I serve as a cantor for a Lutheran congregation filled with some of the sweetest people I have ever met. Church was where I first learned that I loved to sing, and where my musical abilities were first discovered and nurtured. In every church I've ever attended, no matter what the differences in theology or worship have been, there have been two common elements among them all: the inclusion of music and the children's sermon.
Kids are so unpredictable! Some days they gather around the pastor quietly and attentively. Some days they are rambunctious little urchins! Our pastors always handle the children's behavior with good humor and a smile.
One thing you can count on with little children is that they are honest (sometimes to their parents' chagrin!). They will say exactly what they're thinking, simply and without guile. It might not always be what we want to hear, like when a little child asks why that lady has a mustache, or how come some people have stinky feet or loudly points out, "That man just pooted!".
Singing last summer at Carnegie Hall was cool…but not as special as this moment with this little girl. I thanked her, reached out to take her hand and asked her name, and she told me her name is Bella. "Your parents gave you a wonderful name, because Bella means beautiful, and you sure are!" I also noticed her pink cowboy boots and told her how much I liked them. Grandma went on to say that Bella sometimes gets to visit at our church but lives in another area of town. I thanked them both and we chatted a little more before parting ways.
In my rush to get home, it would have been easy to miss Bella and Grandma trying to flag me down in the parking lot. What a blessing I would have missed! Jesus took time to touch and bless little children. He takes the time to listen when I need to talk to Him. In His eyes, maybe we are all children.


text:
West campus election results are in: Snider claims presidency
Natasha Snider, Frank Melgar and Michael Childs will represent West students as president, VPP and VPS next year
Natasha Snider celebrates after receiving confirmation that she will be Undergraduate Student Government West's next president, on Thursday, March 30, 2017.
By Chris Wood | March 30, 2017 | 3:21pm MST
After nearly three full weeks of campaigning that pitted two tickets against each other at ASU's West campus, a winner has been announced: Natasha Snider will be the next president of Undergraduate Student Government West.
"I'm really excited," Snider said after the announcement. "There's a lot of things that we want to try to look into, and a lot of forward momentum we want to keep going."
Snider topped her sole opponent, Attillo Leonardi, after securing 57 percent of the vote.
The announcement was delivered by USGW Assistant Elections Commissioner Dylan Zeleny just after 1 p.m. Thursday outside USGW's offices in the University Center Building on the West campus.
Reading from a piece of paper pulled from of an envelope, Zeleny said that the Snider ticket won 177 votes of the overall total of over 300 votes. The Leonardi ticket won 130 votes.
Snider said she hopes to continue the work she started as USGW's Vice President of Services this year, working with her staff to carry on projects they've started this year.
"I've been in USG since the second week of freshman year, so I kind of wouldn't know what to do with myself if I wasn't in USG," Snider said.
"I think it (the election) went stunningly," Zeleny said. "We increased our turnout from last year by over 50 votes, that was solid. ... We've increased it from the highest in the last four years, so that is the highest in the last five years. So, this is great."
Snider, a forensic and biology sophomore, will be joined next year by running-mates Frank Melgar and Michael Childs as vice president of policy and vice president of services.
"I feel really good, (the campaign) was really fun," Childs said after the announcement.
He said he felt good about the campaign overall, stressing that he felt both tickets just wanted to do what they thought was best for West campus and its students.
He also said he hopes to work with members of the opposing ticket next year in USGW to make the campus a better place for all students.
BREAKING: The Snider ticket has been selected to lead @ASU_USGW next year, with 57% of the student vote. @statepress
— Christopher Wood (@ChrisWood_311) March 30, 2017
Before the election, Snider spoke highly of ASU West campus's new bike co-op program, something she said she was proud to help implement.
Her opponent, business data analytics sophomore Attillo Leonardi, was looking to defund the bike co-op as part of plan to help USGW allocate budgetary funds differently.
Leonardi's ticket also sought to impose stricter membership rules on campus clubs, with a plan to force clubs to meet a minimum attendance requirement in order to receive funding from USGW.
Prior to the announcement, Leonardi was not "too optimistic" about the election results.
"Honestly, we had a pretty weak last day," Leonardi said, saying that he and his running mates focused on class more than campaigning. "We just couldn't be there to talk to a lot of people."
"It was a pretty exciting thing to do," Leonardi said about the campaign. "We really liked it, we're invested in it."
Cassandra Aska, the dean of students at ASU West, congratulated each ticket after the announcement.
"I think our students have done a very good job of setting up what it means, and the importance and value of having an undergraduate student government," Aska said. "I completely continue to support them and their endeavors and really want to see them to continue to do the things that represent what their peers want on campus and the University."
Reach the editor at politics.statepress@gmail.com or follow @chriswood_311 on Twitter.
Like State Press on Facebook and follow @statepresss on Twitter.

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text:
\section{Introduction}

From the viewpoint of the robot, establishing contact with the environment
amounts to constraining a certain number of Degrees Of Freedom (DOF) of an
end-effector link. For instance, a sliding planar contact imposes three
\emph{equality} constraints (two on the orientation of the link and one for the
link-to-surface distance) while a fixed contact constraints all six DOFs of the
end-effector link. A stability criterion can be seen as a set of
\emph{inequality} constraints describing the conditions under which these
equalities are preserved.

The venerable Zero-Moment Point (ZMP) \cite{vukobratovic2004zero} criterion may
be the best-known example of stability criterion for rigid surface contact.  It
is known \cite{hirukawa2006universal} to be necessary but \emph{not sufficient}
for contact stability: in particular, it says nothing about possible sliding in
the horizontal plane and rotation around the vertical axis (yaw). Yet, humanoid
robots are often subject to significant yaw moments during single support
phases, resulting in undesired foot rotations. Attesting the importance of this
problem, recent works have been using upper-body motions to compensate for
these yaws while continuing to use ZMP \cite{ugurlu2012yaw, cisneros2014yaw}.

A more principled (and general) way to address this problem is to consider
\emph{individual contact forces} distributed on the contact surface, as can be
found \emph{e.g.},~ in bipedal balance control \cite{ott2011posture} and motion planning
\cite{saab2013dynamic, hauser2014fast}. This approach yields a stronger
stability criterion than ZMP, and accounts for both the sliding and yaw
rotation. It is however hampered by \emph{redundancy}: the vector of contact
forces has many more components (three times the number of contact points) than
the degree of the contact constraint (six). This redundancy makes the
resolution of the equations of motion fundamentally harder, as illustrated by
the fact that state-of-the-art Inverse Dynamics based on QR-decomposition
\cite{righetti2013optimal} only apply to non-redundant variables\,\footnote{
    When this is not the case, the authors advocate the use of Singular Value
    Decomposition to compute new independent variables; however, it is unclear
    how to compute the inequality constraints applying to these new variables.
}. In Time-Optimal Path Parameterization (TOPP), redundancy prompted the use of
further contact approximations \cite{caron2014kinodynamic} or expensive
polytope projection algorithms \cite{hauser2014fast}. In the present paper, we
argue that such workarounds are no longer necessary if one uses the correct
contact representation (for instance, both \cite{caron2014kinodynamic} and
\cite{hauser2014fast} boil down to a single matrix inversion for a biped in
single-support, as we will see in Section \ref{sec:experiment}).

The key insight here is that the condition that individual contact forces lie
in their respective friction cones can be replaced by the condition that the
\emph{contact wrench} belongs to a certain \emph{wrench
cone}~\cite{balkcom2002computing}. The contact wrench naturally solves the redundancy
issue, as its dimension is minimal (six). It was advocated as a generalization
of ZMP in \cite{hirukawa2006universal}, along with a stability theorem, and
applied to walking pattern generation on rough terrains
\cite{hirukawa2007pattern, zheng2010walking}. However, this theorem makes the
same ``sufficient friction'' assumption as ZMP, which means the resulting
criterion does not account for sliding and yaw rotations. Besides, the contact
wrench is computed from individual contact forces, which we argue yields
unnecessarily extensive calculations: following~\cite{balkcom2002computing}, the
wrench cone can be computed explicitly from the sole geometry of the contact
surface.

In this paper, we derive the closed-form formulae of the wrench cone in the
case of rectangular support areas, which is of practical importance since most
humanoid robot feet can be adequately approximated by rectangles. This result
helps simplify dynamics computations, as we will see for humanoid motions. It
also provides an analytical description of \emph{``yaw friction''}, from which
we derive a simple and principled control law to prevent undesirable yaw
rotations.

The rest of the paper is organized as follows. In Section \ref{sec:background},
we recall the definitions related to contact stability. In Section
\ref{sec:surface}, we discuss the physics of surface contact and give
a theoretical justification for the practice of considering individual contact
forces at the vertices of the contact polygon. Then, in Section \ref{sec:cwc},
we derive a closed-form expression of the wrench cone in the case of
rectangular contact areas. We apply the resulting solution in a humanoid
experiment in Section \ref{sec:experiment} before concluding in Section
\ref{sec:conclusion}.

\section{Background}
\label{sec:background}

\subsection{Contact Forces and Contact Wrench}

Consider a robot with $n$ degrees of freedom making $N$ point contacts with the
environment, at points $C_1,\dots,C_N$ in the laboratory reference frame (RF).
The equations of motion of the robot are:
\begin{equation}
    \label{eq:motion}
    \mathbf{M}(\bfq) \ddot{\q} + \mathbf{h}(\bfq, \dot{\q}) = \mathbf{S}^\top \boldsymbol{\tau}_a + \sum_{i=1}^N
    \mathbf{J}(C_i)^\top \mathbf{f}_i,
\end{equation}
where $\mathbf{q}, \dot{\q}, \ddot{\q}$ are the $n$-dimensional vectors of DOF values,
velocities and accelerations, $\mathbf{M}$ is the $n \times n$ inertia matrix,
$\mathbf{h}(\bfq, \dot{\q})$ the $n$-dimensional vector of gravity and Coriolis forces. In
case the robot has $n_a$ actuated joints, $\boldsymbol{\tau}_a$ is the $n_a$-dimensional
vector of torques at the actuated joints and $\mathbf{S}$ is a $n_a \times n$ joint
selection matrix. Finally, for each $i\in[1, N]$, $\mathbf{f}_i$ is a 3-dimensional
vector of contact force and $\mathbf{J}(C_i)$ is the $3 \times n$ \emph{translation}
Jacobian calculated at point $C_i$.

