|Publication number||US5452519 A|
|Application number||US 08/157,100|
|Publication date||Sep 26, 1995|
|Filing date||May 29, 1992|
|Priority date||May 31, 1991|
|Also published as||CA2109717A1, CA2109717C, DE69204836D1, DE69204836T2, EP0587618A1, EP0587618B1, WO1992021936A1|
|Publication number||08157100, 157100, PCT/1992/978, PCT/GB/1992/000978, PCT/GB/1992/00978, PCT/GB/92/000978, PCT/GB/92/00978, PCT/GB1992/000978, PCT/GB1992/00978, PCT/GB1992000978, PCT/GB199200978, PCT/GB92/000978, PCT/GB92/00978, PCT/GB92000978, PCT/GB9200978, US 5452519 A, US 5452519A, US-A-5452519, US5452519 A, US5452519A|
|Inventors||Timothy R. Crocker, Anthony I. Rees|
|Original Assignee||3D Instruments Limited|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (8), Non-Patent Citations (3), Referenced by (8), Classifications (20), Legal Events (6)|
|External Links: USPTO, USPTO Assignment, Espacenet|
The present invention relates to attitude sensors and in particular to such sensors as may be used in or to form compasses, attitude and rotation rate measurement devices or combinations of these.
Magnetic compasses and other types of attitude sensors, in a form that can be read by computers and other electronic devices, are important in numerous fields, sea surface and subsea vessels, land vehicles, aircraft, rockets, and so on. Existing sensors have had many forms and paths of development, and are often combined to give specific types or sets of data.
Traditional magnetic compasses use a needle or card which points toward magnetic north, and some form of suspension to allow its surroundings to rotate around it. As compasses have been developed to be electrically readable, this basic arrangement has been modified, with many forms of gimbals and suspension. Other approaches have used various non-moving forms of magnetic sensors, sometimes coupled to other sensors which determine a local gravitational reference from which essentially the same information can be derived.
Physical analysis shows that to obtain a true `magnetic north` reading it is actually also necessary to have a second reference usually the vertical which defines the horizontal plane in which it is defined; even in the simplest case where the compass is simply mounted on a horizontal surface, this reference is implicit since it was used in some form to level the surface. This is so (except on the magnetic equator), because the couple on the needle is such as to make it want to align with the earth's magnetic field lines, which normally dip below the horizontal. A simple compass card is kept level against the dip torque by a very much larger gravitational torque. Any error in levelling of a simple compass in the magnetic east-west direction (or of the reference used in a static magnetic sensor) will lead to quite significant compass reading errors.
Any gravitational reference is however inevitably affected by linear accelerations applied to its package, since these cannot be distinguished from changes in the direction of the gravitational field. This inevitably leads to compass reading errors when the compass package is subject to motion. In many situations the accelerations are short term, and probably reversing or cyclic, so these effects may be reduced by the use of some form of mechanical damping. This solution unfortunately agravates the effects of the other possible type of external motion, where the package is rotated.
These effects are interactive, and can produce complicated compromises in performance.
It is fundamental that no device that is subject to sustained linear acceleration can find a true gravitational reference. It is equally certain that no acceleration can be extended infinitely in time. A solution can therefore be found in the majority of practical cases, by reducing the effects of the influence of acceleration, if the natural period of the device in question can be made very much longer than the duration of the applied acceleration.
In the case of external rotations, the tendency of any object is to stay stationary in space. Any tendency to rotate with the surroundings is due to the coupling of this motion from the outside. In the case of a compass in gimbals this is due to friction in the gimbal bearings.
The situation is slightly different in analysis between the cases of frictional influence on an object with both a magnetic and a gravitational moment (ie a compass card of some form), and that of one with no such moment (a rate sensor), and other cases of where the influence is magnetic only, and/or gravitational only. However in general terms the conclusion of the analysis is a re-statement of the simplest laws of mechanics; for a body to stay still in space (and thus act as the heart of a sensor of this sort) it should have the lowest frictional coupling to the outside world, and the highest moment of inertia possible (within its practical constraints).
According to the invention there is provided an attitude sensor comprising a housing containing a fluid, a substantially spherical ball freely suspended in the fluid and means for maintaining the ball out of direct contact with the housing characterised by active means for ensuring that the ball is neutrally buoyant with respect to the fluid and means for detecting and transmitting the orientation of the ball.
According to other aspects of the invention there are provided novel methods of measuring displacement and orientation and for controlling buoyancy. In a further aspect of the invention a novel method and device for balancing is disclosed in which several metal electrodes in an electrolyte such as copper in a copper sulphate solution spaced apart, a particular one or more said electrodes being connectable to a power source in accordance with the required shift of balance.
It will be appreciated that a spherical object, suspended (by its simple buoyancy) in a liquid of zero viscosity, and with no mechanical connection at all to its surroundings, and with no gravitational or magnetic moments, will at all times maintain its absolute orientation or rate of motion in space, irrespective of the motions of its housing. Clearly all fluids have non-zero viscosity, but if the ratio of the moment of inertia to the viscous coupling of the liquid is sufficiently high, such a device provides the basis of a rotation rate sensor, sensitive to cyclic rotations down to a certain practical limit in frequency (with frequency dependence), insensitive only to continuously sustained rotations. If the ball has a gravitational moment (righting moment) then it will in the static case settle vertically, and so can provide the basis, with similar caveats, of an attitude sensor. Such a ball with a magnetic moment would be essentially the heart of a dip or total field sensor, and a combination of magnetic moment and gravitational moment would provide the equivalent of a classic magnetic compass. All such devices singly or in combination would be intrinsically capable of providing three dimensional attitude information.
Preferably the means for ensuring that the ball is neutrally buoyant, hereafter referred to as the "buoyancy control" comprises means for pressuring the fluid in the housing and a variable volume chamber within the ball in pressure communication with the fluid.
Preferably the means for maintaining the ball out of direct contact with housing, hereafter referred to as the "displacement control" comprises at least one electrode in the ball and a plurality of electrodes in the housing, means to apply an electrical potential to one or more electrodes in the housing, the arrangment being such that ball and housing electrodes cooperate to prevent the ball being in direct contact with the housing by electrostatic attraction so produced. Preferably a means to provide power within the ball to enable displacement control and/or orientation measurement is provided by capacitative coupling between the housing and ball electrodes.
Preferably the means for detecting the orientation of the ball, herafter referred to as the "orientation detector" comprises at least one ball electrode, a plurality of housing electrodes and means for capacitive measurement as between the ball and housing electrodes.
The ball may be provided with a balancing means comprising a sealed cell orientated in a plane defining a horizontal plane within the ball, the cell containing metallic electrodes and an electrolyte and a control means arranged to move metallic material of live metallic electrodes within the cell to adjust the centre of gravity of the ball.
The ball may contain one or more bar magnets to provide a magnetic righting moment. The bar magnet or magnets may be disposed vertically within the ball to provide a gravitational righting movement. A vertically orientated sealed cell containing metallic electrodes and an electrolyte with a control means may be provided to move the metallic material of the metallic electrodes with the vertical cell to assist in controlling the centre of gravity and the righting moment of the ball.
Alternatively the ball may contain a passive magnetic element comprising one or more ellipsoidal discs or annuli of highly susceptible soft magnetic material such as transformer iron with little or no permanent magnetism. The induced magnestism in such a disc or annulus will produce a torque tending to bring its diametral plane onto a plane containing the earth's field direction. If this is combined with a gravitational righting moment the or each disc or annulus becomes a compass needle in the horizontal plane but is without any magnetic torque tending to rotate if in its own plane.
Operation of the device is preferably made possible by the use of electronic signal processing circuitry, and typically a microprocessor to perform control and measurement function.
An embodiment of the invention will now be described with reference to the accompanying drawings in which:
FIG. 1 is a partially sectioned view of the attitude sensor of the invention having a spherical ball suspended in fluid in a housing;
FIG. 2 is a diagram of the electrode array of the ball of FIG. 1 according to one embodiment;
FIG. 3 is a diagram of the electrode array of the ball of FIG. 1 according to a second embodiment;
FIG. 4 is a diagram of the electrode array of the housing of FIG. 1 according to one embodiment;
FIG. 5 is a diagram of the electrode array of the housing of FIG. 1 according to a further embodiment;
FIGS. 6 and 6A are a sectional plan and vertical diametrical sectional view of a balance cell for the ball of FIG. 1;
FIG. 7 is a circuit diagram of an input circuit per electrode of FIG. 4;
FIG. 8 is a circuit diagram of a modified 10 circuit per electrode of FIG. 4;
FIG. 9 is a circuit diagram of amplifiers for orientation and displacement information for each of the electrodes of FIG. 4;
FIG. 10 is a diagram of signals on the ball and housing electrodes; and
FIG. 11 is a block diagram of the ball circuitry.
FIGS. 12 and 13 are diagrams of dip correction arrangements.
FIG. 14 is a cross section of an alternative ball for that shown in FIG. 1.
