know Christine, I see someone who is extremely hospitable. Whenever I would come and stay, she would always make sure I felt included. She would treat me as another individual when I was with her and Mike, and never made me feel like I was interrupting.
I mean, they did take me with them to look at their wedding venue and sample the food. Pretty cool, right?
Christine still has the same hospitable spirit. She introduces herself to any new person in the gym. She opens her house up for events and get-togethers. She is someone who is very considerate to the needs of newcomers.
Christine has developed so much in the gym since I have known her. She is determined when she trains, and she is consistent with her efforts. She uses accessory work to improve outside of class as well.
I specifically admire Christine's approach to training.
In her mind, she accepts that things are hard at some point and chooses not to allow those thoughts to diminish her efforts. At some point, the bar gets heavy or the heart rate goes up. In those moments, Christine chooses to accept those conditions rather than allow them to stop her or slow her down.
Christine, you are a great asset to the gym and I am thankful to have you as a friend!


text:
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General Elections in Pakistan – A Brief History
Pakistan is going to polls on July 25th. If the general elections take place as per the schedule, then it would be the third consecutive democratic transition in the history of Pakistan. For the first time, two consecutive democratic governments have completed their five-year terms. "With the term of the most recent democratically elected government […]
By YoungDiplomats Editorial Team	 Jul 23, 2018 No Comments
Pakistan is going to polls on July 25th. If the general elections take place as per the schedule, then it would be the third consecutive democratic transition in the history of Pakistan. For the first time, two consecutive democratic governments have completed their five-year terms. "With the term of the most recent democratically elected government coming to an end a few weeks ago, we have also come to the end of the cycle since 1977, where a decade of civilian government has been followed by a decade of military dictatorship," comments S. Akbar Zaidi –a political economist. At the beginning of this year, no one was sure about the third consecutive democratic transition of the elected governments. It was because of the cyclical effects as commented by Mr Zaidi. Now, every passing day tells that the general elections will take place as per the schedule. However, certain political analysts and political parties doubt that the coming general elections will be free and fair elections. They raise the issue of election engineering by state institutions to support certain political party (s).
History of general elections in Pakistan:
The first-ever general elections in the history of Pakistan were held on December 7th, 1970 which were ensued by chaos in the country and resulted in the separation of East Pakistan (Now Bangladesh). Leaders of certain political parties give the example of the first general elections for being free and fair elections and link them with upcoming elections which, they believe, are going to be the free and fair elections after 1970. They sadly do not consider the political instability and chaos which was caused by the results of 1970 general elections.
General elections and rigging have been a common norm in Pakistan. In general elections of 1977, Zulfiqar Ali Bhutto was accused of rigging the elections. In 1985, General Zia's machinery rigged the general elections and a puppet government was formed. These elections were held on non-party basis. From 1988 to 1997, Pakistan went to polls for four times. All these general elections were rigged in one way or another. From 1988 to 1999, none of the so-called democratically elected governments could complete their tenure of five years. On October 12th 1999, General Musharraf-Chief of Army Staff of that time dethroned Nawaz Sharif's government after a coup d'état. Next general elections were held in 2002 under Gen. Musharraf and a so-called democratic government of Pakistan Muslim League-Quaid-e-Azam (PML-Q) was formed with a difference of only one vote. PML-Q was called the King's party. Gen. Musharraf held the powers as President under constitutional amendment of 58 2(b).
Next general elections helped the rise of democracy in Pakistan. Two times Prime Ministers Benazir Bhutto and Nawaz Sharif both ended their exile and returned to Pakistan before the general elections. Benazir Bhutto was assassinated on December 27th, 2007 in Rawalpindi where her father Zulfiqar Ali Bhutto was hanged in 1979. Her party, Pakistan Peoples Party (PPP), won 122 seats in the national assembly after adding women and minority quota seats. Other political parties did not hinder its way from making a coalition government. PPP completed its five year term and for the first time, in the history of Pakistan, a democratic transition of elected governments took place after general elections of 2013. In 2013, Nawaz Sharif's political party Pakistan Muslim League-Nawaz (PML-N) formed the government and elected Nawaz Sharif as Prime of Pakistan for the third time. However, Nawaz Sharif had to resign after a court verdict in Panama Papers Case on July 28th 2017 without completing his five year term for the third time. The national assembly completed its term and Pakistan is going to the polls for a third consecutive democratic transition on July 25th.
The cycle of Democracy and Dictatorship:
Since its inception, Pakistan had democracy and dictatorship in intervals. Pakistan has been ruled by dictatorial regimes for almost half of its 70-year history. From 1947 to 1958, Pakistan had a civilian government. However, many historians believe that the military had started playing an indirect role long before 1958. In 1958, Pakistan's first President General Iskander Mirza abrogated the constitution and imposed the martial law. General Ayub Khan, then Commander-in-Chief of Pakistan army, dethroned him after three weeks. Pakistan came under the direct military rule for the first time. General Ayub Khan ruled the country till 1969 and passed the powers to General Yahya Khan. General elections 1970 took place under Gen. Yahya Khan. The country went into chaos and East Pakistan (Now Bangladesh) separated from West Pakistan. According to Nadeem F. Paracha who quotes Hamid Khan that Pakistan did not have a government in any form from 17-20th December 1971. From 1971 – 1977, Zulfiqar Ali Bhutto ruled the country first as the President and then as Prime Minister. He is also said to have held the title of civil martial law administrator. General Zia-ul-Haq dethroned Bhutto's government and the country came under the direct military rule for the second time. Gen. Zia held the power till his death in a plane crash in August 1988. Pakistan had democratic interlude from 1988 -1999 as per Ian Talbot. In 1999, Gen. Musharraf's coup d'état brought the country under the direct military rule for next 9 years. In 2008, he resigned to avoid an impeachment vote in the parliament. Sun of democracy rose in Pakistan which is still shining.
What to expect from the coming general elections?
Coming general elections are expected to take place as per schedule. There are no signs of elections getting delayed. There will definitely be a third democratic transition. However, some political analysts and certain political parties are accusing certain state institutions of engineering the upcoming elections. They accuse these institutions of paving the way for a certain political party (s). Moreover, according to a news report, religious parties have fielded more than 460 candidates for national assembly seats. These candidates have been nominated by Muttahida Majlis-Amal (MMA), Tehreek-e-Labbaik Pakistan, Hafiz Saeed-led JuD's political wing Milli Muslim League and other religious political parties, the news report adds. Religious parties are not contesting the general elections for the first time in Pakistan. However, there are a few new parties contesting elections this time. In case, they win even a small number of seats, Pakistan's future especially related to a minority group will be uncertain. Pakistan might end up having a hung parliament but worrying part would be having religious parties having some seats in the parliament.
Elections and Violence:
Liberal political parties and individuals have been targets of violence during their election campaigns. However, the situation is not as worse as it was during 2013 general elections. 148 terrorist attacks had taken place during 2013 election campaigns. During the election campaign for upcoming general elections, 14 lives including a Khyber Pakhtunkhwa provincial assembly candidate Haroon Bilour from Awami National Party (ANP) were claimed by a suicide attack in Peshawar. More than 60 people were injured during the blast. Moreover, more than 130 lives along with more than 200 injured have been claimed again by a suicide attack in Mastung city of Balochistan province. Balochistan provincial assembly candidate Mir Siraj Raisani from Balochistan Awami Party (BAP) has also lost his life during the blast. These two suicide blasts have shattered the relative peace maintained throughout the election campaigns for the upcoming elections.
History is clearly on its way to witness a third consecutive democratic transition in Pakistan. It, indeed, is a going to be a historic movement for Pakistan. Firstly, democracy (in any of its form) is on the track in Pakistan. Secondly, democracy and dictatorship cycle is going to end or it has already come to an end. However, doubts of certain political analysts and parties about election engineering cannot be completely ignored. Nonetheless, their veracity is yet to be ascertained which would be possible after the results of upcoming general elections are out.
Muhammad Murad has been writing for different magazines and blogs since 2011. He initially started writing on social issues of Pakistan and later on, he began writing on internal and external issues related to Pakistan. Currently, he is Young Diplomats' ambassador in Pakistan. He believes in a peaceful liberal democratic world away from war and conflict which would be possible by the power of the pen, not the gun. Muhammad is a business graduate turned social scientist and aspires to be a writer
ElectionsPakistan
YoungDiplomats Editorial Team
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Germany and Nord Stream project 2 : national interest above all else?
Swedish Elections explained in 5 bullet points
A Critical Analysis of Pakistan's Foreign Policy
World Leaders in 2017
In Romania, a New Prime Minister Sets an Ambitious Agenda
The Gulf Factor in Pakistan's Foreign Policy
What will change after the Iranian elections?