We assume that both the environment and the contacting link are rigid bodies.
Thus, interactions between them can be represented by a single \emph{contact
wrench} $\mathbf{W}~=~(\mathbf{f}, \boldsymbol{\tau})$, which we can compute from contact forces as:
\begin{eqnarray}
    \mathbf{f} & \stackrel{\mathrm{def}}{=} & \sum_i \mathbf{f}_i, \label{Wf-f} \\
    \boldsymbol{\tau} & \stackrel{\mathrm{def}}{=} & \sum_i \overrightarrow{OC_i}\wedge \mathbf{f}_i, \label{Wf-tau}
\end{eqnarray}
where $O$ is the origin of the link RF. The contact jacobian $\mathbf{J}_\mathrm{wr}$ is the
$6 \times n$ matrix obtained by stacking vertically $\mathbf{J}(O)$, the translation
Jacobian computed at $O$, and $\bfJ_{\mathrm{rot}}$, the \emph{rotation} Jacobian of the
link, both taken with respect to the absolute RF. With these definitions, we
have the following property:
\begin{equation}
    \label{equaJ}
    \mathbf{J}_\mathrm{wr}^\top \mathbf{W} = \sum_{i=1}^N \mathbf{J}(C_i)^\top \mathbf{f}_i.
\end{equation}
(See Appendix \ref{proof:equivwrench} for a proof.) Then, the equations of
motion can be rewritten as:
\begin{equation}
    \label{eq:motionwrench}
    \mathbf{M}(\bfq) \ddot{\q} + \mathbf{h}(\bfq, \dot{\q}) = \mathbf{S}^\top \boldsymbol{\tau}_a + \mathbf{J}_\mathrm{wr}^\top \mathbf{W}.
\end{equation}

\subsection{Contact Stability}

Assume now that the robot is in a given \emph{state} $(\mathbf{q},\dot{\q})$. The
accelerations $\ddot{\q}$ and generalized forces exerted on the robot (actuated
torques or contact forces) are bound by a \emph{complementarity} conditions
\cite{pang2000stability}. For the sake of the explanation, let us consider
first the simple case of a single translation coordinate $x$, as depicted in
Figure~\ref{fig:onedof}.

\begin{figure}[thp]
    \centering
    \includegraphics[width=4cm]{fig/onedof.pdf}
    \caption{Block on a horizontal surface with one DOF.}
    \label{fig:onedof}
\end{figure}

\noindent Under Coulomb's friction model, either of the following situations
occurs\,:
\begin{itemize}

    \item \textbf{Fixed contact:} $\ddot x=0$ and the contact force obeys
        $|f_c^t| \leq \mu f_c^n$, where $f_c^t$ and $f_c^n$ are respectively
        the horizontal and vertical components of $\mathbf{f}_c$ and $\mu$ is the
        static friction coefficient;

    \item \textbf{Sliding contact:} $\ddot x>0$ and the contact force
        obeys $f_c^t = -\mu_k f_c^n$, where $\mu_k$ is the kinetic friction
        coefficient.

\end{itemize}
The acceleration $\ddot x$ and contact force $\mathbf{f}_c$ are in
a \emph{complementary} relationship: when one is equality-constrained, the
other is inequality-constrained. Similarly, for the general case of a 6-DOF
end-effector in contact, the translational and rotational accelerations of the
link are in a complementary relationship with some generalized contact forces
$\boldsymbol{\gamma}$ (here, $\boldsymbol{\gamma} = \mathbf{W}$ or $(\mathbf{f}_1, \ldots, \mathbf{f}_N)$).  The
\emph{contact mode} describes, for each variable in a complementary
relationship, whether it is equality- or inequality-constrained. In contact
stability, we are interested in the \emph{fixed contact mode} where the
position and orientation of the end-effector are equality-constrained to
a reference value.

\begin{definition}[Weak Contact Stability]
    A contact is weakly stable when there exists a solution $(\ddot{\q}, \boldsymbol{\tau}_a,
    \boldsymbol{\gamma})$ of the equations of motion satisfying the fixed contact mode for
    all contacting links.
\end{definition}

That is to say,
\begin{itemize}
    \item for each contact $(i)$, the relative velocity and acceleration at contact are zero:
        $\mathbf{J}_\mathrm{wr}^{(i)} \dot{\q} = 0$ and $\mathbf{J}_\mathrm{wr}^{(i)} \ddot{\q} = - \dot{\mathbf{J}}_\textrm{wr}^{(i)} \dot{\q}$,
    \item actuated torques $\boldsymbol{\tau}_a$ are within torque limits,
    \item complementary forces $\boldsymbol{\gamma}$ satisfy their inequality constraints (friction
        cones or wrench cone).
\end{itemize}
This formulation has been widely used in the literature. In approaches based on
inverse dynamics, the conditions on $(\dot{\q}, \ddot{\q})$ are first enforced
kinematically, then torques and complementary forces are solved
\cite{hauser2014fast, righetti2013optimal}.

The ``weakness'' in the definition above refers to the notions of strong and
weak stability, as stated by \cite{pang2000stability}. Strong stability happens
when \emph{all} solutions to the equations of motion satisfy the fixed contact
mode. Note that choosing between contact forces and the contact wrench changes
the equations of motion (Equations \eqref{eq:motion} and
\eqref{eq:motionwrench}, respectively), but the underlying contact stability is
the same by Equation \eqref{equaJ}. In the rest of the paper, we will always
refer to contact stability in the weak sense.

\section{Surface Contact}
\label{sec:surface}

Suppose we take contact forces $\mathbf{f}_1, \ldots, \mathbf{f}_N$ as complementary
variables to the position and orientation of the contacting link. Let $f_i^{n}$
and $\mathbf{f}_i^{t}$ denote the normal and the tangential components of the contact
force $\mathbf{f}_i$. Coulomb friction provides the complementary inequalities:
\vspace{.1em}
\begin{itemize}

    \item \textbf{Unilaterality:}
        \vspace{-1.1em}
        \begin{equation}
            \label{comp-force-1} f_i^{n} > 0,
        \end{equation}

    \item \textbf{Non-slippage:}
        \vspace{-1.2em}
        \begin{equation}
            \label{comp-force-2} \|\mathbf{f}_i^{t}\| \leq \mu f_i^{n},
        \end{equation}

\end{itemize}
\vspace{.1em}
where $\mu$ is the static coefficient of friction.

However, when the contact is done through a surface and not through a set of
points, the reality of contact is that of continuum mechanics. In this case,
the action of the environment at the contact surface ${\cal S}$ is described by
two quantities: a scalar field $p(x, y)$ corresponding to normal
\emph{pressure}, and a two-dimensional vector field $\boldsymbol{\sigma}(x, y)$ for
tangential mechanical \emph{stress}. Figure \ref{fig:foot}-(A) illustrates
these two fields for a rectangular contact area. For convenience, we also will
denote by $\boldsymbol{\nu} \stackrel{\mathrm{def}}{=} \boldsymbol{\sigma}(x,y) + p(x,y) \mathbf{n}$, where $\mathbf{n}$ is the unit
vector normal to the contact surface. The equations of motion become
\begin{eqnarray}
    \label{eq:motioncont}
    \mathbf{M} \ddot{\q} + \mathbf{h} = \mathbf{S}^\top \boldsymbol{\tau}_a +
    \int_{\cal S}
    \mathbf{J}(C_{xy})^\top \boldsymbol{\nu}(x, y) \d{x}\d{y}
\end{eqnarray}
where $\mathbf{J}(C_{xy})$ is the $3 \times n$ translation Jacobian calculated at the
point of coordinate $C_{xy}$ on the surface (taken in the laboratory RF). The
wrench resulting from $\boldsymbol{\nu}(x, y)$ is
\begin{eqnarray}
    \mathbf{f} & \stackrel{\mathrm{def}}{=} & \int_{\cal S} \boldsymbol{\nu}(x,y) \d{x}\d{y},
    \label{Wsurf-f} \\
    \boldsymbol{\tau} & \stackrel{\mathrm{def}}{=} & \int_{\cal S} \overrightarrow{OC_{xy}}\wedge \boldsymbol{\nu}(x,y) \d{x}\d{y},
    \label{Wsurf-tau}
\end{eqnarray}
where $O$ is the origin of the link RF. Under Coulomb friction, the inequality
constraints for $\boldsymbol{\nu}(x, y)$ are:
\begin{itemize}

    \item \textbf{Unilaterality:}
        \vspace{-1.1em}
        \begin{equation}
            \label{comp-surf-1} p(x, y) > 0,
        \end{equation}

    \item \textbf{Non-slippage:}
        \vspace{-1.8em}
        \begin{equation}
            \label{comp-surf-2} \| \boldsymbol{\sigma}(x, y) \| \leq \mu\,p(x, y).
        \end{equation}

\end{itemize}
\vspace{.1em}
Note that taking a constant $\mu$ in Equation \eqref{comp-surf-2} is an
approximation: in reality, the friction coefficient $\mu(x, y)$ varies with the
position on the surface.