FIG. 1 shows the general arrangement of the ball of the attitude sensor. The outer shell 2 may be constructed in numerous ways, but typically is of a glass reinforced epoxy resin, precision moulded in two hemispheres, and glued together on final construction. On, or close to the equatorial plane there is an electronic printed circuit board 3 carrying on it the electronic components 5 necessary for its operation. On one side is carried the electrolytic auto balance cell 7 (shown in greater detail in FIG. 6). Running from one `pole` to the other is a thin tube 9, open at both ends so as to communicate with external suspension fluid 11, but sealed into the shell 2 so that it remains fluid-tight. The centre of the tube carries a small symmetrical bellows arrangement 13, typically made of spun brass or phosphor bronze material, with the inside volume of the bellows in communication with the fluid in the tube 9, and thus with the surrounding suspension fluid, but with the bellows arrangement sealed to the tube so as to preserve the fluid tightness of the main volume inside the ball. In a compass configuration the ball will also contain one or more bar magnets 15 to provide the necessary magnetic moment.
The surface of the shell 2 of the ball carries electrodes 17 shown in FIG. 2, in this example cubic symmetry is used, with six electrodes all of equal size such that they are as large as possible whilst maintaining adequate separation for electrical isolation one from the other (the pattern of electrodes is that which would be obtained from a projection onto the surface of the sphere from circles placed at the centres of the faces of a surrounding cube. Alternatively eight electrodes 17' are provided for the ball as shown in FIG. 3. Construction of the electrodes may typically be by vacuum deposition of a thin metallic film onto the surface of the sphere, by embedding metallic mesh or foil within the composite make-up of the shell, by use of conductively loaded epoxy compounds in the build of the shell, or by application of thin formed metallic shells to the shell. These electrodes communicate electrically with the circuitry on the printed circuit board by wire or other links. Typically the surface of the ball will be coated overall by a thin layer of non-conductive paint, to aid in set-up, and protect the ball. The surface of the ball in between the electrodes may be similarly made conductive, and all such areas connected to the common potential point of the ball electronics, in which case only thin non-conductive lines describe the electrode areas. Equally the electrodes may be designed to symmetrically fill the whole surface of the sphere, making them square in projection. Other geometries such as four electrodes arranged tetragonally may also be employed. For some purposes of the sensor only three or even two electrodes may be needed.
The housing 22 for the device is shown very schematically in FIG. 1. It is essentially a liquid tight housing, presenting a spherical (or functionally spherical) inner surface 23 to the ball and having an equatorial seal 20, the housing being, slightly larger than the ball (for a typical ball diameter of 50 mm, the diameter of the inner surface may be 51 to 52 mm). The inner surface 23 also presents a number of electrodes 33, again in the form of spherical caps 34, conforming to the inner spherical surface, but generally not the same number of electrodes as on the ball. For the preferred configuration of six electrodes on the ball, the preferred number of electrodes 33 on the housing would be fourteen, again all of equal size, as large as possible so as to just not touch, but now arranged so as to be not only centred on the projections of the centres of the cube faces (again six electrodes), but now with an additional eight that are in the interstices, the projections of the eight corner points of a cube onto the spherical surface. The disposition of these electrodes 33 is shown diagramatically in FIG. 4 or FIG. 5 where only six electrodes are present. Again, the gaps between the electrodes may also to advantage be conductive, and connected to the common potential point of the outer analogue electronics. To achieve good electrical shielding it is envisaged that each outer or housing electrode 33 will be an integral part of its own simple electronics package and cap 34, with an electrically conductive outer skin 35 covering all external surfaces except the electrode itself, abutting, but not electrically connected to, the electrode along the circumferential edge. A pump 40 for buoyancy control, and control electronics 41 are typically integrated into the outer housing in a chamber 38 having a sealing end cap 39.
A pump 40 for buoyancy control is shown in FIG. 1 and comprises a balanced pair of spun metallic bellows 42 containing suspension fluid 11 in communication with each other via conduit 43 and via a central conduit 46 with suspension fluid 11 in the housing 22. A two layer piezo-ceramic "bender" motor element 44 which bends on application of voltage across supply leads 45 controls the extension of each bellows 42 and hence the pressure of fluid 11.
Balance cell 7 see FIG. 6 comprises an annular disc 50 formed with a central hole 52 for bellows 13. The disc has a base 53 with four copper electrodes 54 formed as a printed circuit board (PCB). Circular epoxy raised walls 55 and 56 enclose with base 53 and epoxy/glass compliant lid 57 an annular space 58 filled with a copper sulphate solution. The operation of the balance cell 7 will be subsequently described.
1. Operation and Function of Parts
Orientation and Displacement Measurement.
Power for the ball 1, as described in detail below, is provided by an application of an AC signal to some or all of the outer electrodes. A measurement cycle is triggered by cessation of this signal, which is detected within the ball. The orientation is derived by determining the degree of area overlap of each of the inner or ball electrodes 17 with each of the outer or housing electrodes 33, by making a measurement of the capacitance formed by each electrode set, with the suspension fluid 11 as dielectric.
In the preferred embodiment, electrodes, both inner 17 and outer 33, are used in opposite pairs, three pairs on the inner surface, and seven pairs on the outer. Following the cessation of the power signal from the outside to the ball, the ball electronics transmits a few cycles of a triangular voltage waveform signal, on each pair of electrodes in turn (and the back in reverse order) transmitting the signal differentially (that is equal and opposite voltage signals on each of the electrodes in the pair), and maintaining the centre (or local common potential) on the four other electrodes. This cycle is shown schematically in the timing diagram, FIG. 10. (the frequency of the triangular waveform might for example be 1000 Hz). FIG. 10 is a timing diagram for measurement burst showing signals on inner and outer electrodes. The top trace (A) shows the voltage waveform on a typical outer electrode, starting with the ball power phase, which is then shown to cease. The second trace (B) shows the trigger signal generated inside the ball, on detection of the cessation of power drive from the outside. The third, fourth and fifth traces (C, D and E, respectively) show the drive voltage applied differentially to each pair of electrodes from the electronics within the ball (these are not shown differentially for simplicity, one electrode in a pair would have the voltage shown, the other the opposite).
These are voltage signals applied across the inner electrodes 17. The outer electrodes 33 are connected to current amplifiers, shown in a simplified form in FIG. 7. The capacitance, shown in a dotted box 60, is that formed from the overlap of an inner and outer electrode, with the suspension fluid as dielectric. To a first order it is directly proportional to the area of overlap (from which the distance between the centres of the electrodes may be deduced, see below). The whole circuit, including this capacitance forms a standard differentiating arrangement, thus for a triangle drive 711 from the inside of the ball, the output at point B on FIG. 7 will be a square waveform, with amplitude proportional to the degree of area overlap of the electrodes. Note in FIG. 8 Capacitor Ci>>electrode capacitance, resistor Ri>>Rf, point A is a virtual earth, RiCi>>input waveform period and therefore Ri does not affect Ac operation.
The basic circuit configuration of FIG. 7 has other practical advantages; in this receiver mode the most important is that the amplifier maintains the outer electrodes at `virtual earth`, ie as close to the external signal common potential as the limitations of the amplifier allow. This has two principle benefits; it reduces the effects of stray capacitative coupling on the input circuitry, and electrode itself, and together with filling the interstices between the outer electrodes with conductive areas connected to external signal common, it equalises the load seen by the inner drive circuits under all possible orientations.
All fourteen of the outer electrodes are connected in the same way. Each inner electrode 17 can overlap to some extent with up to five outer electrodes 33 at one time, so up to five pieces of amplitude information can be obtained from each of the six segments of the transmission cycle. The last trace (F) of FIG. 10. shows an idealised voltage waveform from one of the fourteen amplifiers of FIG. 7, where the output is shown as a squarewave, with the amplitude and phase varying to represent the phase and amplitude variation that would result from the different degrees of overlap and orientation in a real situation.
FIG. 11 is a block diagram of ball circuitry, including details of charging arrangement additional circuitry for balance cell(s) not being shown. In FIG. 11 (1/2), the capacitor C charges and powers the rest of the circuit, each of the leads 11A, 11B, 11C, 11D, 11E and 11F being connected to an electrode on the ball. In FIG. 11 (2/2), the watch crystal clock 111 and the charging detection logic 112 both feed signals to cycle logic 113 which controls the triangular waveform generator 114 which produces phase and antiphase signals on leads 115 and 116, respectively, which are fed to an electrode pair via leads 117 and 118, respectively.
If the ball were genuinely centred in the housing, then it would in principle only be necessary to measure the signal amplitude from one outer electrode 33 in each pair.