redpajama_set_name: RedPajamaCommonCrawl


text:
Posted inProfiles in Leadership
People over profits: Fort Worth businesswoman leads biotech company Eosera
by Kristen Barton December 2, 2021 December 2, 2021
Elyse Dickerson, co-founder of Eosera, at her Fort Worth office. After getting laid off from her corporate job, Dickerson launched Eosera with "conscious capitalism," putting people over profits. (Cristian ArguetaSoto | Fort Worth Report)
Elyse Dickerson has been a victim of what she calls the "profit over people" mindset, and it led to her losing her job. She decided with her new venture, she'd run things differently.
Thus came the birth of Eosera in 2015, a healthcare biotech company, where Dickerson, 46, and her team follow "conscious capitalism" to put employees over the bottom line.
"We wanted to create a place where people were at the center, because we felt like corporate America was moving away from people and was more about money and profits," Dickerson said. "And we felt like, if we put people back at the center of everything that we're doing, that the profits would then follow. We really started studying this idea of conscious capitalism, making business a force for good in the world."
Her workplace is a culture of patient care, taking care of employees and a healthy work environment. Any time Dickerson has to make a decision about the company, she starts with this question: How does that impact people?
For example, there was a recall on two of the company's products for an incorrect expiration date — Ear Pain MD and Ear Itch MD — but they were voluntary. Eosera did not have to do the recall, and it cost the company $1 million, she said. Despite the cost, it was the right decision for the employees, customers and retailers, she said.
"If I had just been focused on the bottom line, I would not have done that product recall because of the expense," she said. "But because I put people at the center of the decision, it made the decision much easier."
Elyse Dickerson, co-founder of Eosera, at her Fort Worth office with the company's products. After getting laid off from her corporate job, Dickerson launched Eosera with "conscious capitalism," putting people over profits. (Cristian ArguetaSoto | Fort Worth Report)
Dickerson's path to business was not direct. When she started college, she studied graphic design because she enjoyed art and the creative process. But once she realized how much time is spent behind a computer, she knew it wasn't the right career for her.
After college, she worked in retail and fashion and completed the JCPenny management training program. But she still was not fulfilled. That realization led her to business school at Southern Methodist University.
"I honestly went back to business school because I didn't know what to do with my life," she said. "And I felt like at least business would give me a lot of different options."
When she started, Dickerson said, she walked into classes and realized only about a quarter of the students were women — a low percentage that shocked her.
(Alexis Allison | Fort Worth Report)
Suggest a profile
To suggest emerging leaders for the Fort Worth Report to profile, please email reporter Kristen Barton at kristen.barton@fortworthreport.org and Managing Editor Thomas Martinez at hello@fortworthreport.org.
After business school, Dickerson spent 14 years working her way up corporate ladders. She learned more actually working than in school, but her climb ended before she reached the top rung.
"There weren't a whole lot of women in senior positions; a lot of women made it to what I call senior manager level," she said. "And you can look around companies across America, and this is a trend, that women make it to this level, and then they just stopped getting promoted. And as a high-achieving woman that felt like I was capable of more, that became really frustrating."
For her generation, Dickerson said, not a lot of women had examples of women in business. It was seen as dads had the "big jobs" and moms stayed at home. If women did work, their jobs were seen as less important.
Those societal expectations remain in some generations. When she started her business jobs, she said, her peers saw her as an equal who was doing the same job and getting paid the same.
But the people cutting the checks were older, and they still held some older values.
"I was still dealing with essentially my parents' generation making the decisions, and they didn't believe women were equal," Dickerson said. "I think it's changing. I'm really hopeful, and I think my generation is doing a whole lot to break down and prove that you can be a mom, a CEO, a badass businessperson and a woman."
Dickerson is following the example of women before her like Darlene Boudreaux, 67, who is a CPA but also ran a company. Boudreaux mentors Dickerson through TechFW, a nonprofit that helps local tech startups learn and grow.
"To me, what distinguishes a real entrepreneur is that those are the people who can keep going and get beyond those obstacles — obstacles are going to happen," Boudreaux said. "It's just a question of whether they stop you or you learn from it and grow, and Elyse is the type who learns from it and keeps going and growing."
Boudreaux wished Dickerson did not face the same obstacles she did as a woman, but she does see more opportunity for women now, she said.
Once she reached higher levels in a company, Dickerson was the only woman in the room and during discussion of promotions and career-planning, her colleagues said, "Well, she has a husband, so we really need to give the promotion to him, because he's supporting a family."