In the present literature, surface contact is often modeled using sets of
contact points: sometimes more than required by positional constraints (\emph{e.g.},~
nearly 30 per contacting link in \cite{hauser2014fast}) or one at each vertex
of the convex hull (\emph{e.g.},~ in \cite{ott2011posture}). The proposition below gives
a theoretical justification for the latter practice.

\begin{proposition}
    \label{prop:componeway}
    Assume that the contact surface ${\cal S}$ is a convex polygon with vertices
    $C_1, \ldots, C_N$. If there exists $\boldsymbol{\nu}(x, y)_{(x, y) \in {\cal S}}$
    satisfying complementary inequality constraints
    \eqref{comp-surf-1}-\eqref{comp-surf-2}, then there will exist contact
    forces applied at $C_1, \ldots, C_N$ and summing up to the same contact
    wrench that satisfy complementary inequality constraints
    \eqref{comp-force-1}-\eqref{comp-force-2}.
\end{proposition}

\begin{figure}[thp]
  \centering
  \includegraphics[width=0.75\columnwidth]{fig/foot.pdf}
  \caption{
      Contact in the surface plane. (A) Example of stress/pressure fields. Red
      discs indicate the magnitude of pressure by their size. Blue arrows show
      tangential stress. (B) Notations used in Section \ref{sec:cwc}.
  }
  \label{fig:foot}
\end{figure}

\emph{Proof:}\,consider pressure and stress fields summing up to $\mathbf{W}$. By
convexity, one can find strictly positive functions $\alpha_1(x, y), \ldots,
\alpha_k(x, y)$ such that $\sum_i\alpha_i(x, y) = 1$ and each point $C_{xy}
\in {\cal S}$ can be written $C_{xy} = \sum_i \alpha_i(x, y) C_i$. Then, define
for each vertex $C_i$ a force
\begin{equation*}
    \mathbf{f}_i := \int_{{\cal S}} \alpha_i(x, y) \boldsymbol{\nu}(x,y) \d{x} \d{y},
\end{equation*}
By positivity of the $\alpha_i$'s, it is straightforward to check that all
$f_i^n>0$ and $\|\mathbf{f}_i^t\| \leq \mu f_i^n$. In addition, this expression of
$\mathbf{f}_i$ ensures that the resulting wrenches are equal, \emph{i.e.},~ \eqref{Wf-f} $=$
\eqref{Wsurf-f} and \eqref{Wf-tau} $=$ \eqref{Wsurf-tau}. $\Box$

We furthermore argue that, when the friction coefficient $\mu$ is assumed to be
constant as in Equation \eqref{comp-surf-2}, the two conditions are equivalent.
The complete proof of this equivalence, which involves reconstructing pressure
and stress fields given local and boundary conditions, is however out of the
scope of this paper. The bottom line of this argument is that using contact
forces at vertices of the convex hull completely describes the dynamics of
surface contact. The wrench cone that we derive in the next section will share
the same characteristic.

\section{Wrench Cone for Rectangular Surfaces}
\label{sec:cwc}

Consider a rectangular area $(C_1C_2C_3C_4)$ as depicted in
Figure~\ref{fig:foot} (B). We calculate the contact wrench $\mathbf{W}$ at the center
$O$ in the link's RF.\footnote{multiply by the link's rotation matrix for
a wrench in the absolute RF} Let us denote by $(f_i^x, f_i^y ,f_i^z)$ the three
components of the contact force at point $C^i$. Under the common linear
approximation of friction cones, Coulomb inequalities become
\begin{eqnarray}
    |f_i^x|, |f_i^y| & \leq & \mu f_i^z \label{fixy} \\
    f_i^z & > & 0 \label{fiz}
\end{eqnarray}
The wrench cone is then given by the following proposition.

\begin{proposition}
    There exists a solution $(\mathbf{f}_1, \ldots, \mathbf{f}_4)$ satisfying inequalities
    \eqref{fixy}-\eqref{fiz} if and only if there exists a wrench $\mathbf{W} = (f^x,
    f^y, f^z, \tau^x, \tau^y, \tau^z)$ such that:
    \begin{eqnarray}
        |f^x| & \leq & \mu f^z                    \label{W1} \\
        |f^y| & \leq & \mu f^z                    \label{W2} \\
        f^z & > & 0                               \label{W3} \\
        |\tau^x| & \leq & Y f^z                    \label{W4} \\
        |\tau^y| & \leq & X f^z                    \label{W5} \\
        \tau_\textrm{min} \leq & \tau^z & \leq \ \tau_\textrm{max}     \label{W6}
    \end{eqnarray}
    where \small
    \begin{eqnarray*}
        \tau_\textrm{min} & \stackrel{\mathrm{def}}{=} & -\mu (X+Y) f^z + |Y f^x - \mu \tau^x| + |X f^y - \mu \tau^y|, \\
        \tau_\textrm{max} & \stackrel{\mathrm{def}}{=} & +\mu (X+Y) f^z - |Y f^x + \mu \tau^x| - |X f^y + \mu \tau^y|.
    \end{eqnarray*}
\end{proposition}

\vspace{.5em}

The proof of this proposition is given in Appendix \ref{bigproof}. The validity
of this expression was also tested empirically with a script available at
\cite{webpage}.

Let us now detail each line of the wrench cone. The first two inequalities
\eqref{W1}-\eqref{W2} correspond to the usual Coulomb friction.  Inequalities
\eqref{W3}, \eqref{W4} and \eqref{W5} are equivalent to the ZMP condition. The
last inequality \eqref{W6} provides a bound on the admissible yaw torque that
was implicitely encoded in the contact-force model. Note how this relation is
more complex than a mere ``no rotation occurs while $\tau^z$ is small enough'',
as it is coupled with all other components of the contact wrench. Notably, the
``safest'' value is not zero but:
\begin{eqnarray*}
    \tau_\textrm{safe} & \stackrel{\mathrm{def}}{=} & (\tau_\textrm{min} + \tau_\textrm{max}) / 2 \\
            & = & \textrm{sgn}(-f^x \tau^x) \min(Y |f^x|, \mu |\tau^x|) \\
            & + & \textrm{sgn}(-f^y \tau^y) \min(X |f^y|, \mu |\tau^y|),
\end{eqnarray*}
where $\textrm{sgn}$ is the sign function. From \eqref{W6}, $\tau^z$ may deviate from
$\tau_\textrm{safe}$ by at most
\[
    \mu (X+Y) f^z - \max(Y |f^x|, \mu |\tau^x|) - \max(X |f^y|, \mu |\tau^y|).
\]
We see that higher tangential forces or roll-pitch torques reduce the range of
admissible yaw torques. In particular, when these other constraints are
saturated (for instance when the ZMP reaches a corner of the support polygon),
$\tau_\textrm{safe}$ is the \emph{only solution} that prevents the contact from breaking.
Therefore, $\tau^z = \tau_\textrm{safe}$ appears as a sensible control law to prevent
undesired yaw rotations.

    \begin{figure*}
        \centering
        \includegraphics[width=.99\textwidth]{fig/retimed.pdf}
        \caption{
            Snapshots of the retimed motion. The motion lasts 7.285 s. Time
            stamps are shown below each frame. This motion stresses all
            components of the wrench cone. The first part stresses the pitch by
            moving the COM forward. The second segment extends the arms, then
            keeps the left arm still while moving the right arm, thus stressing
            the roll. At the same time, the chest pitch is actuated back and
            forth, which stresses the yaw. Finally, the waist performs an
            elliptic motion (back and forth, up and down) throughout the whole
            motion, thus stressing the translation of the contact foot.
        }
        \label{fig:retimed}
    \end{figure*}

    \begin{figure*}
        \centering
        \includegraphics[width=.99\textwidth]{fig/footzoom.pdf}
        \caption{
            Zoom on the contact forces computed by OpenHRP at the left foot.
            The first row corresponds to the retimed motion (7.29 s), the
            second to the 10\% uniform acceleration of the retimed motion (6.55
            s) and the third to the 15\% uniform acceleration (6.19 s). Time
            stamps are shown below each column. The retimed motion maintains
            surface contact with contact forces distributed all around the
            contact area, except between 4.2 and 4.8 s where they are mostly on
            the left half of the foot. The 10\%-accelerated version goes to
            point contact (3.0 s) and line edge contact (3.6 to 4.8 s) but does
            not fall. At 15\% acceleration, the CWC violation overcomes the
            stabilizer's ability and the robot falls.
        }
        \label{fig:footzoom}
    \end{figure*}

\section{Experiment}
\label{sec:experiment}

We test the validity of the Contact Wrench Condition (CWC) in the integrated
simulator OpenHRP with a model of the HRP4 robot. Note that OpenHRP has its own
contact model where forces are distributed along the edges (not corners) of the
contact surface.

We implemented the CWC condition within the Time-Optimal Path Parameterization
framework (TOPP), a well-known projection of system dynamics along
a pre-defined path that has been used for motion planning of humanoid robots
\cite{hauser2014fast, pham2013kinodynamic, caron2014kinodynamic}. We considered
the case of a single contact at the left foot and designed a motion that would
challenge all six contact DOFs. In single contact, the contact wrench is fully
determined by the unactuated rows of the equation of motion, \emph{i.e.},~
\begin{equation*}
    \mathbf{W} = (\mathbf{P} \mathbf{J}_\mathrm{wr})^{-1} \mathbf{P} \left[ \mathbf{M}(\bfq) \ddot{\q} + \mathbf{h}(\bfq, \dot{\q}) \right]
\end{equation*}
where $\mathbf{P} = \mathbf{I} - \mathbf{S}$ is the unactuated line selection matrix. Note how
computing the constraint projector is straightforward when using the contact
wrench: it is not the case when contact forces are used, as we observed in
previous research \cite{caron2014kinodynamic} (where we resolved the force
redundancy with a force-binding model).