However, in reality the ball may be displaced slightly, and since the gap between the electrodes also enters into the formula for the capacitance formed by the overlap of an inner and outer electrode, it is necessary both to correct for the measurement errors that this displacement creates, and to measure the displacement itself. This is done using the outer amplifier configuration shown in FIG. 9, using sum and difference amplifiers following the input differentiators of FIG. 7. (it important to be clear as to the terminology here, since the differential nature of the signal may lead to confusion). Amplifier F is configured as a summing amplifier (also inverting, but this is immaterial). Since its output is the algebraic sum of two signals that have been transmitted differentially, its output will be zero for inputs that are exactly equal and opposite, as would be the case if the ball were placed exactly centrally between the outer electrodes. Any small displacement of the ball will be evident as a small signal, proportional to the amount of the displacement from the central position, and to the area of overlap of the electrodes. Amplifier G is configured as a difference amplifier. Its output therefore recovers the full differential signal (summing with sign reversal on one side). If the ball is slightly displaced then one signal would be slightly larger than the correct value, and one slightly smaller. Summing in this way thus recovers the correct overlap signal, free of first and second order errors. Note that this method is very common in electronic signal processing, but would not work here if only the differential ball signal were coupled to the electrodes, 10 since in this case the two capacitors formed by the opposite pair overlaps of the inner and outer electrodes are effectively in series, and the currents into the differentiators will by definition be equal and opposite, so that the output of amplifier F would at all times be zero. However, this system does work here because the undriven ball electrodes are not passively floating, but held to the centre point of the ball differential drive signal. These peripheral electrodes couple capacitatively to the virtual earths of all the outer electrodes (and if used the grounded areas in between) and thus provide a relatively tightly coupled centre reference point for the received signals, by which the analysis of operation above is correct. Outputs of amplifiers F and G are squarewaves. These can be converted to `DC` amplitude values by the use of precision rectifiers or synchronous detectors, giving seven signal pairs, each with six periods corresponding to the six periods of the transmit cycle. These signals are fed to analogue to digital conversion circuitry, and then to a microprocessor or other means for computing the area overlaps. Once overlaps have been derived, numerous processing techniques can be used to derive both orientation and displacement values. Essentially the area overlaps lead immediately to a set of values of distances along great circle arcs on the surface of the sphere between the electrode centres. These can then be solved to give cartesian displacements, in terms of latitude and longitude, of the casing with respect to the inner or vice-versa.
It is expected that one microprocessor will be integrated into the electronics of the system, to control this measurement process, and perform the other tasks specified below. It will be able to communicate via standard computer data protocols with other devices, taking commands, and outputting data in a numerical format. One final point must be made. This device is intended to provide good data whilst the package is moving. This is the reason for the use of the repeated reverse order measurement cycle. Since the time to make a complete measurement of position is relatively small (a few milliseconds or tens of milliseconds), relative movement between the electrodes will have been small. Averaging the positions given by the first and second readings of each electrode transmission will thus give answers centred on the same moment in time.
2. Control of Buoyancy
If the ball is at all times exactly neutrally buoyant in the suspension fluid, then it will have no tendency to move bodily within the fluid, (although if it has a gravitational moment it will experience a torque) despite any acceleration imposed on the outside. This exact neutral bouyancy is needed not only to enable the basic measurement cycle, but because it protects the ball within the fluid from moving even under shock loads from outside, and thus makes the system very rugged. Manufacture of a body that matches mass and volume to the density of a fluid to the desired accuracy is very difficult, but in any case would be made pointless by changes in temperature of the device if the temperature coefficients of buoyancy could not also be matched. A practical method of maintaining neutral buoyancy is to use a dynamic method, as has been briefly described. This is in fact the same technique that is used in the old diver in a bottle toy. A small, fluid filled compliant volume within the ball is connected to the fluid. Changes in the ambient fluid pressure will cause the compliance to change volume, thus directly altering the buoyancy of the ball. In order not to alter the 10 gravitational righting moment of the sphere (if any) and the sphere dynamic characteristics, the centre of action of compliance should be at all times at the centre of buoyancy (in a sphere the geometric centre) of the ball. The method suggested using bellows at the centre achieves this, although this could equally be done by making the ball shell itself compliant, or other detail techniques. The necessary pressure changes are achieved by use of a small electrically operated displacement pump, communicating with the suspension liquid from the outside. The design of the pump itself is not critical, except of course that it should not be magnetic for use as a compass. FIG. 1 as previously referred to show the simple bellows pump operated piezo-electrically by a piezo-ceramic "Bimorph" "bender" element, which bends on application of a voltage as previously described. In practice the pump is better formed as a double piezo-electrically operated pump as is shown in FIG. 1.
3. Control of Displacement
The control of buoyancy described above is capable of moving the ball up and down, but not from side to side, and indeed since the maintenance of neutral buoyancy is necessary to maintain resistance to external accelerations, it would not be desirable to use change of buoyancy for this purpose. Some other method is therefore needed to cause small changes in position, so as to maintain the ball central in the housing. The method described preferred here is by simple electrostatic attraction, using the measurement electrodes. The basic method has already been described, a voltage applied to one outer electrode with respect to the local ground potential which is maintained on all the orthogonally disposed electrodes, will attract the ball toward the electrode to which the voltage is applied. This can be accomplished by modifying the input circuit following the outer electrodes as shown in FIG. 8. Capacitor Ci is added, and is selected so as to be very large by comparison to the electrode overlap capacitance. It thus blocks out DC voltages applied to the electrode, without affecting the measurement process. Resistor Ri allows a bias voltage to be applied, either from a voltage source, connected here by the upper transistor T1 switch, or the local ground reference connected here by the lower transistor T2 switch. Ri is selected so that the product RiCi is very much longer than the duration of a single cycle of the ball triangular measurement signal, so again the measurement is not affected. The transistors T1 and T2 or other switches are typically under the control of the microprocessor, connected here by the lower transistor T2 switch so that by using bias on electrodes either singly, or in sequence, the ball can be pulled in any desired direction.
The full process of maintaining the ball in position can now be appreciated. Its displacement within the housing is measured as part of every measurement cycle, so any departure from central positioning will be detected. Small departures will be corrected first using the electrostatic method. However any consistent drift up or down with respect to the understood gravitational vertical would indicate a buoyancy error, which can then be corrected by use of the buoyancy control pump.
4. Powering the Ball
The method of powering the ball has already been briefly described. For the majority of the time an AC signal (probably squarewave) is applied across one or more outer pairs of electrodes (chosen to best coincide at any time to complete overlap with one pair of electrodes on the ball. All electrodes on the ball are connected by low capacitance diodes to a reservoir capacitor, thus the AC signal is rectified and stored. The amount of power transferred this way is proportional to the coupling capacitance of the electrode pairs, and the frequency and amplitude of the drive signal. The ball electronics are essentially low power in nature, and the component values and detail design of the inner circuitry are chosen such that the stored energy in the capacitor is sufficient to maintain the operation during each measurement cycle. The drive signal to power the ball can be conveniently applied using the modification of the input circuit shown in FIG. 8. During the measurement cycle a lower analogue switch 70 is closed, and switch 71 open due to a signal 803 received from the microprocessor, so that the amplifier acts as a differentiator as described above. During the power phase these switch connections are reversed, and a drive signal 801 is applied to point D via switch 71. The amplifer now acts as a simple buffer. By choice of a relatively low value for Rf, this drive signal is then applied via the large capacitor Ci to the electrode as desired. This arrangement is not unique, and other techniques could be applied, but it has the advantage that stray capacitances associated with other connections to the electrodes are eliminated, thus avoiding difficulties with the measurement cycle.
5. Balancing the Ball
For sensors that have a gravitational moment, and are required to float upright, it is clearly important that the mass balance within the ball is accurate. This will be both difficult to determine, and difficult to achieve in manufacture because of the shape and method of construction, and especially where the gravitational moment is made small to increase the natural period of the ball.
For this reason and for a further reason relating to compass dip, as will be described, a method of balancing the ball after construction, and also rebalancing in service, has been designed. This uses an electrolytic cell, as shown in detail in FIG. 6. It is shown in a sectional plan view in the upper part of the figure, the areas 54 are four electrodes, deposited onto a flat circular surface. In practice these electrodes would probably be copper areas etched on the surface 59 of a normal piece of glass/epoxy printed circuit material of the base 53. The cell would be bounded by a raised edge 55 around the outside, and a similar edge 56 toward the centre (to allow for a hole through which the buoyancy control bellows 13 are placed). The cell is shown in section in FIG. 6A. It would be covered by a thin layer of compliant material 57, so as to seal the cell, but allow for expansion with temperature of the electrolyte in space 58. The shaded area of space 58 represents the electrolyte, in the case of copper electrodes this would be copper sulphate solution. Means for filling and venting the cell, would be needed, these are not shown. The electrode areas make contact with the main electronics of the ball, probably through the thickness of the board. It is clear that by applying a small voltage across an opposite pair of electrodes, metallic material can be shifted from one to the other, with the electrical polarity selecting the direction, so as to directly alter the balance of the cell. More power is needed for this operation than in the normal measurement cycle, so this can be conveniently provided by increasing the drive voltage and frequency. This in turn will lead to an increase in the stored voltage on the main capacitor, which can be used to detect the entry to the auto balance mode, with simple two-bit coding at the beginning of the transmission controlling logic to determine the pair of electrodes to be energised, and the polarity of energisation. With the device placed on a horizontal surface the microprocessor could select alternate measurement and auto balance mode cycles, until a satisfactory balance was achieved.
6. Dip Allowance
The embodiment or embodiments shown suitably have means for allowing for regional changes in strength and dip of the earth's magnetic field.