Even when Dickerson became a global director at Alcon, it still wasn't the top. And she wanted to keep climbing the corporate ladder.
"But I was kindly asked to leave," she said. "It wasn't necessarily one day I woke up and it was like, 'I don't want this anymore. I was kicked out the door, and it ended up being the best thing that ever happened."
She and her business partner, Joe Griffin, launched Eosera with their own money.
The company spent months talking with doctors about unmet health-care needs, and earwax impaction was the one she heard the most, she said. With that in mind, the company developed an ear wax removal product.
Today, the company has an entire line of ear care products that help with wax, itching and other ear-related issues. Eosera also sells earbud cleaning kits.
Eosera ear and nose products. The Fort Worth biotech company was co-founded by Elyse Dickerson. (Cristian ArguetaSoto | Fort Worth Report)
Many of the products are made in Fort Worth, but some of the devices are manufactured in China.
From 2017-2020, the company experienced a 657% growth rate, Dickerson said. The company is privately owned and currently has 23 employees.
Eosera will continue to grow and thrive, Abe Minkara, 49, co-founder of Legacy Knight in Dallas, said. He met Dickerson at an event, and she asked for advice as an entrepreneur. Typically, he said, he gives advice to young businesspeople and does not hear from them again, but he and Dickerson kept up communication as she launched the company.
Eosera is unique and focused on a niche product with the potential to become one of the larger brands in Texas, he said. Legacy Knight tracks Texas-based companies, specifically in Dallas and Fort Worth, and tries to support and help them.
"She's at a point now where she's got the foundation ready," he said. "And now she can really push on getting the product into the market."
Some of her success is a result of grit and resilience, Minkara said. Dickerson always finds a way to overcome challenges and obstacles thrown at her.
While she navigates a quickly growing company, Dickerson said she has a support system to help her get through it all in her husband, children, parents and girlfriends.
"Success is not one person," Dickerson said. "It's really the whole village around you that makes you successful."
Her husband, C.D. Dickerson, is an art curator at the National Gallery of Art in Washington, D.C. He spent some time working at the Kimbell Art Museum before the D.C. job. Together, they are raising two teenagers.
Though she and her husband travel back and forth a lot, Dickerson said, they have imparted on her children that they are a team. She is fighting back against the ideas of the generation before her by teaching her children that she and her husband's jobs are equally important.
"I learned it from my mom; I always observed her," Dickerson said. "She was just always empowering to people. The business she started was all about empowering women, so I had a really good influence at a really young age."
Her mother still runs a business as an image consultant, Dickerson said. It started out of her home growing up, but now she has a studio with a cosmetic and skin care line and personal shopping.
Dickerson has the ability to be an example for the next generation of women, too. Her company has an internship program for students at the Young Women's Leadership Academy, and two interns from there are on the campus at Eosera. She hopes to teach the next generation that more is possible.
"I think a lot of times when you're young, you just think it's got to be one. You can't be everything," Dickerson said. "And I think you can, and it's setting limits on yourself. Like, at 5 or 6 at night, I'm done with work and I'm with my family. Whether it's your body, your success in business, your success as a daughter or a parent, whatever it is — just be the best you can be."
Elyse Dickerson bio
Birthplace: Fort Worth
Moved to Fort Worth: Born and raised in Fort Worth
Family: Married to C.D. Dickerson and mother of Amelia, 13, and Simon, 16.
Education: Masters of business administration, Cox School of Business, Southern Methodist University; bachelor's, University of Notre Dame; completed both Stagen Integral Leadership Program and Advanced Leadership Program
Work experience: Worked at Alcon for 13 years and became global director before starting her own biotech company in 2015.
Volunteer experience: YPO Global One Chapter, TCU Neeley School of Business Healthcare MBA Advisory Board, Fort Worth Country Day Board of Trustees
First job: Merchandise manager and department manager at JC Penney's
Advice for someone learning to be a leader: "Through my years of learning to be a leader, I've found that it's OK to ask for help, and you can't do it alone. Those two pieces of wisdom have carried me through tough decisions as a leader. Asking for help is not a sign of weakness. People often want to help you, and by allowing them to assist you and be a listening ear, you'll learn, grow, and round out your skills as a leader."
Best advice ever received: "I was told once during a difficult time that 'this too shall pass.' I've learned through the years that advice holds a lot of meaning. The bad times will pass, sure, but the good times will, too, so it's important to soak up every minute and be present, because time will pass, and it's one thing you'll never get back."
Kristen Barton is an enterprise reporter for the Fort Worth Report. Contact her at kristen.barton@fortworthreport.org. At the Fort Worth Report, news decisions are made independently of our board members and financial supporters. Read more about our editorial independence policy here.
by Kristen Barton, Fort Worth Report