For this experiment, we designed by hand a set of eleven key postures. The
geometric path was obtained by interpolating Bezier curves between these
postures and applying a kinematic filter to fix the position and orientation
of the support foot on the ground. To get a feasible trajectory from this path
(\emph{i.e.},~ to compute the timing information) we used the open-source TOPP solver
\cite{pham2014general}. The solver takes as input the path and a vector
representation of the system dynamics along it, which is easy to compute once
one knows the projectors mentioned above (see \cite{caron2014kinodynamic} for
details). Figure~\ref{fig:retimed} shows a timelapse of the final retimed
motion. Videos are also available online at \cite{webpage}.

An interesting thing to note about TOPP is that, because of time optimality,
the retimed motion always saturates at least one of the contact constraints. In
an ideal setting with perfect system dynamics, the obtained trajectory should
therefore be at the limit of contact: it would execute correctly, but the
contact would break as soon as one tries to perform the motion faster at any
time instant. We observed this phenomenon in the experiment, as depicted in
Figure~\ref{fig:footzoom}.

There are, however, a few points to discuss. In order to ensure proper tracking
of the computed trajectory, we used HRP4's stabilizer module, which
occasionally changes the actual joint angles. In turn, this behavior violates
the assumption made by TOPP that the robot follows a precise geometric path,
and the constraints may get under- or over-saturated. To alleviate for this
issue, we added safety margins in TOPP's conditions: we scaled the contact area
by 45\% and set a smaller friction coefficient $\mu = 0.4$ (versus $\mu = 0.8$
in OpenHRP). Consequently, it was possible in practice to accelerate the
retimed motion by about 5\% (\emph{i.e.},~ reducing the total duration by 5\% with
uniform timescaling) and obtain a successful execution.  However, we still
observed the expected phenomenon with relatively small changes: for a 10\%
acceleration (by uniform timescaling), the humanoid started to lose surface
contact, but the stabilizer was still able to recover; for a 15\% acceleration,
the violation of the contact constraint was too large and the robot fell. See
Figure~\ref{fig:footzoom}.

\section{Conclusion}
\label{sec:conclusion}

In this paper, we calculated the closed-form expression of the wrench cone for
rectangular contact surfaces. This formula has several implications. First, it
is very simple, making computations much easier than any previous formulation
based on contact forces. Second, it describes concisely the phenomenon of
\emph{yaw friction} by a double-inequality that is, to the best of our
knowledge, novel. From these bounds, we derived a simple control law to avoid
undesired foot rotations, a recurring problem for bipeds in single contact.
Finally, we showed how our criterion can give simpler and faster computations
than contact forces for humanoid motions in single support, and demonstrated it
with dynamic motions simulated in OpenHRP.

{\scriptsize
\bibliographystyle{IEEEtran}

redpajama_set_name: RedPajamaArXiv


Changes in the Indian healthcare ecosystem are turning conventional pharma marketing over its head. For a long time, Medical Representatives (MRs) have been the greatest assets of pharma marketers. In fact, meetings between MRs and doctors were considered to be the backbone of every pharma marketing strategy. However, of late, questions are being raised about their effectiveness. It is felt that pharma marketers haven't been able to remodel their field force to suit the changing requirements of physicians.
Docplexus' recent survey revealed that although 74% doctors wished to communicate with MRs regarding new drugs, 68% wanted to restrict these meetings to only once a month. Moreover, only 33% thought that such interactions add value to their practice. The fact that a whopping 80% preferred accessing product information online proves that the INDIAN DOCTORS' BEHAVIOR HAS CHANGED.
Pharma marketers need to act fast and reduce the gap between what doctors expect and what MRs offer. They must understand how the Indian healthcare sector is changing and how this is altering the doctor-MR relationship. New strategies can then be devised to keep the sales force relevant in the new scenario.
The High Disease Burden – Increasing urbanization, sedentary lifestyles, stress and unhealthy food habits have led to a sharp spike in the incidences of non-communicable diseases such as hypertension, diabetes, hyperlipidemia and cancer. This has compounded the disease burden as some of the earlier high-risk factors for death and disease like child malnutrition, unsafe water and lack of sanitation are still in the picture.
The Busy Doctor – According to the OECD, India has only 0.7 doctors per 1,000 people. This extreme shortage coupled with the increasing disease burden has made today's doctors busier than ever. They are finding it increasingly difficult to stay abreast with the latest medical advances, upgrade themselves through continuous learning, seek assistance on complex patient cases and network with peers.
The Digital Invasion – Digitization is penetrating the Indian healthcare sector at a rapid pace. Technologies like cloud, the internet of things, social media, mobile and analytics are bringing in a paradigm shift in traditional healthcare models. Healthcare providers are investing huge sums of money on IT products and services. Internet penetration and smartphone adoption have given key stakeholders like patients and doctors, easy access to a boundless reserve of information. Social media is now an important channel for sourcing health, disease and drug-related information.
The Regulatory Changes in Pharmaceuticals Industry – The planned implementation of the UCPMP Act will deal a major blow to the traditional marketing practices of pharmaceutical companies. Medical representatives would be required to maintain a highly ethical conduct during their meetings with physicians. Activities like giving out product samples, gifts, paid vacations (including travel and stay) or monetary grants would be made illegal. Pharma and medical device companies are being compelled to explore new ethical avenues of marketing their products. In early 2016, drug price regulator National Pharmaceutical Pricing Authority announced its plans of imposing a cap on prices of over 800 key drug formulations in the near future, to increase their affordability. This has adversely affected the supply chain and business performance of most drug manufacturers. Pharma vendors are trying to come up with strategies to reverse this downfall and take advantage of the vast market opportunities.
Aim – To understand the dynamics of the 'Physician-MR Relationship'.
Survey Methodology – A pan-India online poll was administered on our platform to get a good randomized sample distribution across age, demographics and specialties.
Sample Size – 479 registered members completed the survey.
Relationship with Pharma Necessary – The good news is that a majority of the doctors surveyed thought that it was important to maintain a relationship with pharma indicating that pharma is still viewed as an important stakeholder by physicians to learn about new drugs and treatment approaches. They also valued the conventional face-to-face meetings with MRs. However, the nature of these meetings needs scrutiny.
Limited Interaction Preferred – Most doctors preferred to limit their meetings with MRs to only one per month. Only 5% wished to have 3-4 interactions in a month's time. This is a reflection of their extremely busy schedules and perhaps, the limited appeal of such meetings. The question in front of pharma marketers is how to leave a mark of their products within such limited window, in an ethical way.
Limited Time of Each Interaction – 98% of the doctors preferred to limit their interaction to a maximum of 10 minutes. Apart from their busy schedules, factors like attempts by MRs to 'sell rather than inform', inadequate knowledge of MRs and an ineffective communication style were also the reasons. An interaction of 10 minutes or less, that too only once a month, is definitely NOT ENOUGH for pharma marketers to effectively disseminate complete product information and other proprietary knowledge for meeting their marketing goals.
Unsure About the Value Added by MRs – Only one-third of the doctors surveyed felt that MRs were valuable to their practice, that too only for assessing market trends rather than gaining medical knowledge. Over half of the total were convinced that MRs were ineffectual, while 14% were on the fence. These numbers are a wake-up call for pharma marketers, indicating a dire need to reinvent the existing MR persona.
Online Product Information Preferable – Easy access to online media has opened up new channels of information for doctors. Doctors prefer online sources as they are accessible anytime and from anywhere. Moreover, the information stays with them for a longer duration.
MRs as Decision Enablers – Pharma needs to change the nature of interactions between MRs and physicians by training MRs to be less as sellers and more as relationship agents. Rather than perfecting a sales pitch, they should focus on being enablers of clinical decisions. Their aim should be to convey detailed product information including its uses, side effects and contraindications in a fair manner. Stress should be placed on two-way communication for driving physician engagement.
More Touch Points – Owing to the limit on face-to-face interactions, other touch points need to be established with doctors. MR meetings could be supplemented with prior e-detailing and social media announcements so that doctors are aware and updated with the new products even before meeting the MR, paving the way for a more effective and informed communication between the two.
Mixed Content Format – An online engagement strategy comprising blogs, social media updates, mobile apps, discussion forums and KOL videos will contribute to a STRONG, LONG-TERM BOND between pharma and clinicians. This will also give pharma valuable insights into what doctors need and incorporate this feedback into their product development and marketing efforts, ultimately leading to growth and business success.
Docplexus is a great platform for pharma to connect and engage with doctors in an effective way. A membership of over 272,000 gives our clients a huge audience for their marketing efforts. Through analytics and a structured feedback mechanism, we enable pharma clients to tailor their product information as per the needs of individual doctors or a group of doctors.
Our content experts help marketers develop the right mix of content to increase physician awareness and interest in their products. Through various content forms like articles on client molecules, video interactions and interviews, related patient cases, surveys and polls, and panel discussions, we ensure that doctors are fully aware of the latest drugs in the market.
Thus, Docplexus is the RIGHT ALLY for optimizing pharma sales forces' marketing efforts.
Is India's Polio-Free Status at Risk?
Personalization or Commoditization – What Will Indian Pharma Marketers Choose in 2017?


As we constantly improve our customer service, customer demands required that we move from providing refurbished appliances to concentrate solely on in home repairs. Our reputation as an appliance repair company is second to none and we only offer factory-authorized repairs to the highest industry standards. You may have noticed appliances aren't as dependable as they were in the days of our parents and grandparents but you can be sure that once we repair your appliance, you will have a very dependable machine at a reasonably low price.