In magnetic compasses the problem of balance is further compounded: conventionally the gravitational moment holds a compass card horizontal against the dip torque. But if the gravitational moment is made small, as is proposed here, changes in the dip torque may be significant. The torque can be balanced for one magnetic latitude but errors will occur if the compass is moved to another latitude without some mechanism to allow for the change.
Three possible arrangements are proposed.
The first arrangement shown schematically in FIG. 12 uses a variable weight pivoted at 79 about a horizontal axis to keep the card carrying permanent magnet compass elements 80 horizontal as the regional field changes. The schematic representation simply shows movable weights 81 formed as two of the electrolytic cells shown in FIG. 6A whose righting moment is controlled by a microprocessor 83 preprogrammed with a standard tabulation of the geomagnetic field. (This adjustment could also be controlled by hand using external dip and field strength measurements).
The second arrangement shown in FIG. 13 uses a similar arrangement to that shown in FIG. 12 but the permanent magnets 80' that for the compass or attitude direction sensor are biased to an angle to the horizontal that gives an average torque for the expected operating area of the compass. Fine adjustment, less than that required for the first arrangement will be achieved by the means used in the second arrangement.
The third arrangement shown in FIG. 14 is an alternative ball 1' which uses a passive magnetic element without permanent magnetisation. This consists of one or more fine oblate ellipsoids of revolution 84, 85 of a magnetically soft material such as transformer iron or mumetal. The axial ration of the ellipsoid(s) should be at least 20:20:1 and may be as high as 80:80:1. Magnetisation induced by the earth's magnetic field will produce a torque which will tend to rotate the equatorial plane of the ellipsoid(s) into the vertical magnetic plane containing the earth's field, and so the horizontal axis of the ellipsoid will indicate the azimuth of north. The ellipsoid(s) may be modified by sharpening the circumference so as to improve the definition of the induced magnetisation and may be made annular as at 85 by removing a disc from the centre to make room for other components. In the latter case all corners of the central hole 86 formed by the annular form will be rounded to avoid local intensification of induced magnetisation. The hole 86 enables a buoyancy control bellows as shown in FIG. 1 to be provided. For the sake of clarity this is not shown nor are electrodes 17 for detecting the orientation of the ball. These are similar to those shown in FIGS. 2 or 3. The ellipsoids 84, 85 are mounted on a common axis 87 and are spaced 5 to 10 mm apart for a 5 cm diameter ball so as to minimise magnetic interaction between them while maximising total torque. Because induced magnetisation is automatically aligned with the total field the unit will be insensitive to changes in magnetic latitude. Each ellipsoid is preferably about 0.6 mm to 1.2 mm thick.
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|US6058760 *||Aug 18, 1998||May 9, 2000||Kvh Industries, Inc.||Apparatus and method for sensing angular displacement|
|US6263733||Nov 26, 1999||Jul 24, 2001||Canpolar East Inc.||Sensor for detection of acceleration and attitude within a vehicle|
|US6708415 *||Jun 3, 2002||Mar 23, 2004||Eugene Victor Osten||Magnetic compass structure|
|US7089674 *||Apr 29, 2005||Aug 15, 2006||Hendon Burton D||Angle-measuring gauge for motorcycles and the like|
|US8109005||Jul 9, 2009||Feb 7, 2012||Hudson Robert B||Dual-globe level|
|US20100005671 *||Jul 9, 2009||Jan 14, 2010||Hudson Robert B||Dual-globe level|
|U.S. Classification||33/366.17, 33/366.18, 33/346, 33/355.00R|
|International Classification||G01C5/00, G01C17/08, G01C9/10, G01C17/26, G01C9/06, G01C17/18|
|Cooperative Classification||G01C17/26, G01C17/18, G01C9/10, G01C17/08, G01C9/06|
|European Classification||G01C9/06, G01C17/08, G01C9/10, G01C17/26, G01C17/18|
|Nov 30, 1993||AS||Assignment|
Owner name: 3D INSTRUMENTS LIMITED, GREAT BRITAIN
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:CROCKER, TIMOTHY R.;REES, ANTHONY I.;REEL/FRAME:006989/0291
Effective date: 19931015
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Year of fee payment: 4
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Year of fee payment: 8
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|Nov 13, 2007||FP||Expired due to failure to pay maintenance fee|
Effective date: 20070926


text:
Definition of Alloy cast iron
1. Noun. Cast iron containing alloying elements (usually nickel or chromium or copper or molybdenum) to increase the strength or facilitate heat treatment.
Generic synonyms: Cast Iron
Specialized synonyms: Ni-hard, Ni-hard Iron, Ni-resist, Ni-resist Iron
Alloy Cast Iron Pictures
Click the following link to bring up a new window with an automated collection of images related to the term: Alloy Cast Iron Images
Lexicographical Neighbors of Alloy Cast Iron
Literary usage of Alloy cast iron
Below you will find example usage of this term as found in modern and/or classical literature:
1. Iron and Steel: A Treatise on the Smelting, Refining, and Mechanical by Franklin Day Jones, Erik Oberg (1918)
"... for Testing Materials, held in September, 1906, the following definitions of the most important forms of iron and steel were adopted: alloy cast iron. ..."
2. The Open Hearth: Its Relation to the Steel Industry : Its Design and Operation by Victor Windett, Samuel Thomas Wellman (1920)
"Alloy Metals—(a) alloy cast iron. A cast iron having special and useful qualities due to the presence of another element than carbon. (b) Alloy Steel. ..."
3. The Mining Magazine (1857)
"... in the same metal varies.with the degree and character of the alloy. Cast iron, though usually considered a brittle substance, possesses extensibility, ..."
4. Principles of Locomotive Operation and Train Control by Arthur Julius Wood (1915)
"Steel Wrought iron f Carbon I Alloy Compression Cast steel Cast iron Brass Bronze Wear Alloy Cast iron Bronze Brass „ , (Carbon Steel . ..."

domain: chemistry


text:
In addition to playing in Beru Revue, Mark plays in Key Largo the Band. You can find out more about them at their website,www.keylargotheband.com
Lynne and I went to see Key Largo play at the Columbia Bar and Grill in Phoenixville. That night they were playing as a duet, Mark Teague and Laura Munich. We made a couple of requests. Mark played the Beru song, "Tux" as well as "I Alone" by Live. Laura was not familiar with either of those.
Click on pictures for larger versions.

domain: artistic


COMM 2311 - News Gathering and Writing I
Prerequisites: COMM 1307 and ENGL 1301
Fundamentals of writing news for the mass media. Includes instruction in methods and techniques for gathering, processing, and delivering news in a professional manner
Semester Hours: (3-3-3)
CIP: 09.0401.57 06
Click here for course schedule information.
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text:
I’ve long been a fan of Zack Davisson’s Japanese folklore blog Hyakumonogatari Kaidankai (named after the game of 100 Weird Tales), so I was eager to read his new book, Yūrei: The Japanese Ghost. It did not disappoint.
Davisson traces the origins of the yurei from their basis in Japan’s belief systems and traditions about the dead, starting with early animistic beliefs and their mixture with beliefs from Shintoism and Buddhism. The worlds of the living and the dead are perhaps nearer to each other in the Japanese conception than they are in Western belief systems. Your obligations to your ancestors continue past their deaths — and perhaps their interest in your life outlives their deaths, too. Becoming a ghost might be as simple as dying with something pressing on your mind — and moving on as easy as fulfilling the goal that keeps your ghost here.
The book also presents the literary history of the Japanese ghost story or weird tale (kaidan), beginning with the story behind Maruyama Ōkyo’s famous 18th century painting The Ghost of Oyuki. Oyuki is the prototype of the modern image of the yurei: pale, dressed in white, with no feet; she also graces the cover of the book. From there, we follow the weird tale through Japanese art, Japanese literature (and Chinese contributions to Japanese literature), Noh and Kabuki theater, and film. We learn about the three great yurei of Japan: the lovelorn Otsuya, the vengeful Oiwa, and the earth-bound (or maybe well-bound) Okiku. As with the Latino legends of La Llorona, there are many versions of the stories of Otsuya, Oiwa, and Okiku, and Davisson introduces us to several variations. He also shares other classic ghost tales and legends from Japanese and Buddhist mythology.
Beyond the tales and legends, the real-life histories are interesting, too. We read about the colorful life of Lafcadio Hearn, who introduced much of Japanese folklore to the West, and maybe rekindled in the Japanese an interest in their own stories, too. We get the histories of many prominent actors and playwrites of Kabuki theater, and read how Kabuki costuming also influenced the look of modern yurei. I was especially interested in the story of Ueda Akinari, the humbly-born son of a prostitute who eventually wrote the 18th century masterpiece Ugetsu monogatari (Tales of Moonlight and Rain)*.
But of course the ghost stories, which Davisson weaves throughout the narrative, are the big draw. The last section of the book — my favorite — is a cornucopia of kaidan: selections from Hearn and translations from several Japanese ghost story collections, some of which I think haven’t been translated to English before. Most of the Hearn selections I’d already read, but it was nice to read them again in light of the additional cultural context. And the other, brand-new (to me) stories were a delight. The very first one (“On a Skull That Was Saved From Being Stepped On”) is a cool variation of the Grateful Dead motif, which I wrote about not too too long ago.