People over profits: Fort Worth businesswoman leads biotech company Eosera

by Kristen Barton, Fort Worth Report
December 2, 2021

Elyse Dickerson has been a victim of what she calls the "profit over people" mindset, and it led to her losing her job. She decided with her new venture, she'd run things differently.

Thus came the birth of Eosera in 2015, a healthcare biotech company, where Dickerson, 46, and her team follow "conscious capitalism" to put employees over the bottom line.

"We wanted to create a place where people were at the center, because we felt like corporate America was moving away from people and was more about money and profits," Dickerson said. "And we felt like, if we put people back at the center of everything that we're doing, that the profits would then follow. We really started studying this idea of conscious capitalism, making business a force for good in the world."

Her workplace is a culture of patient care, taking care of employees and a healthy work environment. Any time Dickerson has to make a decision about the company, she starts with this question: How does that impact people?

For example, there was a recall on two of the company's products for an incorrect expiration date — Ear Pain MD and Ear Itch MD — but they were voluntary. Eosera did not have to do the recall, and it cost the company $1 million, she said. Despite the cost, it was the right decision for the employees, customers and retailers, she said.

"If I had just been focused on the bottom line, I would not have done that product recall because of the expense," she said. "But because I put people at the center of the decision, it made the decision much easier."

Elyse Dickerson, co-founder of Eosera, at her Fort Worth office with
 the company's products. After getting laid off from her corporate job, Dickerson launched Eosera with "conscious capitalism," putting people over profits. (Cristian ArguetaSoto | Fort Worth Report)

Dickerson's path to business was not direct. When she started college, she studied graphic design because she enjoyed art and the creative process. But once she realized how much time is spent behind a computer, she knew it wasn't the right career for her.

After college, she worked in retail and fashion and completed the JCPenny management training program. But she still was not fulfilled. That realization led her to business school at Southern Methodist University.

"I honestly went back to business school because I didn't know what to do with my life," she said. "And I felt like at least business would give me a lot of different options."

When she started, Dickerson said, she walked into classes and realized only about a quarter of the students were women — a low percentage that shocked her.

(Alexis Allison | Fort Worth Report)

Suggest a profile

To suggest emerging leaders for the Fort Worth Report to profile, please email reporter Kristen Barton at kristen.barton@fortworthreport.org and Managing Editor Thomas Martinez at hello@fortworthreport.org.

After business school, Dickerson spent 14 years working her way up corporate ladders. She learned more actually working than in school, but her climb ended before she reached the top rung.

"There weren't a whole lot of women in senior positions; a lot of women made it to what I call senior manager level," she said. "And you can look around companies across America, and this is a trend, that women make it to this level, and then they just stopped getting promoted. And as a high-achieving woman that felt like I was capable of more, that became really frustrating."

For her generation, Dickerson said, not a lot of women had examples of women in business. It was seen as dads had the "big jobs" and moms stayed at home. If women did work, their jobs were seen as less important.

Those societal expectations remain in some generations. When she started her business jobs, she said, her peers saw her as an equal who was doing the same job and getting paid the same.

But the people cutting the checks were older, and they still held some older values.

"I was still dealing with essentially my parents' generation making the decisions, and they didn't believe women were equal," Dickerson said. "I think it's changing. I'm really hopeful, and I think my generation is doing a whole lot to break down and prove that you can be a mom, a CEO, a badass businessperson and a woman."

Dickerson is following the example of women before her like Darlene Boudreaux, 67, who is a CPA but also ran a company. Boudreaux mentors Dickerson through TechFW, a nonprofit that helps local tech startups learn and grow.