It's been quite a cold week for us here in the UK but the sun has been shining a bit so I managed to find a few sunpuddles to warm my fur and pose for my fans.
Mum used PicsArt to add some springlike colour to this photo. The filter she used was from the Magic effect.
We've added a lot more pawtastic items to our Amazon Influencer Store lists. Check them out here - there may well be something you've been looking for but haven't had the time to search! Some of these items we've purchased and used ourselves, a lot we haven't but are suggestions.
Come on everyone, let's see your animal photo art.
All animals welcome, not just cats! Some free photo editors and apps are really simple to use and you can have a beautiful artsy photo of your pet to share in an instant! Join us every Saturday!
I'm number one! I'm number one! I love the colors in your art. It looks like you have a blue sweater on. Very stylish.
I'm number 2 behind one of my favorite Lady Cats (I love you ad CK!!!)!! And Athena, you art today is SPECTACULAR! I love the colours!
I love your art, Athena. The Floral effect is my favourite.
We love the floral effect Athena it really makes your eyes pop, the pastel looked nice too.
It's finally warming up here, but it keeps raining.
Wonderful artwork for sure. Dad's been playing around more and more in Lunapic. Some of his creations are, let's say, not so flattering. I delete them when he's asleep.
Lovely artwork and all kinks of good things in your Amazon store!
Wow I finally found the COMMENTS! Athena loving' your wow-colors and thanks to your human for letting us know their origin!
You always do such nice artwork! Happy Caturday!
Amazing art! Athena, your eyes are amazing in those pictures.
You look wonderful Athena. Love the way on Magic floral the light shines around you and making your ears glow -- feels like in a novel, where you're a cat with magic powers.
Both pics are beautiful, Athena - although We have a furry slight prefurrence for the Magic Pastel effect.
I can't chose Athena, you look fabulous in both photos!
Ooh, I really like these, Athena!
Athena, your art work is always so pretty!


Mary Shelley's "Frankenstein" is a story of a young scientist who encounters the secret to artificially create life. "This novel is a speculative narrative that asks: what would happen if man created human life without the biologically and relationally necessary woman and with indifference to God?" (Hogsette). In "Frankenstein", Shelley questions the pursuit of such knowledge and warns those who read it. She warns the those who seek knowledge and secrets might attain them, but lose everything they treasure and care for in the process. Shelley portrays the theme in the danger of knowledge through the characters of Walton, Frankenstein, and the creature.
The first character introduced in the novel that has a passion for knowledge is Captain Robert Walton. At the beginning of the story, Walton is writing to his sister, Margret, and tells her that of his yearning to seek out the unknown. Walton expresses to his sister how she cannot begin to imagine the benefits that his quest for knowledge would have on the world. "confer on all mankind to the last generation, by discovering a passage near the pole to those countries, to reach which at present so many months are requisite; or by ascertaining the secret of the magnet, which, if at all possible, can only be effected by an undertaking such as mine." (Shelley). This quote from Walton's letter shows how passionately he sought after knowledge. In his fourth letter, Walton find Frankenstein and bring him aboard. He expresses to Frankenstein his thirst for knowledge. Walton even explains that he would sacrifice, "my fortune, my existence, my every hope, to the furtherance of my enterprise. One man's life or death were but a small price to pay for for the acquirement of the knowledge which I sought for the dominion I should acquire and transmit over the elemental foes of our race" (Shelley). This quote is a foreshadowing of the dangerous path Walton is traveling on. Compared to the story of Frankenstein, the reader can see just how dangerous the path Walton was on, and how his fate would be similar to that of Frankenstein. Thankfully, Walton took Frankenstein's advice and turned away from a possible tragic ending.
Unfortunately, for Frankenstein he was not spared a dreadful ending. His thirst for knowledge, instead of being blessing and beneficial, instead proved to be a dangerous endeavor. Mary Shelley portrays the dangers of the pursuit knowledge in Victor's story by how he tries to go beyond human limits and his attempt to create life artificially. "The problem central to Frankenstein is the belief of its central character that he can perform the ultimate usurpation, that of God. There is an extreme vanity and egotism acting as the motivating force for Victor's work, as opposed to a disinterested desire to further the interest of the human race in general." (Bond). "Victor is not a humble inventor who shows respect for himself, his invention, or the Creator; rather, he is a presumptuous man who attempts to transcend invention and to create life as if he were God." (Hogsette). For Frankenstein's pursuit of knowledge lead to his demise. As he grew in knowledge so did his infatuation with the human body and discovering the secret to create life. When at last presented the secrets to create life, Frankenstein began the construction of his creation. He worked relentlessly, not for a moment did Frankenstein step back to rationalize what he was creating. He was blinded by the thought of success. As a result, Frankenstein's creature was born. As the monster came to life, only then did Frankenstein realize what he had created. He abhorred his own creation, and could not face to lay eyes on it out of fear and horror.
The third and final example Shelley presents in the novel that displayed the desire for knowledge was Frankenstein's creation -the creature. When the creature was brought to life, he was like that of a newborn baby. Unable to distinguish where he was or what was happening around him. He wandered aimlessly searching for comfort. Like a child he grew in knowledge as he roamed, and soon was able to distinguish between simple things such as berries and fire. As the creature continued to roam, he came upon the DeLacey family, where he remained for quite some time, observing them. The creature becomes fascinated with the family, and begins to learn from their example. As he grew in knowledge, the creature came to understand more and started to believe that humans could be rationalized with. And, they would come to love him once they saw the kind heart inside of him. The creature sought love and acceptance, but unfortunately the creature was rejected by the DeLacey family. Even the creature himself states that even though he destroyed Frankenstein's dreams, "I did not satisfy my own desires. They were for ever ardent and craving; still I desired love and fellowship, and I was still spurned" (Shelley). This knowledge led to his anger and hatred towards mankind and his creator. So, the creature swore revenge on his creator who created him and left him unloved. As the creature grew in knowledge, he also grew in hatred and bitterness knowing that he alone would never be able to experience love, kindness, and sympathy from another human being for as long as he lived.
Mary Shelley sends a clear message in her novel. Shelley warns the those who seek knowledge and secrets might attain them, but lose everything they treasure and care for in the process. Just as in the case of Victor Frankenstein, sometimes the thirst for knowledge can lead to a devastating end, not only for the one who seeks knowledge, but all those around them. She sends the message that, like Walton, one should step back and consider the consequences of pursuing knowledge. If they are blinded by their goals, they cannot see the cost of their search until it is too late.
Bond, Chris. ;Frankenstein: is it really about the dangers of science? Chris Bond explores how Frankenstein is about something more than the danger of scientific experimentation.; The English Review, vol. 20, no. 1, 2009, p. 28+. Literature Resource Center, http://link.galegroup.com.chattahoocheetech.idm.oclc.org/apps/doc/A208587507/LitRC?u=cht2;sid=LitRC;xid=9fc836dc. Accessed 23 Apr. 2018.
Hogsette, David S. ;Metaphysical intersections in Frankenstein: Mary Shelley's theistic investigation of scientific materialism and transgressive autonomy." Christianity and Literature, vol. 60, no. 4, 2011, p. 531+. Literature Resource Center, http://link.galegroup.com.chattahoocheetech.idm.oclc.org/apps/doc/A272444886/LitRC?u=cht2&sid=LitRC&xid=4fce19f9. Accessed 23 Apr. 2018.
Shelley, Mary Wollstonecraft. Frankenstein or The Modern Prometheus. Wordsworth Classics, 1993.