Flipping through the book now, it’s amazing how much information managed to fit into such a slim, accessible volume; I couldn’t detail more of what’s in there without this post getting longer than the book itself! Overall, I found the book readable, interesting, and just plain fun. It’s also a really beautiful book: hardcover, full of gorgeous color reproductions of ghostly paintings and prints. If you’re interested in ghost stories, folklore (either Japanese specifically, or in general), or Japanese horror film, you should check out Yūrei: The Japanese Ghost.
*By the way, I highly recommend Anthony Chamber’s recent translation of Ugetsu monogatari, as well. Oh, and Kenji Mizoguchi’s lovely film, loosely based on two of Akinari’s stories (and one by de Maupassant).

domain: literature


text:
President Muhammadu Buhari has returned to Nigeria on Wednesday after a four-day trip to Doha, Qatar, where he participated in the 5th United Nations Conference on the Least Developed Countries, LCDs.
At the UN conference in Doha, Mr Buhari joined the UN Secretary General, António Guterres, and other world leaders to mobilise political will, solidarity and actions to transform LCDs.
The conference was aimed at finding sustainable solutions to the challenges of poverty, food insecurity, hunger, weak infrastructure, poor health facilities and climate change, among other problems.
The president, as usual, used the opportunity of the trip to foster closer relations with foreign leaders and promote the nation’s engagements at regional and global level.
He also met with Nigerian professionals residing in Qatar.
On arrival in Katsina, Mr Buhari was received at the Umaru Musa Yar’Adua International Airport by Governor Aminu Masari and his cabinet members and he proceeded to his hometown, Daura, via a chopper.
Garba Shehu, Mr Buhari’s spokesperson, in a statement on Wednesday, said the Emir of Daura, Faruk Umar Faruk and members of the Emirate Council were at the helipad to welcome the president.
Mr Shehu said the president would remain in Daura until after the Governorship and State Houses of Assembly elections.
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For continued free access to the best investigative journalism in the country we ask you to consider making a modest support to this noble endeavour.
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domain: news


text:
Share in the Hawaii Photography Community.
We put together a Facebook contest giving away Island-style iPhone casesto the best of those that submitted their favorite Maui memories. It was VERY difficult to choose our top 2 favorite stories. So we chose 4, and we wish we could've given away 1 to each person. Excellent, funny, beautiful and touching stories. Below are the 4 winners plus some other favorite entries.
Please feel free to join our Maui Facebook page for the next giveaway. For those of you visiting this page for the 1st time, you can also join Hawaii Photography and share your photos and experiences for FREE! ALOHA!
My parents brought my brother and I to Maui for the first time when we were kids, 15 and 16. All the way from Winnipeg, Canada, the coldest place on earth! Every year, for many years, we returned as a family for the month of march. Until my brother got married.
He passed away when his wife was 3 months pregnant. 17 years later we returned to the island with my brothers son to pick up the Maui Island tradition again. We, as a family, miss him everyday. But Maui is the one place on earth that we feel like a whole family again. The day we watched my brother's boy walk down the beach just like he used to is without a doubt my fondest Maui memory.We can feel his spirit in the breeze, in the soft air, in the gorgeous sunsets off Kam 3. We continue to return to Maui to this day and always will for as long as we can.
by Kimberly of Winnipeg, Canada
There are many wonderful memories from Hawaii, but my favorite is the trip we took in 2010. My husband had recently found his birth Mother and so we flew her over for a few days with our family, my husband, two daughters and myself. At first things were a little awkward, she didn't know us well and vice versa. That evening we went down to the beach to watch the sunset and as we sat there suddenly, it was as if we had always been family. She was a part of us and we were a part of her! So Maui, thank you for beautiful sunsets and helping to reunite a family!
by Angela of Austin, TX
My favorite Maui memory was from last time I was there w/my husband Ray (R.I.P.) He was a local but moved to Alaska. I took him to Maui for his birthday and he was sick the whole 2 weeks (whole body swollen bad) but he tried as much as he could to show me his Island. He loved Hana so we did that beautiful trip 3 times. The people were wonderful everywhere we went. And these are the some of my most precious memories of him and Maui...he didn't last much longer and i miss him and my Maui.
by Colleen of Fairbanks, AK
(WINNER!) My Favorite Maui Memories:
I had the privilege of spending 6 months living in Hana last year and really loved taking the time to find new waterfalls. One of my favorite hikes to do was go out to Oheo Gulch and hike up through the Bamboo forest to the large waterfall but ended up falling in love with a small one to the right of the trail, just past the cattle gate further north in Hana. I spent many days looking at the waterfall from up above and continued to try and find a way to get down to it as the ledge was too steep to climb down and if i had the courage to just jump into it's pool...there would be no way back out. So i always assumed that this waterfall would be nothing more than a nice thing to look at. But one day a friend i had made in town who had heard me speak about this 1 waterfall many times passed me a note which read "At the gate, head to the river. Cross it and leave your pack beneath the banyan tree. Then swim". It took me many days to figure out what this note was for and it wasn't until i was hiking one day did i understand what it meant. I reached the cattle gate and instead of continuing forward, i took a right at the gate. I came to the river and sure enough directly across it was a large banyan tree which provided a hidden place to leave my belongings. I then continued with my instructions and began to swim up river which lead me under colorful rocks ceilings where the river had cut out the land from higher flows over the years, it was really beautiful. It brought me to a small 5 ft waterfall which i began to climb up and as soon as my head reached the top, i was located at the edge of the pool that was filled by the waterfall i had stared at for so many days. I spent many hours there sitting in the mist and admiring how beautiful it was glowing in the sunlight from a new angle. The day i reached my waterfall was one of my favorite days/memories.
by Michael of Bellingham, WA
I spent three summers on Maui when I was in college learning archaeology. I have so many good memories it is hard to pick one, but this one was pretty memorable.
My class, a group of about 13 students and our professor were excavating a Heiau on Mike Love of the Beach Boys' property. We wold drive there every morning and clear brush and dig all day collecting artifacts that would help determine what type of activities had happened there. During lunch we would take a break and eat and swim at an amazing fresh water pool that ran out of the rain forest and down to the ocean at the beach, it was breathtaking.
One day, a monk seal lumbered up over the rocks at the beach and decided to come check us out. Since they are endangered, we couldn't interact with him. He had us pinned up on the rocks around the pool while he swam about and checking us out. He was very curious. After about 10 minutes he clambered out of the pool and actually worked his way over to my beach towel and proceeded to lay on it like a sunbather sticking his nose in my work boots I had left with the towel. He got a boot stuck on his snout and threw his head around for a bit before it dropped off. He then laid there for about 20 minutes sunning himself before finally leaving us behind back to the sea. It was one of the most incredible encounters I've had with a wild animal.
I visited Maui in 2005. My scheduled travel companion cancelled on me a few weeks before due to unforeseen circumstances. I invited my grandmother to take her place. My grandmother, who turned 74 a few months later, and who hadn't traveled in over 15 years, came along and we had the TRIP OF A LIFETIME!
She was such a trooper and had so much fun -- she rode in the van and thus was able to be there when I did the sunrise at Haleakala and rode a bike down, she RODE IN AN INFLATABLE boat while I went on a snorkel tour and even put her face in the water with a mask on to admire the underwater view and some honu, she went on a whale watch every day with me, and she co-piloted our drives on the Road to Hana and the Road around the North side of the island. She even danced and drank mai tais at a luau. It was the happiest I have seen her ever, and I am so grateful for that memory!!!
My most memorable/best day on Maui is hard to narrow down to just one but I will try now. I moved to Maui in 2004 and ended up in Kihei a month later. A few months later I met this girl, her name was Akina. I really liked her, and there was something special about her that I couldn't figure out. Anyways I gathered up the courage to ask her out and I believe our first date was my best day on Maui.
I picked her up in my truck with a handful of orchids then we proceeded to the west side while we had a nice chat. We ended up in Napili swimming and laughing and enjoying a few drinks at the beach. After we went to lunch at Hula Grill in Kaanapali and talked some more, laughed a lot, the weather was perfect. Then we made our way back to the southside stopping at Maalaea Harbor to watch the sunset... Soon after the sun went down we ended up back at my pad where we watched some T.V. and kissed a little on my couch.
Almost 6 years later I remember this day like it was yesterday. I am now married to Akina and we are expecting our first child any day now. Needless to say Maui is a very special place for us and we are considering moving back in the near future. I apologize for the very long message but I am thankful for your post on facebook because it gave me the opportunity to relive this very special day!
I have always held a special place in my heart for Maui. My parents would save up their money every couple of years and take my brother and I over as kids and teenagers. My first trip to Maui was when I was 1 yrs old. It is my favorite place on earth and if you know me then you know that bit of info about me- I am a Maui lover. At one point I had my room as a teenager decorated with Maui/tropical island things.