"To me, what distinguishes a real entrepreneur is that those are the people who can keep going and get beyond those obstacles — obstacles are going to happen," Boudreaux said. "It's just a question of whether they stop you or you learn from it and grow, and Elyse is the type who learns from it and keeps going and growing."

Boudreaux wished Dickerson did not face the same obstacles she did as a woman, but she does see more opportunity for women now, she said.

Once she reached higher levels in a company, Dickerson was the only woman in the room and during discussion of promotions and career-planning, her colleagues said, "Well, she has a husband, so we really need to give the promotion to him, because he's supporting a family."

Even when Dickerson became a global director at Alcon, it still wasn't the top. And she wanted to keep climbing the corporate ladder.

"But I was kindly asked to leave," she said. "It wasn't necessarily one day I woke up and it was like, 'I don't want this anymore. I was kicked out the door, and it ended up being the best thing that ever happened."

She and her business partner, Joe Griffin, launched Eosera with their own money.

The company spent months talking with doctors about unmet health-care needs, and earwax impaction was the one she heard the most, she said. With that in mind, the company developed an ear wax removal product.

Today, the company has an entire line of ear care products that help with wax, itching and other ear-related issues. Eosera also sells earbud cleaning kits.

Eosera ear and nose products. The Fort Worth biotech company was co-founded by Elyse Dickerson. (Cristian ArguetaSoto | Fort Worth Report)

Eosera ear and nose products. The Fort Worth biotech company was co-founded by Elyse Dickerson. (Cristian ArguetaSoto | Fort Worth Report)

Eosera ear and nose products. The Fort Worth biotech company was co-founded by Elyse Dickerson. (Cristian ArguetaSoto | Fort Worth Report)

Eosera ear and nose products. The Fort Worth biotech company was co-founded by Elyse Dickerson. (Cristian ArguetaSoto | Fort Worth Report)

Many of the products are made in Fort Worth, but some of the devices are manufactured in China.

From 2017-2020, the company experienced a 657% growth rate, Dickerson said. The company is privately owned and currently has 23 employees.

Eosera will continue to grow and thrive, Abe Minkara, 49, co-founder of Legacy Knight in Dallas, said. He met Dickerson at an event, and she asked for advice as an entrepreneur. Typically, he said, he gives advice to young businesspeople and does not hear from them again, but he and Dickerson kept up communication as she launched the company.

Eosera is unique and focused on a niche product with the potential to become one of the larger brands in Texas, he said. Legacy Knight tracks Texas-based companies, specifically in Dallas and Fort Worth, and tries to support and help them.

"She's at a point now where she's got the foundation ready," he said. "And now she can really push on getting the product into the market."

Some of her success is a result of grit and resilience, Minkara said. Dickerson always finds a way to overcome challenges and obstacles thrown at her.

While she navigates a quickly growing company, Dickerson said she has a support system to help her get through it all in her husband, children, parents and girlfriends.

"Success is not one person," Dickerson said. "It's really the whole village around you that makes you successful."

Her husband, C.D. Dickerson, is an art curator at the National Gallery of Art in Washington, D.C. He spent some time working at the Kimbell Art Museum before the D.C. job. Together, they are raising two teenagers.

Though she and her husband travel back and forth a lot, Dickerson said, they have imparted on her children that they are a team. She is fighting back against the ideas of the generation before her by teaching her children that she and her husband's jobs are equally important.

"I learned it from my mom; I always observed her," Dickerson said. "She was just always empowering to people. The business she started was all about empowering women, so I had a really good influence at a really young age."

Her mother still runs a business as an image consultant, Dickerson said. It started out of her home growing up, but now she has a studio with a cosmetic and skin care line and personal shopping.

Dickerson has the ability to be an example for the next generation of women, too. Her company has an internship program for students at the Young Women's Leadership Academy, and two interns from there are on the campus at Eosera. She hopes to teach the next generation that more is possible.

"I think a lot of times when you're young, you just think it's got to be one. You can't be everything," Dickerson said. "And I think you can, and it's setting limits on yourself. Like, at 5 or 6 at night, I'm done with work and I'm with my family. Whether it's your body, your success in business, your success as a daughter or a parent, whatever it is — just be the best you can be."

Elyse Dickerson bio

Birthplace: Fort Worth

Moved to Fort Worth: Born and raised in Fort Worth

Family: Married to C.D. Dickerson and mother of Amelia, 13, and Simon, 16.

Education: Masters of business administration, Cox School of Business, Southern Methodist University; bachelor's, University of Notre Dame; completed both Stagen Integral Leadership Program and Advanced Leadership Program

Work experience: Worked at Alcon for 13 years and became global director before starting her own biotech company in 2015.

Volunteer experience: YPO Global One Chapter, TCU Neeley School of Business Healthcare MBA Advisory Board, Fort Worth Country Day Board of Trustees

First job:  Merchandise manager and department manager at JC Penney's

Advice for someone learning to be a leader: "Through my years of learning to be a leader, I've found that it's OK to ask for help, and you can't do it alone. Those two pieces of wisdom have carried me through tough decisions as a leader. Asking for help is not a sign of weakness. People often want to help you, and by allowing them to assist you and be a listening ear, you'll learn, grow, and round out your skills as a leader."

Best advice ever received: "I was told once during a difficult time that 'this too shall pass.' I've learned through the years that advice holds a lot of meaning. The bad times will pass, sure, but the good times will, too, so it's important to soak up every minute and be present, because time will pass, and it's one thing you'll never get back."