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Fox News suit: Ed Henry accused of rape, Sean Hannity and Tucker Carlson accused of harassment
Lawsuit accuses ex-Fox News reporter Ed Henry of rape, says Sean Hannity, Tucker Carlson harassed other woman
A bombshell lawsuit accuses former Fox News chief national correspondent Ed Henry of raping one woman, and says that the network's star anchor Sean Hannity once offered $100 to staffers to "date" a second woman who also accuses Henry of sexual harassment.
The suit says that in addition to Henry, plaintiff Cathy Areu was sexually harrassed by multiple other men at Fox News, including Hannity, the host Tucker Carlson, journalist Howard Kurtz and network political analyst Gianno Caldwell.
The other plaintiff, Areu's fellow former Fox News employee Jennifer Eckhart, claims that Henry raped her, in addition to committing other sexual misconduct against her.
https://www.cnbc.com/2020/07/20/lawsuit-accuses-former-fox-news-reporter-ed-henry-of-rape.html
Fox News Staff rape and harass women, they will all get fired and go to jail, like everyone else the works for Trump.
Do You Love Fox News?
Boomer Remover meme for 65 or older and watching Fox News
Fox News tried coming after Denmark's social safety net. This Danish politician's retort was legendary.
Rupert Murdock Fox News is detrimental to your Intelligence.
The Rethuglican Resurgence: Fox News Audience Knows Less
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Author cyberplaygroundPosted on 07/21/2020 Categories ECP Educational CyberPlayGround, NetHappeningsTags Fox News chief national correspondent Ed Henry of raping one woman, Fox News including Hannity the host Tucker Carlson journalist Howard Kurtz and network political analyst Gianno Caldwell harrassed women and get sued., Fox News Staff rape and harrass women, like everyone else the works for Trump., they will all get fired and go to jail
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Tucker Carlson's fans follow his suggestion to dox New York Times reporter
Right-wing media also spread claim, denied by the Times, that the paper was going to publish Carlson's address
https://heavy.com/news/2020/07/tucker-carlson-fans-dox-times-reporter/
Right-wing media figures and outlets are repeating Carlson's accusation
The Washington Examiner, The Federalist, The Daily Caller, right-wing radio host Bill Mitchell, The Post Millennial, RealClearPolitics writer Mark Hemingway, and ABC's The View co-host Meghan McCain.
Rape Allegations Against Fox New Anchor Reveal The Network's Massive Sexual Misconduct Problems workplace culture
https://www.yahoo.com/lifestyle/rape-allegations-against-fox-anchor-162303191.html
#HANNITY SEXUAL MISCONDUCT
Fox knew of allegations against Tucker Carlson before his pre-planned vacation
https://www.salon.com/2020/07/21/confirmed-fox-knew-of-allegations-against-tucker-carlson-before-his-pre-planned-vacation/
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Created in 1861, the county is named for Elisha Mitchell, a professor at the University of North Carolina who correctly determined that Mount Mitchell was the highest peak in the state.
The county seat is Bakersville, named for David Baker, an early settler to the area. Other communities include Bandana, Penland, Poplar, Red Hill, and Spruce Pine.
Mitchell County's land area is 221.43 square miles; the population in the 2010 census was 15,579.
It is worth noting that the Penland School of Crafts, one of the oldest handicraft schools in the nation, is located in Mitchell County.
Exactly how Roan Mountain got its name is a little unclear. Some think it was the reddish appearance of the rhododendron blooms that proliferate in June that gave the Roan its name. Others speculate it came from the mountain ash berries that cover the ground in September. A more fanciful story is that the name came from Daniel Boone's having left a roan horse to graze here while he traveled farther west. The mystery surrounding the name notwithstanding, it's no mystery at all as to why Roan Mountain is a favorite destination point for travelers, especially in summer. Dr. Elisha Mitchell, for whom Mt. Mitchell and Mitchell County are named, once called Roan Mountain "the most beautiful of all the high mountains. The top . . . may be described as a vast meadow without a tree to obstruct this prospect, where a person may gallop his horse for a mile or two with Carolina at his feet on one side and Tennessee on the other, and a green ocean of mountains rising in tremendous billows immediately around him." Although this picturesque description was given nearly 175 years ago, it still holds true. See for yourself!
Roan Mountain is not actually one mountain, but rather a high ridge running about five miles in length along the North Carolina-Tennessee border. The low point, at 5,500 feet, is Carver's Gap; the high point, 6,285 feet above sea level, is Roan High Knob. According to a marker along the mountain crest, the first rays of the morning sun to fall on North Carolina soil fall here, rather than on the state's easternmost shore, some 350 miles distant. While this distinction is probably lost on the average visitor, the next point of distinction is most assuredly is not. Roan Mountain is home to the largest natural Catawba Rhododendron gardens in the world – more than 600 acres of rhododendron thickets are in full bloom from mid-to-late June, attracting thousands of visitors.
The natural gardens are dense thickets of rhododendron bushes, many taller than six feet. Nature has a way of pruning the bushes, by wind and harsh winter weather, into nicely rounded, manicured shapes. From mid-to-late June, the peak blooming period, the gardens showcase thousands of magenta blooms. Parking, rest rooms, and picnic tables are located near the short trail to the gardens; the easy, paved trail itself is handicap-accessible. The Cloudland Trail is a moderate 1.2 mile hike, which leads from the site of the former Cloudland Hotel, a popular retreat which operated from 1885 to 1910, to the Roan High Bluff Overlook. From here, if weather cooperates, visitors can look west into seven states. The more adventurous might want to walk along a stretch of the famous Appalachian Trail. Photo opportunities present themselves almost everywhere you turn.
To get to Roan Mountain from Bakersville, take NC 261 North. There is a free parking area at the base of the mountain at Carver's Gap, just before crossing the state line into Tennessee. The two-mile road from Carver's Gap to the Rhododendron Gardens at the top is open April to November. There is a small fee per vehicle to park at the summit.
Mitchell County is bordered by AVERY, McDOWELL, and YANCEY counties.


text:
Q: Needing to count record if it shows up on 2nd sheet, but only want to count once I have an entire list of all the events (Sheet 2) and a specific list of events (Sheet 1) I need to know if the event is on sheet 2 counts it once using a formula on (sheet 1; column K) - no matter how many times it appears.
Specific Events on Sheet 1 Column A:A, Entire Events on Sheet 2 Events!,A:A
Column A (Sheet 1)
Event 03521,
Event 03338,

Column L (Sheet 2)
Event 03521,
Event 03338,
Event 03521,

I want to return on Column K (Sheet 1)
Sheet 1 A2: Event 03521
Sheet 1 K2: Count (1)

I tried =CountA(UNIQUE(Event!L:L, A2)) and I get a 1 all the way down, which I know is not correct. Some have 225 appearances, some have 0.

This is a 2nd part of the issue, some times the event name in Sheet 2 is just the number 3521. Not sure if I can look at both "Event 03521 and or 03521, or 3521. I may just try to search each 3521 and add Event 03521 to it to fix this issue.

A: try:
=ARRAYFORMULA(QUERY(IF(A:A="",,IF(ISNUMBER(A:A*1), "Event "&TEXT(A:A, "00000"), A:A)),
 "select Col1,count(Col1) where Col1 is not null group by Col1 label count(Col1)''"))

redpajama_set_name: RedPajamaStackExchange


Allendale is conveniently located between the beautiful shores of Lake Michigan and the bustling city of Grand Rapids. It is one of the fastest growing townships in the region but continues to maintain its family-friendly, rural character, and thriving agricultural industry.
Allendale is home to Grand Valley State University which is one of the fastest growing universities in the United States – both in population and in physical size. GVSU enrolls a total of just under 25,000 students making it the largest university in the region. The university is also ranked as one of the top up and coming schools in the Midwest.
Placid Wake Park is the only place in Michigan to offer wakeboarding lessons through a cable system and on a private boat lake – all in one location. Along with lessons, they offer daily passes and rentals. Take a hike through Grand River Ravines park to discover deep wooded ravines and dramatic views of the Grand River.


text:
Q: Powershell 2.0 - Using HtmlAgilityPack to get children of FORM elements Main problem stemmed from the fact that HtmlAgiltyPack won't get child nodes from a <form> element by default. See How to get all input elements in a form with HtmlAgilityPack without getting a null reference error for more information.
The problem is, that link shows how to fix the issue in C#, but I need to fix it in PowerShell. Any ideas?

I'll simplify my HTML
<form method="POST" action="post.aspx" id="form">

        <input type="hidden" name="test1" id="test1" value="1" />

    <input type="text" name="test2" id="test2" value="12345" />
</form>

Now I see that when I select the <form> element, I don't get any children back, hence why I couldn't select the <input> elements.
Add-Type -Path "C:\Program Files (x86)\HtmlAgilityPack\HtmlAgilityPack.dll"
$HTMLDocument = New-Object HtmlAgilityPack.HtmlDocument
$HTMLDocument.Load("C:\users\smithj\Desktop\test2.html")
$inputNodes=$HTMLDocument.DocumentNode.SelectNodes("//form")
$inputNodes

# Output shortened to show important bits ...
ChildNodes           : {}
HasChildNodes        : False

You can see that HasChildNodes is equal to false.
From the C# link I provided, I somehow need to run HtmlNode.ElementsFlags.Remove("form"); but I can't figure out what to type into PowerShell that would be equivalent.
Thanks again!

EDIT
Thanks to har07 for pointing me in the right direction. [HtmlAgilityPack.HtmlNode]::ElementsFlags.Remove("form") was what I needed to run.
Note that I need to run that command before I load in the HTML.
> Add-Type -Path ".\Net40\HtmlAgilityPack.dll"
> [HtmlAgilityPack.HtmlNode]::ElementsFlags.Remove("form")
True
>
> $HTMLDocument = New-Object HtmlAgilityPack.HtmlDocument
> $HTMLDocument.Load(".\file.html")
> $HTMLDocument.DocumentNode.SelectNodes("//form")

# Output shortened to show important bits ...
ChildNodes           : {#text, div, #text, input...}
HasChildNodes        : True
OuterHtml            : <form method="POST" action="post.aspx" id="form">

                               <input type="hidden" name="test1" id="test1" value="1">

                           <input type="text" name="test2" id="test2" value="12345">
                       </form>

A: Actually I'm not a user of PowerShell, but according to this blog post, you may want to try something like this :
[HtmlAgilityPack.HtmlNode.ElementsFlags]::Remove("form")