My special Maui memory: In 2007 my boyfriend who I have known since grade school surprised me with a trip to Maui for a week, I had just finished my Masters and I was so excited to show him Maui because he had never been to Hawaii. On the third day we were there I noticed he was acting a little weird but I didn't say anything. We went driving up in upcountry Maui to the winery and through Kula. He stopped at a historic Catholic church called Holy Ghost Catholic Church. I was surprised because he is not Catholic ( I was raised Catholic)but then I thought...hmmm, he does love history, so I didn't think it too weird that he chose this stop. There we stood inside this great old church just him and I, a church my parents and I had always visited on Maui as a little girl. He got down on one knee in the middle of the vacant church while the Maui air blew sweetly in and pulled out a ring that he had custom made and said, " Will you marry me Ann?"- I was so surprised and of course said "yes!". The rest of the trip was so amazing as we went on many hikes, snorkeling and had a lovely dinner on a dinner cruise. he fell head over heels for Maui while we were there and I think realized how I could love it so much.
Sooooo.....6 months later we knew we wanted to come back and get married in the small old sweet church in Kula. We debated about doing it at home with a lot of people but Maui called to us. We returned on February 16, 2008 to the the Holy Ghost Church in Kula in an intimate ceremony with close family and our 2 best friends. It was a beautiful Maui day. I had a starfish intertwined in my hair and looked at the beautiful ocean view from the church one last time before I walked down the isle to my husband. After the ceremony we went on a dinner cruise and danced the night away under the killer Maui stars.
I still have my dress with sand on it and I refuse to get it cleaned because it has the sweet sand of Maui on it. We went back with our little son and daughter to show them the special church and beautiful upcountry Maui. We hope to keep returning and will renew our vows there someday [:-)]
I have the sweetest memories of Maui from the time I was a babe, a child, a teen to a mother myself - when my mind wanders off to day dream it is always and forever will be to sweet Maui.
Thanks for considering me [:-)]
Let me start by saying that in 2005, I was married to the love of my life on Maui. And although that was hands down the best memory I have of Hawaii, what stands out in my mind as of late is the final, few hours we had before our flight back to the mainland in 2010.
It was two years ago this month that I was last in Hawaii. My husband and I wanted to sneak away for a few days to unwind and Maui was our destination. After a fabulous five days and nights, we were gearing up to go home, but decided to try and find the section of beach that we were married on five years earlier. We must have drove around for two hours before we finally found the spot (which was now sectioned off and was much more difficult to get to). We were the only people on the beach and as we sat on lava rocks to watch the waves, we noticed turtles enjoying the surf (Just like on our wedding day). The clouds started to roll over and it began to rain.
Since we had all our bags with us, we thought we should take advantage of the rain and ocean for one last swim in one of my favorite spots. We headed to Big Beach, and once there, we quickly ushered ourselves into the water. The sky was grey (which I love) and the rain just kept coming down. Both the ocean and rain were warm. Again, we were the only ones on the beach. It was surreal. It was unbelievably calm and quiet. My husband and I didn't say a word to each other. We just swam out about 30 feet and watched the waves hit the shoreline.
Last March I found out I was pregnant. I took a couple classes to prepare myself, and was told to 'visualize' the most tranquil and peaceful place I'd ever been to. Well, guess what I selected? he he! So, I suppose I can thank Big Beach for helping me get through labor & delivery. Ha!
Anyway, those last few hours in Maui were precious and I think about them often. I know it will be a while before I can get back there, so thank goodness for homemade Lava Flows and a giant photo album of Maui memories.
My whole life I have lived in Seattle,WA. Near the water, but always murky and the thought of "surfing" was out of the question. Pictures of surfboards and Hawaii cover the walls of my room, and Seashells take up the space on my desk. Life on an island was always my life long dream. I am 21, and my best friend invited to go to Hawaii with her family. I was ecstatic. Finally, I get to see what Maui was all about. I walked off the plane and felt like I had walked in to a dream. The wind was calm and the heat surrounded me like a warm blanket. I immediately fell in love with the cars that carried surfboards on them and the slow pace of everyone. I come from a stressful, fast-paced work environment at college and the busy streets of Seattle where no one stops to enjoy the small things in life. On this trip, I stopped to enjoy waves and how they pushed me to shore on my boogie board, the funky taste of drinking out of a coconut and lastly, being in the presence of a waterfall. I met the Twin Falls after hiking about 15 mins. I dipped my feet in to the water, swam out and let the power of the water drizzle on me. Right then and there Maui taught me a life long lesson, to take a step back from everything, look at whats been handed to you and enjoy life.
My favorite day on Maui was Feb 24, 2012. I boarded a 60 ft sailboat from Oahu and sailed to Molokai and then to Maui where I got off the boat but never left the island!! I met the man of my dreams and the love of my life on this day! We now joke and say Yeah...that i washed up on a beach on Maui fell in love and never left!!
The best Maui memory was watching the sunrise at Haleakala. Waking up at 2:30 am and driving 3 hrs to see an amazing sunrise was priceless. I felt so above the clouds and it was just so peaceful, but very cold being 10,000 feet high. I however, had tons of great memories in Maui!!
My favorite memory of Maui was getting to watch the sunrise on Haleakalā with a bunch of my family last March. I live in Alaska and my family lives in California, so we never have a chance to all be in one place at once (let alone on vacation). Not only did we get a chance to watch the sunrise, but we were lucky enough to see Reverend Laki perform a ceremony in native tongue for a family who lost a loved one. The last wish of the person who passed away was to have his ashes spread on Haleakalā. So, the reverend blessed the family and taught us all the meaning of A.L.O.H.A. Something I will never forget.
Wow, seven days in paradise and so so many memories and stories to share. But, this is my favorite and have shared it several times since coming back to the mainland.
March 2nd was my first trip to Maui and we had a must see list that included a quiet sunset.
We headed to Makena to watch the sunset, but the sun wasn't going to set for an hour and a half. So we drove to the end of the road and I looked out to the right and I said, wow they must be digging up all this dirt and doing some major construction. My husband laughed and he said, that's not dirt it's volcanic rock from the last eruption of Mt Haleakala. Boy was I naive. I was amazed at the beauty of volcanic rock. This was just the beginning of my adventure to the end of the road to La Peruse Bay. Our rental car took in all the humps and bumps but the ride and walk was out of this world.
Pristine water and a bay filled with volcanic rock and sea life. Who would have thought?!
Many tourists never get off the beaten path, this one was well worth it! I was in awe that mother earth created such natural raw beauty. Maui is an island that has a hidden treasure around every cove. Take a minute to stop and feel it's beauty.
My fav memory of Maui is the smell of plumeria when I got off the airplane on the first day of my honeymoon!!!! I think about it every day....
While snorkeling off Ka'anapali several turtles joined us. Later that same day off Big Beach while snorkeling a monk seal decided to swim with me...best snorkeling ever!
so, I love this giveaway...but I still don't have a favorite Maui moment, as I am going in August...BUT, I could take kick ass pictures of my favorite moment taken with my newly won cover!!!! Now that's an idea!!!!
If I were lucky enough to win I would love the pink honu design because it would always remind me of my fondest memory on Maui. My most cherished memory is my wedding definitely but my fondest was while watching the honu from the lanai I saw a monk seal which I know is VERY rare.
Bonjour from Quebec, Canada!
The best memory about Maui for me is so simple: Its super friendly people!
I decided to land there for President's day weekend hoping to find a hostel but everything was booked!
This ended up being the best ever! I met 3 true ALOHA locals who not only hosted me but befriended me as one of their gang!
Oh the good memories! A day doing the whole loop of the road to Hana and up country Maui, a snorkeling adventure at Molokini Crater, fine dinning in Lahaina, all the gorgeous beaches in South Maui. even some skinny dipping in Little beach! Too difficult to pick just one!
I'm already counting my days to go back to Maui Paradise!
Simple Story.... While driving south on Honoapiilani Highway in February, I, along with my wife, our daughter and her friend simply pulled over, just north of the viewing spot and sat and watched a pod of whales play in the water a few hundred yards in front of us. Magical and a moment, a True Maui Memory. It does not get any better than that!
by Rev. Christopher
My favorite Maui memory is my fiance proposing to me at a Luau. It was written in the sand and under the bright moon reflecting off of the beautiful water. Also, because I have two or many I should say....is when I was paddle boarding and 3 huge sea turtle's were swimming under me. It was very peaceful and an amazing sight!
Hello, I loved my entire experience on Maui, but one that stands out is when we took the Road to Hana tour, we stopped along the way, talking to one of the islanders, we learned about his tattoo, and how it was done using a sharks tooth and local berries, and I think he said he traded a pig for it too! We are coming back this fall or winter, cant wait to show my daughter "Paradise"!
So many wonderful memories of Maui but I think the one that has had the most impact on my life was the moment I finally figured out how to correctly use snorkel equipment. I will never forget that moment out at Molokini and it has opened up so many more dreams I have for future vacation fun. Sounds simple; but, WOW so exciting to me.
My all time favorite Maui memory would have to be getting engaged at Mama's Fish House last July. [:)] My fiance proposed on my birthday during a sunset dinner at Mama's with both of our families present. It was perfect and of course I said yes! We are getting married at the Olowalu Plantation House on August 7th 2012! Maui will always be a huge part of our lives and we can't wait to celebrate our big day there and stay for our honeymoon too!