Kristen Barton is an enterprise reporter for the Fort Worth Report. Contact her at kristen.barton@fortworthreport.org. At the Fort Worth Report, news decisions are made independently of our board members and financial supporters. Read more about our editorial independence policy here.

This article first appeared on Fort Worth Report and is republished here under a Creative Commons license.
Tagged: #Lead, Business, Eosera, Fort Worth, Profiles in Leadership
Kristen Barton is an enterprise reporter for the Fort Worth Report. She has previous experience in education reporting for her hometown paper, the Longview News-Journal and her college paper, The Daily...	More by Kristen Barton


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Thirteen states and many localities continue to tax the sale of groceries, even though the taxes disproportionately hurt the poor and may affect the quality, variety and even the amount of food they can afford to put on the table.
The reason: The taxes provide a steady source of revenue in volatile times, making it difficult for states to get rid of them without finding a way to make up the revenue. Recent efforts in several of the states to eliminate or lower the taxes have failed.
Alabama, Hawaii, Idaho, Kansas, Mississippi, Oklahoma and South Dakota tax groceries at the same rate as the sales tax on all purchases, according to the Tax Foundation. Arkansas, Illinois, Missouri, Tennessee, Virginia and Utah tax food at a lower rate. Seven fewer states tax groceries than in 1998, when researchers at the Center for Budget and Policy Priorities found that 20 did. But the trend to eliminate the tax has stalled.
It's not just states that rely on grocery tax revenue. A new study, "Do Grocery Food Sales Taxes Cause Food Insecurity?" by four researchers led by Norbert Wilson of Auburn University, finds that because counties and localities sometimes collect food taxes even if their states don't, people living in more than a third of the nation's roughly 3,000 counties are taxed at some level on the food they buy at the store.
The average tax rate is 4.3 percent, which translates to more than $200 for a family with an annual grocery bill of $5,000, the authors wrote. But in some places, like Tuscaloosa County, Alabama, combined state and local taxes can be as high as 9 percent.
"The correlation that we are able to report says that in the presence of the tax we see a higher rate of food insecurity," Wilson said.
Although families spend less on groceries than those with higher incomes, what they do spend accounts for a bigger share of their income. The lowest-income Americans spent an average of $3,667 on food in 2014, which amounted to 34.1 percent of their income, according to the U.S. Department of Agriculture. Middle-income families, in contrast, spent an average of $5,992 on food, or 13.4 percent of income.
People whose income is below poverty lines and who receive food stamps don't pay the tax because the stamps are nontaxable.
Many of those states that still tax groceries are among the least affluent in the country. Alabama, Arkansas, Mississippi and Utah are in the bottom fifth of states in per capita income.
And the Wilson-led study points out that most of the counties that do not exempt grocery from the sales tax are located in Southern states like Alabama, Arkansas and Mississippi, where food insecurity tends to be the most acute.
Alabama state Sen. Gerald Dial, a Republican, tried and failed this year to phase out the state's tax on groceries over four years and replace it with a one cent increase in the overall sales tax, to 5 percent.
But removing it would leave a $650 million to $700 million hole in the state budget — a gap Dial's proposed increase in the state's overall rate on other goods was designed to cover. But his colleagues' uncertainty over whether it would make up for lost grocery tax revenue helped doom the bill.
In Alabama, most of the sales tax goes toward education. And Nancy Dennis, spokeswoman for the Alabama Retail Association, noted that every time the sales tax goes up, retail sales go down. That worries both retailers and educators in the state.
"It hurts the seniors, the poor, those on fixed incomes and now half the middle class," he said.
Swanson said the city gets revenue from more than 50 sources of taxes and fees, and that any or several of them could be increased to make up for lost grocery tax revenue. Or, he said, the city could reduce spending somewhere else.
He also questions how effective the tax is because many people in Daphne drive across the Florida border to buy their food because that state has no tax.
Shoppers in other states also appear willing to drive to dodge the tax. A Wichita State University study published earlier this year found that Kansans living near the Colorado, Nebraska and Missouri borders often cross over to buy groceries, avoiding state and local taxes in their home state that can run as high as 10.5 percent.
Kansas lawmakers this year again discussed eliminating the tax before abandoning the idea in the face of ongoing budget shortfalls.
The grocery tax also is under review in Mississippi, where Republican Gov. Phil Bryant and legislative leaders put together a commission in July to study overhauling the state's tax and spending structure.
"Every option, including reducing or perhaps eliminating the tax on unprepared food, will be thoroughly examined," Bryant said.
In Idaho, a tax credit that offsets the state's 6 percent tax on groceries for some low-income families has dampened the political will to eliminate the tax, according to House Majority Leader Mike Moyle. The tax credit, $100 per person annually, is available to people who have low incomes but who make too much to qualify for food stamps. Moyle, a Republican, would like to scrap the tax to give relief to a broader spectrum of taxpayers.
A decade ago, then-Utah Gov. Jon Huntsman, a Republican, signed a tax bill that he hoped would be his legacy. It included dropping the state's sales tax on food from 4.7 to 1.75 percent.