text:
Scholarships were resumed in 2021 after being postponed due to COVID-19
Bob McCullough
Type of Inductee: Athlete Year Inducted: 2008 Sport(s): Baseball View PDF
Bob McCullough, above in his Seminole State College (Florida) uniform, played short stop for the Cambridge Terriers of the Senior Intercounty for several years prior to being selected to the 1984 Canadian Olympic baseball team. McCullough helped Team Canada
July 16, 1960 –
When it comes to baseball, Cambridge has produced a number of talented players and even a few Major Leaguers – take Rob Ducey and Scott Thorman, for example – and several national team members, but as of 2009, there has only been one city native who played for Canada's national baseball team at the Olympic Games.
That player was Bob McCullough. The Galt Collegiate graduate and standout short stop with the Cambridge Terriers of the Major Inter County Baseball league played for Canada's national squad in 1983 and 1984, and competed at the 1984 Los Angeles Olympics.
McCullough, even as a young boy, was into sports. Baseball and hockey were his two favourites, and of those, baseball was his real passion. His mother, Claire, recalled how, as a youngster, he accidentally sent a baseball through his neighbour's window, but such things just seemed to go with the territory for the upstart athlete. He was learning, after all.
If his mother was sympathetic it might have been because her grandfather had been a notable ball player for Nanticoke in the 1890s.
After graduating from Grade 12 at GCI in 1978, he went to play baseball and continue his education at Seminole Community College in Florida for two years.
From Seminole he went on to Stetson University – a school named after John B. Stetson of hat fame – and graduated in 1984 with a degree in physical education. It was an idyllic time for the young man from Cambridge. He didn't miss the snow back home in Canada.
"I had thoughts of becoming a teacher," he said, but truth be told, he still had designs on making it to the majors. "In high school I really had no direction," he said. "I wanted to play ball and the only way I could do that was to head south."
There were many who believed he had the talent. One of them, Cam Allan, the coach of the Terriers in the late 1970s and early 1980s, had the utmost confidence in McCullough. "He was a great defensive ball player," said Allan. "And a pretty good hitter, especially in the clutch. I always thought he had pretty close to major league potential in the field."
When McCullough was in the infield, he knew no balls would get by him. "He was one of my favourite ballplayers," said Allan. "You didn't have to motivate Bobby to play ball."
Ed Heather, a former major league scout who was director of player personnel for the Terriers during Allan's reign, agreed. "He probably had as much ability as players who made it to the majors," he said.
As a member of the Seminole College squad, McCullough made an impression on coach Jack Pantelias. He said the Canadian had the talent to make the pros, and even though he was a great defensive player when he arrived in Florida, after working with a coach on a fielding adjustment, "he never made an error fielding a ball after that."
McCullough had many highlights while playing baseball, including being a member of the 1979 Inter County champion Terriers managed by Randy Collins, but the pinnacle came in 1984 when he played in the Olympics.
After graduating from Seminole he was asked to try out for the Canadian national team. It was a good move. By 1984, baseball was a demonstration sport at the Olympics.
"It was an unbelievable experience," said McCullough about being an Olympian. "It was nothing I had expected. It was just a dream come true."
Playing at Dodger Stadium before a full house was almost otherworldly for the former Cambridge Terrier. "We were treated like royalty down there."
During the tournament he played with and against many future major leaguers like Mark McGuire, and teammates Mark Gardner and Steve Wilson. Gardner, a Sarnia native, went on to pitch with the Boston Red Sox, while Wilson became a pitcher for the Los Angeles Dodgers.
Although Canada lost its first two games, they came back to beat the eventual gold-medal winning team from Japan. "I got a lot out of that national team experi- ence," he said. "We played all over the world."
McCullough returned to Cambridge following the Games, his dream of making it to the majors all but dead. He played for the Terriers in the summers, but yearned to return to the southern U.S., and in 1987, when he got his Green Card, that desire finally became a reality.
Using his baseball connections, he played semi-pro at a baseball and amusement park called Boardwalk and Baseball, but when the park folded, it became a spring training facility for the Kansas City Royals and McCullough had to follow other pursuits.
He didn't know it immediately, but his baseball-playing days were over, though his association with the game was still very much alive. And while he never got a chance to play in the majors, he did the next best thing, eventually being offered a job on the grounds crew for the Atlanta Braves at Fulton County Stadium.
"I enjoy working outside and working with my hands," he said in the early 1990s, "and I'm still around baseball."
In 1991, when the Braves won the NLCS and went on to play the Minnesota Twins for the World Series, Braves owner Ted Turner flew McCullough to
Inductee Sports
Figure Skating (12)
Speed Skating (8)
Ringette (6)
Water Skiing (5)
Lacrosse (3)
Television and Radio (3)
Rowing (2)
Harness Racing (2)
Power Lifting (1)
Racewalking (1)
Bow Hunting (1)
Lawn Bowling (1)
Canoeing (1)
Cheerleading (1)
Recent Inductees
Paul Ross
Tim Brent
Randy Steinman
James Law
Victoria Moors
Nathan Brannen
Cambridge Ringette Turbos 2015-2017
Sponsor the Hall
Cambridge Sports Hall of Fame is always looking for individuals and companies to sponsor the hall in order to continue to display the unique sports heritage of Galt, Preston, Hespeler and Blair. If you would like to sponsor us, please contact us.
444-425 Hespeler Rd, Cambridge ON
(Cambridge Centre Mall, @ food court)
info@cambridgeshf.com
© Copyright 2015 - Cambridge Sports Hall of Fame. All Right Reserved.


2009 has been a big year for Twitter with the micro-blogging platform's rate of growth rocketing up to more than 20% per month and now showing annual growth of 1,460 percent (June 2008 to June 2009) according to Comscore. Although it's still early days for Twitter in the Middle East and North Africa, Twitter is now growing fast and the numbers of Twitter users in the Middle East and North Africa is now increasing at a rate of 17% per month. The MENA Twitter community overall has increased ten times over the first seven months of 2009.
Spot On Public Relations has been active on Twitter since August 2008, has been tracking Twitter usage in the MENA region and, in the absence of any data on the region's Twitter growth or demographics, has been conducting its own research. This report is the result of the region's first extensive Twitter usage survey which focuses on the demographics, Twitter habits and experiences of a sample of 216 registered Twitter users across the Middle East and North Africa.
Middle East & North Africa Twitter Demographics & User Habits Survey by Spot On Public Relations is licensed under a Creative Commons Attribution-No Derivative Works 3.0 United States License.
Permissions beyond the scope of this license may be available at https://www.spotonpr.com/2009/09/menatwittersurvey/.


This Saturday, March 16th, head to the Full Moon for what promises to be an exciting St Patrick's Day celebration, hosted by Jameson Irish Whiskey.
Bristol Beer Factory will bring their favourite brews and some recent new additions to Corner 77 in Stokes Croft on the evening of Thursday 5th July.
London-based Colombian street food business Maize Blaze has been invited to take over the kitchen at Corner 77 on July 14th and 15th.
As of Thursday, June 14th, Ah-Ma's Dumplings will have a lunchtime residency at Corner 77 in Stokes Croft, from 12pm to 3pm every Wednesday to Friday.
MEATliquor Bristol will be closing at 8pm on October 22nd, citing "a series of incidents" as the reason behind their decision.
Join the Coexist Community Kitchen for a 3-course sharing meal, whipped up by the chefs who create the insatiable flavours of London-based Ottolenghi.


text:
Q: Filter string from JSON from asp.net web api using swift 3 I am new to web development and Swift
I created a web api based on ASP.NET and I connected my ios app so I can do GET, POST, PUT, DELETE.
When I send GET request with specific ID number
I get output in Xcode as following:
Data:
Optional("{\"Id\":1,\"UserName\":\"codeinflash\",\"UserPassword\":\"Wldnrodxxxx\",\"UserEmail\":\"codeinflash@gmail.com\",\"Rebate\":0.00,\"MemCom\":123.44}")

Here is function in Swift:
//GET /api/account/{id}
@IBAction func GetAccount(_ sender: Any) {
    let _accountIdNumber = AccountIdNumber.text
    if (_accountIdNumber!.isEmpty){
        createAlert(title: "Warning", message: "Account ID # is required")
        return
    }

    let restEndPoinst: String = "http://tresmorewebapi2.azurewebsites.net/api/account/" + _accountIdNumber!;
    guard let url = URL(string: restEndPoinst) else {
        print("Error creating URL")
        return
    }

    var urlRequest = URLRequest(url: url)
    urlRequest.setValue("application/json", forHTTPHeaderField: "Content-Type")
    // api key need urlRequest.setValue(<#T##value: String?##String?#>, forHTTPHeaderField: "APIKey")
    let config = URLSessionConfiguration.default
    let session = URLSession(configuration: config)

    var userEmail = ""
    var rebate = ""
    var memcom = ""

    let task = session.dataTask(with: urlRequest, completionHandler:
        {
            (data, response, error) in
            print("Error:")
            print(error)
            print("response:")
            print(response)
            print("Data:")
            print(String(data: data!, encoding: String.Encoding.utf8))

//////////////I think I need logic here to filter the data
userEmail = data.substring of find emailaddress
rebate = data.substring find users' rebate
memcom = same logic
then show alert window with his info and I will show his info on next page which is a Dashboard page view

    })

    task.resume()

}

Honestly I am not sure the Data is JSON data but the output in Xcode is in string.
My purpose is get uer's data and store in local variables that passes them to next view(Dashboard) in ios Swift.
Thank you!
Added
Here is the task getting data from web api in login fuction swift
let config = URLSessionConfiguration.default
    let session = URLSession(configuration: config)

    var userEmail = ""
    var rebate = ""
    var memcom = ""

    let task = session.dataTask(with: urlRequest, completionHandler:
        {
            (data: Data?, response: URLResponse?, error: Error?) in
            print("Error:")
            print(error)
            print("response:")
            print(response)
            print("Data:")
            print(String(data: data!, encoding: String.Encoding.utf8))

            let json = try? JSONSerialization.jsonObject(with: data!) as! [String: AnyObject] ?? [:];
            userEmail = json?["UserEmail"] as? String ?? ""
            createAlert(title: "Got User Eamil Address!", message: userEmail)
    })

    task.resume()

But I get nothing in my alert view. The alert view working fine I tested.
Here is my createAlert fuction in Swift
func createAlert(title:String, message:String){
    let alert = UIAlertController(title: title, message: message, preferredStyle: .alert)
    alert.addAction(UIAlertAction(title: "OK", style: .default, handler: { (anction) in
        alert.dismiss(animated: true, completion: nil)}))

    self.present(alert, animated: true, completion: nil)
}

A: You have answer in comments already, but this is less "swifty" way, more readable for someone new to Swift (pay attention and try to understand what is going on and how you can make this more compact):
do {

    guard let unwrappedData = data else{
        //data is nil - handle case here
        return //exit scope
    }
    guard let dictionary = try JSONSerialization.jsonObject(with: unwrappedData) as? [String:AnyObject] else {
        //you cannot cast this json object to dictionary - handle case here
        return //exit scope
    }

    userEmail = dictionary["UserEmail"]
    DispatchQueue.main.async { [weak self] in
        self?.createAlert(title: "Got User Eamil Address!", message: userEmail)
    }
} catch _ {
    //handle error
}