We have been there in Feb 2011 and 2012. I have so many great memories our kids first visit last year, watching my 6 month old eat the sand is always fun. This year my daughter went snorkeling for the first time and she got to see a bunch of turtles it made her so happy and wanting to continue snorkeling. We have also taken surfing lessons both year with Maui wave riders that is so fun! We also went up the Hana Hwy to find waterfalls this year, took all kinds of pictures of falls. I can't wait for next year!!
Snorkeling around black rock while holding hands with my husband and looking at the turtles.
Jon Cruz singing Island Style and Henry Kapono's CD party at Dukes!
We were able to make our second trip to Maui when our son was 5. We loved Hana so much the first time we visited that we decided to take him there too. So we left very early in the morning to make the entire drive in 1 day. We stopped at Garden of Eden and had a nice walk , fed the peacocks, posed with the parrots, and left with sweet little bananas. When we stopped for lunch in Hana we discovered that our son had eaten all 6 of the bananas!!! My husband and I got some sandwiches, had a quick picnic and decided to get back on the road. After about 30 minutes of curvy road driving our son starts yelling from the backseat that he's "gonna go BLECH"!!! So we spent the last half of the drive around the island pulling over every so often for him to "get rid" of the 6 little sweet bananas. When we got back home after our 2 weeks on the island, THAT was the first story he told everyone when they asked him how he liked Maui!!!!
Forget the snorkeling, parasailing, submarine ride, helicopter tour, hiking, waterfalls, and beaches.......he remembers a curvy drive & eating too many bananas!!!
Two roughly equal stories:
Last year I went with my family to Aloha Mixed Plate a couple times during our vacation. I noticed the new red shirts that employees were wearing and asked if I could purchase one because they looked just that awesome. I ended up wearing it the last night we were on the island because we went back to eat there for dinner. Turns out everyone thought I worked there and were trying to have me do different tasks. I ended up working it all out and, to be funny, asked if I really could work there so that I'd be able to live on the island! Needless to say we can't all have what we want. [:(]
Also last year there was an intense, and crazy, lightning storm that lit up the ocean for several hours. I believe it was in the direction of Oahu, looking out from Lahaina/Napili Bay. It was scary and fantastic at the same time because for several hours, I was able to eat, drive back home, swim in the pool, and just watch it all happening (albeit wondering if I was safe outside!). Quite the entertaining experience and not one I'm likely to have again.
Favorite Maui Island moment... Visiting the Sacred Garden in Makawao for a labyrinth walk.... Amazing
So many to choose from that it for sure!!!
My favorite memory of Maui is: sitting in the front row at Feast at Lele, enjoying the show, seeing whales in the water, having ceviche served to me and nearly vomiting. At that moment, I realized I was pregnant with our first son!!
My wife and I (like a lot of others) got married on Maui out at the Olawalu Plantation. Without a doubt, that memory, of standing on the the Pacific with her in my arms, as we dedicated ourselves to each other inside a circle of flowers will always be one of my very best days..Since that day, every anniversary is the traditional anniversary gift with an Hawaiian theme.
My favorite Maui Memory is our family trip this past summer. It was my parents, sister, brother in law, my niece and me. We had a wonderful time as a family. My niece (10) and I were roommates and we had a BLAST! So ANYTHING about Maui is my favorite because I was there with my family!
My favorite Maui moment was went my husband and I were on our honeymoon almost 29 years ago. My husband and I met and married after knowing each other only six weeks and I told him we had to to to Maui for the honeymoon. We spent the most magical week walking on the beach. The best part was the luau. I had never been to one. My husband passed away last year, but the trip to Maui will always be very special to me because it was with a very special person.
On January 8, 2006, my now husband and I got engaged in Maui.
We were on the Gemini Whale Watching excursion, and just finished watching the whales. It was a gorgeous day; we went scuba diving that morning. We were running late, so we drove from the Westin Villas to the Whaler’s Village very fast, ran down the beach, just as they were finishing checking everyone in. Of course, we were both irritated for being late.
We had been dating for over two years, and my son and I had just moved in with Ryan in November of 2005. We were still trying to get in some sort of routing living together, and dealing with eachother’s little nuisances.
We made it on the Gemini, and had a wonderful afternoon. We saw whales breaching, the gorgeous Maui hills, and the crew was amazing.
We were on our way back, and the Captain let me steer the boat for a few minutes. It was at that time that Ryan, came up and said to me, “don’t hit the island”. I was annoyed, and said “funny”.
He then said, I love you – which totally caught me off guard, and then pulled out a little red box, opened it and said, “so you want to get married”. I was shocked, All I said was, “are you serious” about a 100 times. Finally I said, “yes”!
He and I went into Lahaina that night and celebrated at Ruth’s Chris. Ever since that trip, (it was both of our first trip to Maui) it has become our favorite vacation destination. We bought a timeshare there, and come every year during whale season and book our trip on the Gemini.
Great memories for us!
One of my favorite memories is driving to Lahaina for work. I used to work in Whalers village and lived in Wailuku. I would commute everyday and not once did I get tired of the drive. I would look for the turtle in the mountain, and check for whale spouts. It was kind of a reward to me when I actually got to see them. Beautiful creatures in a beautiful setting. I think I told myself daily that I was not only lucky, but blessed to have been born and raised in Hawaii.
I have been going to Maui since I was a little girl. My family and I would always go twice a yes. When I turned 18 I wanted to go without my family. I had me and my 2 other girlfriends pack up (one from Germany and me and my other friend from California) and fly to maui. We stayed in kihei at my family's condo for the next 15 days. We wanted the Maui experience. We had no car as we were too young to rent a car so we took the Maui bus around and met lots of people and hitched rides off them. Went to little beach and went to all the hotels. My favorite is the Grand Wailea so we would always take the bus to chill on the beach there. Working on the beach was a super cute guy. My friend and I were both eying him and he came over to talk to us. Anyway we dated long distance and he even moved to California for a few months. He's back on Maui soil but never know what the future will hold!!!
pink iphone case [:)]
Don't worry, you can read more Maui Memories!

domain: geography


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The WorkHD Closed Captioning
Jairus McLeary & Gethin Aldous
Open iTunes to preview, buy, and download this movie.
About the Movie
Set inside a single room in Folsom Prison, "The Work" follows three men from outside as they participate in a four-day group therapy retreat with level-four convicts. Over the four days, each man in the room takes his turn at delving deep into his past. The raw and revealing process that the incarcerated men undertake exceeds the expectations of the free men, ripping them out of their comfort zones and forcing them to see themselves and the prisoners in unexpected ways. "The Work" offers a powerful and rare look past the cinder block walls, steel doors and the dehumanizing tropes in our culture to reveal a movement of change and redemption that transcends what we think of as rehabilitation.
Rotten Tomatoes Movie Reviews
- Reviews Counted: 53
- Fresh: 53
- Rotten: 0
- Average Rating: 8.2/10
Top Critics' Reviews
Fresh: Opening an aperture into a process so ego-stripping that it feels unseemly to witness, "The Work" is enlightening yet also punishing.
Fresh: Say what you will about prison's capacity to reform, but this documentary makes clear that in its own special way, the "work" is working.
Fresh: The movie valuably demonstrates how, for some, when it comes to rehabilitation, it's never too late to do "the work."
Fresh: A riveting group encounter.
The Ultimate Emotional Audit
Dante's story toward the end of the movie is critical viewing. To feel that the one thing in life that keeps you motivated to live is being kept away from you is hearbreaking enough. Add to that losing your freedom for decades, living in a system that all but disregards your humanity, and dealing with your own shame and regret of landing in that very system. What does it feel like to have absolutely no hope as a human being? And how do you find just enough to stay around for the likely event you'll see your son again? This movie is a must see to really help you gain a much more profound respect for life and your personal freedoms.
Deep Dive Inside
This film invokes awe. True awe. This film brings up major questions around how we as a society percieve our own emotional, psychological world; how we perceive incarcerated people and what is possible when people really, really, truly, want to change who they are. I saw this at the SXSW premiere at it took my breath away. The raw, deep, unflinching glimpse into the emotional and psychological worlds of incaercerated individuals co-mingled with some brilliant healers and just some regular guys from the outside world left me speechless and in awe. It has inspired me to look more closely at my own life as a man, husband, father, son, brother, and friend. It won the Grand Jury Prize at SXSW.

domain: psychology


Though Women In India Are Naming And Shaming Their Sexual Harassers Openly, What’s Next?
- IWB Post
- October 11, 2018
In the wake of the #MeToo movement in India, we come across a fresh allegation of sexual harassment every day. While that indeed is a big step towards ditching the shame and fear one feels over being the victim of harassment, it is not the ultimate solution. Most women in India are afraid to take any action beyond social media testimonials as for them legal recourse appears to be intimidating, costly and above everything else, futile. But the fact is that it’s not.
Let’s take the example of author Rashmi Bansal who spoke out against the sexual misconduct of entrepreneur Mahesh Murthy in 2017. He denied all allegations, but instead of accepting defeat, Bansal filed a case against Murthy and got justice.
“The entire process of filing an FIR took about 1.5-2 hours. My experience was that the police were sensitive and helpful. A lady constable was also present. I did not feel awkward. They let me speak without interruption. They gave my complaint due respect and importance. My lawyer Vandana Shah was also present,” Bansal recalled.