text:
Health experts, LGU officials express support for Bong Go's filed bills to strengthen healthcare system amid COVID-19 pandemic
During a Senate health committee hearing on Tuesday, May 26, the Department of Health and Union of Local Authorities of the Philippines have expressed their support for bills filed by Senator and Chair of the Committee on Health and Demography Christopher Lawrence "Bong" Go which seek to strengthen the country's healthcare system.
Some of the bills tackled include measures seeking to improve the process in increasing the bed capacity of the government hospitals, address the lack of quarantine facilities, establishment of sub-national laboratories and to strengthen the country's disease surveillance and epidemiologic investigation system, among others.
During the hearing, Quirino Governor and ULAP President, Dakila Carlo E. Cua, expressed agreement with the proposed measures, saying that ULAP fully supports the empowerment of the DOH to increase bed capacity of hospitals in the country.
The ULAP President also expressed support to President Rodrigo Duterte's and Senator Go's call to help overseas Filipino workers during these times of pandemic.
"Dapat po natin sila tulungan. We are doing our best to accommodate and welcome home our new age heroes, our OFWs," Cua said.
Health Secretary Francisco Duque III also stated similar support to further empower the national and local governments in dealing with public health emergencies.
He added that he also supports measures which seek to complement the number and protect health professionals from occupational threats associated with their job.
Also, League of Provinces of the Philippines President and Marinduque Gov. Presbitero Velasco, Jr. also expressed support for the bills. Health experts from the Association of Municipal Health Officers of the Philippines, the Philippine Hospital Association, Philippine Medical Association, Philippine Alliance of Patient Organization, and the National Privacy Commission, among others, also manifested their support for the proposed measures.
Among Go's filed bills, Senate Bill (SB) 1226, or the proposed DOH Hospital Bed Capacity and Service Capability Rationalization Act, aims to authorize the Department of Health to increase the bed capacity and service capability of its retained hospitals and to allow it to promulgate evaluation and approval guidelines.
During the hearing, Go lamented the poor hospital bed-to-population ratio of the country, saying that "general hospital beds to the population was one is to 1,142, exceeding the ideal ratio of one is to 1,000."
He added that DOH hospitals are constrained by the lack of adequate staffing, maintenance and operating resources to fully provide the quality of health care that their patients deserve.
Go also filed SB 1259 or the "Mandatory Quarantine Facilities Act of 2020" which mandates the establishment of quarantine facilities in every region in the country.
According to Go, quarantine mechanisms are a long-established public health strategy in order to prevent transmission and should be part of the standard precautions that should be taken to prevent the spread of any infectious disease.
"Nakita naman po natin na ginagawa ng gobyerno ang lahat para rumesponde sa krisis. Nagtayo agad ng quarantine facilities sa iba't ibang lugar gamit ang available infrastructure na meron na tayo," Go said.
"Pero kung mayroon na tayong nakahandang pasilidad para sa ganitong mga krisis o sakuna, mas mabilis at mas mabisa nating mapoprotektahan ang kalusugan ng kapwa nating Pilipino. The proposed measures filed aim to address this need and establish quarantine facilities all throughout the country," he added.
The Senator also seeks to strengthen the country's efforts in disease surveillance and epidemiologic investigation. SB 1528 filed by Go intends to amend Republic Act 11332, also known as the "Mandatory Reporting of Notifiable Diseases and Health Events of Public Health Concern Act."
Go cited several key areas that need amendments during the hearing including changes addressing the lack of sub-national laboratories; mandating the establishment of hotlines where the public can report a public health concern; and mandating the assistance of the Philippine National Police and the Armed Forces of the Philippines in the conduct of contact tracing, among others.
Meanwhile, Secretary Duque also admitted that the Philippines' testing capacity in view of the coronavirus pandemic is the "number one weakness" in the country's health system.
According to the health chief, there is a need to increase the number of sub-national laboratories to ramp up the country's testing capacity.
Ending the hearing, Go acknowledged the need to improve the country's capacity in addressing pandemics like COVID-19.
"We hope that the measures we have discussed today will address some of our weaknesses and gaps in handling public health emergencies," Go said.
"Let the pandemic be a lesson to all of us and use this experience to improve our health system," he added.


Check the entry in the sheet symbol's Filename field. If the required target document already exists, ensure that the document name (including extension) is entered correctly into the field. If the target document has been removed from the project and you have access to it, add it back in to the project. If the target document does not exist, simply right-click on the symbol and choose the Create Sheet From Sheet Symbol command from the Sheet Symbol Actions sub-menu.


text:
Summer Camp – Romantic Comedy
(Moshi Moshi) UK release date: 14 February 2020
by John Murphy
published: 13 Feb 2020 in Album Reviews
It's been a long time since we've heard from Elizabeth Sankey and Jeremy Warmsley, collectively known as Summer Camp. Nearly five years in fact, since their third album Bad Love was released. But the duo have hardly rested on their laurels: Warmsley released a single every month of 2019, and made a move into soundtracking films, TV shows and computer games, while last year Sankey released her first film.
That film, an affectionate if occasionally biting documentary/essay about the genre of romantic comedies, is where Romantic Comedy, the band's fourth album, springs from. This is not a soundtrack per se, although you will hear many tracks from it if you see Sankey's film. It's more a mix of tracks used in the film and songs inspired by romantic comedies, threaded together by short instrumental sections.
Love Of My Life, which was originally released as a single last year, sounds like classic Summer Camp straight from the off. With more than a nod to Saint Etienne, its swirling strings, carefree energy and pitch-perfect vocals from Sankey add up to one of those songs that sounds like an instant classic the moment you hear it.
The song that accompanied Love Of My Life, the Warmsley-sung Danny & John (here re-christened When Danny Met John) is, by contrast, a total about-turn from the usual Summer Camp sound. Inspired by one of Sankey's film's observations that the romcom genre can be stultifying hetero-normative, it's a bittersweet tale of two men who can't get their one kiss many years ago out of their heads, with lines like "as he inched closer to 40, his only friend was regret".
What's so delightful about the album (and indeed, Sankey's film) is the way it both pays tribute to and subverts various tropes from romantic comedies. Song titles like You Complete Me, Nice Guy and Mr Wrong will be familiar to anyone who grew up with Jerry Maguire and Pretty In Pink, while the swooning Women In Love is about the various personas that women are given in such films – whether it be a woman who "drinks coffee after midnight and never cuts her hair" or swims in the sea every Friday after work. The fact that it's set to a gorgeous melody that can imagine accompanying the roll of credits is a bonus.
The arrangements seem more muscular than before too – Warmsley has described Romantic Comedy as the first album they've recorded as a live band, and on tracks like The Ugly Truth, you can really tell: when the chorus of The Ugly Truth kicks in, it's the cue for the band to step up a gear and the song feels like it's about to rise up into the air. It Happened One Night (another nod to a famous rom-com) is a gorgeously lush piano ballad, while Barefoot In The Park (ditto) has a lovely Bruce Springsteen-ish driving energy to it which already sounds like a future live favourite.
Unlike their previous 'soundtrack' album (the score to Charlie Shackleton's Beyond Clueless), Romantic Comedy feels like a standalone album in its own right – even the little instrumental interludes don't feel like they're slowing the album's momentum down. In fact, it's an album that, to paraphrase the 2005 classic of the genre, The Wedding Date, you'd miss even if you'd never heard it.
Summer Camp MP3s or CDs
Summer Camp on Spotify
More on Summer Camp
Summer Camp @ Heaven, London
Summer Camp – Summer Camp
Festival Review: Tramlines 2013


text:
Q: Search for a pattern in a file and print it in jruby I have a file with n number of lines. I need to search for a field(SessionId and its value) in it and print its corresponding value.
I have coded to access the file and print it line by line. Need help in getting a field and printing its value.
Sample lines of file:
LastSessionTeardown.cc|598|Resolving:=N2BBSessionGateway.Factory
2013-12-23 06:03:22.488046 UTC VZ_QIP_S3_208 LastSessionTeardown.cc|636 <ERROR>:Failed     to resolve SessionGateway:N2BBSessionGateway.Factory
Cause : user exception, ID 'IDL:omg.org/CosNaming/NamingContext/NotFound:1.0'
2013-12-23 06:03:22.488078 UTC VZ_QIP_S3_208 LastSessionTeardown.cc|640|Total resolved     SessionGateways list(size):=0
2013-12-23 06:03:22.488098 UTC VZ_QIP_S3_208 LastSessionTeardown.cc|642|Out     resolveSGWs::
2013-12-23 06:07:17.485959 UTC VZ_QIP_S3_208 StreamServiceMasterImpl.cc|989|In     createStream::=77D23ECC4649571A367E9C314C4AA7AA
2013-12-23 06:07:17.487706 UTC VZ_QIP_S3_208 StreamServiceMasterImpl.cc|1036|StreamId:     77D23ECC4649571A367E9C314C4AA7AA  **SessionId: C0A800F0DB2A::1387778933::1501** ContentId: vault22_12.mpg 1xGoid:
2013-12-23 06:07:17.505233 UTC VZ_QIP_S3_208 StreamServiceMasterImpl.cc|989|In     createStream::=E30CC868325B51D288A8E2D95322B840

Note : the file has lots of lines above and below the field specified
Code:
require "java"

include_class "java.io.BufferedReader"
include_class "java.io.FileReader"
include_class "java.lang.String"

fileReader = FileReader.new "protocoltiming.log.txt"

bufferReader = BufferedReader.new fileReader
str = bufferReader.readLine

while str
puts str.to_s
str = bufferReader.readLine
 end

Kindly help me on what to be added to this code?

A: while str
  str = bufferReader.readLine
  session_id = str.strip.scan(/SessionId: (.+)\s/)[0][0] if str.include?("SessionId: ")
  if session_id
    # session_id found
  else
    # session_id not found
  end
end

There is actually no need to loop through the lines. You can just read the file and use regular-expression to find required text. But whatever suits your cat. Sometimes reading whole file could be really problematic if it is too big.
HTH

A: done. this works!
require "java"

include_class "java.io.BufferedReader"
include_class "java.io.FileReader"
include_class "java.lang.String"

fileReader = FileReader.new "StreamService.log"

bufferReader = BufferedReader.new fileReader

#puts str
str = bufferReader.readLine

while str = bufferReader.readLine
#puts str.to_s

sessionid = ""

  sessionid = str.match(/SessionId:(.*)ContentId/)

  if sessionid.to_s != ''
    puts "Session ID = #{sessionid[1]}"
  end

end

redpajama_set_name: RedPajamaStackExchange


text:
Węgrzce Wielkie – przystanek kolejowy w Węgrzcach Wielkich koło Niepołomic.

W roku 2021 przystanek obsługiwał 100–149 pasażerów na dobę.

Połączenia
 Kraków
 Tarnów

Przypisy

Linki zewnętrzne

Stacje i przystanki kolejowe w powiecie wielickim
Węgrzce Wielkie

redpajama_set_name: RedPajamaWikipedia