That doesn’t sound scary now, does it? So, here is the legal process that Bansal followed- first she filed a written complaint against Murthy with NCW (National Commission for Women) who then forwarded the same to the local police station. Next, Bansal filed an FIR in the said police station and then visited the magistrates’ court in Dadar (Mumbai) on a day of her convenience.
Even though Mahesh Murthy’s lawyers tried to kill the FIR in the Bombay High Court, they were not successful. Following this, the charge sheet was then filed.
“The support of the NCW and my lawyer (Shah) gave me the confidence to take legal action. I advise all women who’ve faced any sexual harassment to file an FIR. I know family and friends advise you not to get into ‘court kachahari ka chakkar’. And they mean well. But I want to assure you that the system can be navigated. There are laws to protect women and we need to use those laws to get convictions and send out a strong message,” she said.
“Women who are employed in an organisation, let’s say the women journalists who have been harassed at the workplace, can seek legal recourse by the measures provided in the Sexual Harassment of Women at Workplace (Prevention, Prohibition, and Redressal) Act 2013, which basically recommends lodging a complaint with the Internal Complaints Committee, which must conduct an inquiry into the complaint. Based on the inquiry report, a course of action is then decided, be it determining the compensation to be paid to the aggrieved woman or terminating the employment of the male employee against whom the veracity of the complaint has been proven,” said Bansal’s lawyer, Shah.
“Women can also choose to follow a path outside the realm of the workplace and file a criminal complaint against the sexual predator under various provisions of the IPC (Indian Penal Code), such as Section 354 and 509,” added Bansal.
“They try and maintain the anonymity of the complainant. While filing the FIR, keeping in mind the sensitivity of the issue, usually there is a lady constable also present,” Shah said. After the FIR has been lodged, the charge sheet is prepared and the matter then proceeds in the court.
“Women’s organisations like the NCW also provide support. It is helpful to have a lawyer who can guide you through the legal process,” Bansal added. “Please note the fact that an incident happened many years ago does not make your complaint less valid. Do not feel hesitant or guilty about why you did not do it earlier.”
“Women who come out and speak and complain, even if it is after many years, are courageous. They know this fight is going to be tough, but still they take the challenge. NCW is always with them if they want to take it forward with the police,” said Rekha Sharma, Chairperson of NCW.
“By law, if and when news of the FIR is published your name cannot be revealed. If you wish to remain anonymous it will be so,” said Bansal. “Sexual harassment does not mean the end of the world, but like I tell the women who I represent, if we don’t take legal action against the perpetrators they will multiply like amoeba. After all, perpetrators are like amoeba — gutless and a mass of squeamish jelly!”


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There was a sense of all the things that go on on the street, particularly in New York, that you are just completely unaware of, that that conversation could be happening at any time. I loved the instability of the camera. It's just an unstable world. Jennifer Beals Everyone finds their own version of Charles Dickens. The child-victim, the irrepressibly ambitious young man, the reporter, the demonic worker, the tireless walker. The radical, the protector of orphans, helper of the needy, man of good works, the republican. The hater and the lover of America. The giver of parties, the magician, the traveler. Claire Tomalin I have two sons. Both served. One as a marine officer in Iraq, one as an army officer in Afghanistan. I do not see - want to see one parent or loved one worrying about getting a call in the middle of the night. I would not place one American life at risk unless it was absolutely necessary. But to destroy ISIS, it is necessary. George Pataki I am an American, not by accident of birth but by choice. I voted with my feet and became an American because I love this country and think it is exceptional. Fareed Zakaria I think the Japanese love young, tannic red wines much more than most Americans do. Perhaps it is because Asians have a great fondness for tea, and tea is a very tannic beverage. Therefore a young, tannic red wine is something familiar to an Asian palate. Robert M Parker Jr I want to tell women that you need to love yourself and make yourself a priority. It's only when you are happy yourself, can you make everyone else around you happy. I am still a dreamer and still believe in fairy tales, but there is only that much one should give another person. You need to keep something for yourself. Bipasha Basu I'm not of the American ilk that, you know, your lover needs to be your best friend and know you inside out. I think he should know you well enough to please you. Otherwise, what secret will there be to tell him when you're ninety? Padma Lakshmi I was always painting when I was a kid. But then when I handled a camera when I was 17, that was it for me. I loved photography. I would work 4 or 5 hours a day. It was like a calling. David Lachapelle I never get bored talking about themes dealing with ambition, leadership and what it means to be an American. I love that stuff. I just love it. I've loved it ever since I was on 'The West Wing.' Rob Lowe I know I don't want to do another single-camera show. It's so time-consuming. I did a couple of episodes of 'Whitney' as her mom, but I have been laying low. I love being with my kids and being a mom. Jane Kaczmarek
cool quotes for girls cool quotes and sayings for teenagers cool quotes for instagram bio cool quotes about life for facebook cool quotes for guys cool quotes for kids cool quotes about friends cool quotes tumblr cool quotes about being a real man cool quotes for whatsapp cool swag quotes tumblr cool tumblr quotes for instagram bio cool quotes tumblr images cool quotes pinterest quotes about being cool tumblr.


Today, there are lots of “Most Shipped” celebrity couples. And while famous marriages are beautiful, passionate, and filled with attractive people living lavish lifestyles, they’re usually fleeting. Not too many relationships make it through the Hollywood ringer successfully. Still, it’s fun to look back at the celebrities who once loved each other, but didn’t last in the public eye.
1. Eddie Murphy & Tracey Edmonds
Funnyman Eddie Murphy got married to record exec and film producer Tracey Edmonds in Bora Bora on New Year’s day back in 2008. Apparently, their love went sour before they even left the island, and a short two weeks later, the two divorced.
2. Helen Hunt & Hank Azaria
It’s surreal to think that these two dated for five years before getting married. After just 17 months, they got divorced. It seems a lot of couples last for a while in a relationship, but the pressure of marriage is too much. Hank said in a magazine interview that mourning the loss of the relationship was difficult due to seeing your partner on TV or magazine covers. Ugh, rich people problems.
3. Nicolas Cage & Patricia Arquette
These two are both impressive acting forces in Hollywood, and they lasted about 6 years, from 1995 to 2001. That’s longer than many celebrity marriages, so these two should be proud! They didn’t share children together, but each had a son from previous relationships.
4. Pamela Anderson & Kid Rock
This trashy rock n roll couple sent waves through Hollywood with their daring, no-holds-barred antics. Pam and Kid got married back in 2001, but broke up just a year later. Strangely enough, “Borat” was the reason for the divorce, since hubby Rock wasn’t happy about the portrayal of his wife. Still, we think these two were soulmates for each other.
5. Brooke Shields & Andre Agassi
These two were certainly a good-looking couple, but had some serious problems. Agassi mentioned that while he opened up about his hair loss to his beloved, he maybe forgot to mention that he was addicted to meth for the first part of their relationship. I mean, he was married to Brooke Shields, man! Dude really blew that chance.
6. Katy Perry & Russell Brand
These two were not the right match, but they were still crazy enough to get married! They got hitched back in 2010 but just over a year later (14 months to be exact) realized that things were over. Today, Katy is with a more sensible and less wild Orlando Bloom, whom she’s started a family with.
7. Angelina Jolie & Billy Bob Thornton
Angelina’s marriage with Brad was her most famous by far, but remember these two and their weird fetishes like carrying each other’s blood around in a vial? Honestly, Thornton seemed to match Angie’s brand of weird way better than boring Brad. Alas, it only lasted two years, from 2000-2002.
8. Elizabeth Moss & Fred Armisen
Elizabeth Moss called this relationship “awful and traumatic” while ex-husband Fred Armisen called himself “a terrible husband” on Howard Stern. These two hilarious and talented people certainly weren’t meant to be, but they each went on to have superb careers – just very separate ones.
9. Cindy Crawford & Richard Gere
These two had plenty of smoldering moments, like Cindy winking at or flirting with her husband at the front row of a fashion show she was walking, while she strutted down the runway. She lived the real-life Pretty Woman fantasy, but she got her own bag. We’re jealous.
10. Sophia Bush & Chad Michael Murray
How can two teen TV cuties co-star in such an iconic show for so long and not last? These One Tree Hill actors were married for almost five months, and it was all over in 2005. Bush actually wrote a 2017 essay on how the trauma of her breakup was “amplified” by how public it was.
11. George Clooney & Talia Balsam
It’s kind of crazy to think of George as being married to anybody before Amal, but all the way back in 1989, Clooney got married to fellow actress Talia Balsam. It lasted four years, but he later swore to Barbara Walters that he wouldn’t marry again because he “wasn’t very good at it.” Amal and the kiddos would probably argue otherwise.
12. Wiz Khalifa & Amber Rose
The fallout of this breakup was a lot more amicable than Amber’s breakup with Kanye West. Though her and Wiz cited irreconcilable differences, Amber says that the two hang out frequently, and “are literally the best of friends.” They were only married for 14 months but had a son together, and are still close friends. Now that’s what we call admirable co-parenting!