text:
Michelle Chamberlain
Vice President for Advancement
Dean of the Robert Day Scholars Program
mchamberlain@cmc.edu
As Dean of the Robert Day Scholars Program, Michelle provides focused leadership and direction to both the program and its scholars. She has been able to leverage her extensive skill set and experience to create a highly refined program that effectively funnels resources and opportunities directly to the students who need them most. She finds purpose in making meaningful connections with students that further enhances both their personal and professional development. Michelle previously excelled as an attorney with O'Melveny & Myers LLP, focused on structured finance and private equity. She received her Bachelor of Arts degree from the University of Southern California, a Master of Arts degree in Education from Claremont Graduate University, and a Juris Doctor from Southwestern School of Law. She resides in Claremont and is active in her community as a member of the Southwestern School of Law Board of Visitors and Mt. San Antonio Gardens Corporation Board.
Beth (Saliba) Milev '05
Director, Robert Day Scholars Program & Scholar Communities
beth.milev@cmc.edu
As the Director of the Robert Day Scholars Program and Scholar Communities, Beth oversees the day-to-day activities of the program, which include career services functions, curricular programming, and alumni relations. In her role, Beth works closely with current students to provide them with personal and professional development opportunities and connects them with resources to support their growth. She also works closely with alumni and parents of CMC to identify opportunities that help them connect with students and strengthen relationships on and off campus. Previously, Beth worked in Career Services at Claremont McKenna where she was responsible for managing the On-Campus Recruiting Program and counseling students. Prior to returning to CMC, Beth held roles in public accounting and as a corporate recruiter. Beth graduated from CMC in 2005 with a degree in Econ-Accounting and obtained her MBA from Claremont Graduate University.
Brittany Bras
Coordinator, Robert Day Scholars Program & Scholar Communities
brittany.bras@cmc.edu
Brittany is the Coordinator of Programming for the Robert Day Scholars Program and Scholar Communities. Her role within the Robert Day Scholars Program focuses on implementing leadership programming that assists scholars in their personal and professional development. Brittany assists the Scholar Communities by connecting students with vital resources best suited to their needs. She has previously worked as an English instructor and administrator. Brittany graduated from Westmont College in 2011 where she studied English Literature and Art. She enjoys spending time in nature, hiking with her dog, and finding ways to be creative and present.
Amy Flanagan
Assistant Director of External Relations
amy.flanagan@cmc.edu
Amy is originally from San Luis Obispo, California. She graduated from CMC in 2011 with a dual degree in history and international relations. After graduation, Amy joined Team For America and moved to New Orleans, Louisiana. She taught kindergarten for 3 years at Sylvanie Williams College Prep and then coordinated intervention efforts school-wide for 2 years. Following that, Amy served as the Operations Manager for Crocker College Prep, working with 550 students and 75 staff members. After moving back to California, she coordinated on-campus recruitment for Teach For America at many Southern California colleges, including CMC. Amy is thrilled to be back home at CMC, working closely with current Robert Day School Scholars, alumni, and employers. In her spare time, Amy loves to eat, cook, and be outside.
Email: evaladez@cmc.edu
Bauer Center North
About Robert Day
Koury Accounting Award
Highlights - Fall 2019


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I am interested in the art and architecture in the early-modern period, especially ca 1500-1750. I am particularly interested in the artistic production of the German lands, which, in cultural terms, at least, I take to include Scandinavia. Specifically, I am interested in the artistic coherence in this broader region, and the reasons for which it should – or should not – be considered as a coherent grouping, as well as the consequences of this reorganization for the way we think about the art of this broader region.
The inclusion of Copenhagen and Stockholm (the only significant centers of artistic production in Scandinavia before the nineteenth century) among the German courts benefits both parts of this larger region, although it runs counter to much of the earlier, nation-based literature on the material. The Holy Roman Empire was never an absolute boundary, and in any case the Scandinavian kingdoms were intimately involved in imperial affairs; the King of Denmark, was also a Prince of the Empire, and the Swedish monarchs, as rulers of Pomerania after 1648, held a similar position. In artistic terms, many or most of the artists active in the Copenhagen and Stockholm came from the Empire. From the point of view of the arts in the Empire – which through later historical events became transformed into 'German art' – the important production in Copenhagen and then Stockholm in the seventeenth century goes far towards offsetting what has traditionally been seen as the weakest period in German art history. These courts also served as important models for other rulers in the Empire; the formation of royal Berlin is particularly difficult to explain without reference to Stockholm. For Copenhagen and Stockholm, the benefit of this scheme is that they find a more secure place in a European history of art as contributors to a larger whole. No longer are expected to show all of the facets and depth expected of an independent school of art, in which, in comparison with France or Spain, they are bound to come up short. The downside from the Scandinavian point of view, of course, is the same as the benefit: the loss of the status of a supposedly independent school, which is deeply ingrained in Scandinavian historical writing and, although mitigated in recent decades, is still prevalent.


Next message: Anyone have information on latest LSU beowulf?
> and thought you might be able to help.
> something complication to be done please break it down as best as you can.
> Again, sorry about bothering you but I really need some advice.


Mumbai: Grammy Award winning Canadian singing sensation Justin Bieber arrived here early on Wednesday amidst tight security for his maiden concert in India, looking relaxed and geared up to regale Indian 'Beliebers' as part of his Purpose World Tour.
Bieber came out escorted in a thick security blanket, led by Salman Khan's bodyguard Shera at 2 a.m.
"Dubai is incredible… India you are next. @Amit_Bhatia99 u ready? Purpose Tour Stadiums," Bieber wrote on early Tuesday.
Bieber came to the fore around 2008, promoted by Usher. "Baby" became his claim to fame in 2010 and he garnered a huge fan, which continued to grow with songs like "Where are u now", "Boyfriend", "Love yourself" and "As long as you love me".
The tour is to promote his fourth album, the critically-acclaimed "Purpose", in which he has experimented with more adventurous electronic sounds. Tickets are priced upwards of Rs 5,000, and fans have come from different parts of the country to be a part of the gig.


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EZEKIEL CHAPTER NINETEEN. OUTLINE EZEKIEL CHAPTER NINETEEN. JEWS COMPLAINT TO THE LORD	V. 1-4 THE LORD'S IMPARTIAL JUSTICE	V. 5-9 THE WICKED SON	V. 10-13 THE JUST SON V. 14-20 REPENTANCE AND MERCY	V. 21-24 DIVINE PROVIDENCE V. 25-29 EVERYONE EXHORTED TO REPENT	V. 30-32.
2 and say: 'What is your mother? A lioness: She lay down among the lions; Among the young lions she nourished her cubs.
3	She brought up one of her cubs, And he became a young lion; He learned to catch prey, And he devoured men.
4	The nations also heard of him; He was trapped in their pit, And they brought him with chains to the land of Egypt.
WHO IS THIS LAMENTATION FOR?
WHY THE PRINCES OF ISRAEL?
WHO IS THIS LAMENTATION FOR?	ISRAEL?
20 Yet hear the word of the LORD, O women, And let your ear receive the word of His mouth; Teach your daughters wailing, And everyone her neighbor a lamentation.
1	Moreover He said to me, "Son of man, eat what you find;eat this scroll, and go, speak to the house of Israel."
WHO IS THIS LIONESS?	ISRAEL?	JUDAH?
He shall break their bones And pierce them with his arrows.
WHO IS THIS YOUNG LION?	JEHOAHAZ?
WHAT HAPPENED TO JEHOAHAZ?	WHY?
WHO BECAME KING OF JUDAH?	JEHOAHAZ?
31	Jehoahaz was twenty-three years old when he became king, and he reigned three months in Jerusalem. His mother's name was Hamutal the daughter of Jeremiah of Libnah.
32	And he did evil in the sight of the LORD, according to all that his fathers had done.
5	'When she saw that she waited, that her hope was lost, She took another of her cubs and made him a young lion.
6	He roved among the lions, And became a young lion; He learned to catch prey; He devoured men.
7	He knew their desolate places, And laid waste their cities; The land with its fullness was desolated By the noise of his roaring.
8	Then the nations set against him from the provinces on every side, And spread their net over him; He was trapped in their pit.
9	They put him in a cage with chains, And brought him to the king of Babylon; They brought him in nets, That his voice should no longer be heard on the mountains of Israel.
WHO IS THIS SECOND YOUNG LION?	JEHOIAKIM?
WHAT DID THE LORD SAY CONCERNING JEHOIAKIM?
17	"Yet your eyes and your heart are for nothing but your covetousness, For shedding innocent blood, And practicing oppression and violence."
19	He shall be buried with the burial of a donkey, Dragged and cast out beyond the gates of Jerusalem.
1	In his days Nebuchadnezzar king of Babylon came up, and Jehoiakim became his vassal for three years. Then he turned and rebelled against him.
18	Zedekiah was twenty-one years old when he became king, and he reigned eleven years in Jerusalem. His mother's name was Hamutal the daughter of Jeremiah of Libnah.
19	He also did evil in the sight of the LORD, according to all that Jehoiakim had done.
6	So they took the king and brought him up to the king of Babylon at Riblah, and they pronounced judgment on him.
10	'Your mother was like a vine in your bloodline, Planted by the waters, Fruitful and full of branches Because of many waters.
11	She had strong branches for scepters of rulers. She towered in stature above the thick branches, And was seen in her height amid the dense foliage.
12	But she was plucked up in fury, She was cast down to the ground, And the east wind dried her fruit. Her strong branches were broken and withered; The fire consumed them.
13	And now she is planted in the wilderness, In a dry and thirsty land.
WHAT DOES THIS VINE REPRESENT?
7 "Blessed is the man who trusts in the LORD, Andwhose hope is the LORD.
WHAT DID THE LORD DO FOR ISRAEL & JUDAH?
WHAT DID THE LORD SAY ABOUT CONIAH?
WHAT DOES THIS SCEPTER SIGNIFY?
WHAT HAPPENED TO ISRAEL & JUDAH?
24 And all the trees of the field shall know that I, the LORD, have brought down the high tree and exalted the low tree, dried up the green tree and made the dry tree flourish; I, the LORD, have spoken and have done it.
WHERE DID THE LORD DO WITH JUDAH?	WHY?
2	"Bring charges against your mother, bring charges; For she is not My wife, nor am I her Husband!
14	'Therefore, behold, I will allure her, Will bring her into the wilderness, And speak comfort to her.
WHAT WILL THE LORD DO TO JERUSALEM & JUDAH?
WHAT WILL THE LORD DO TO JEHOIAKIM?	WHY?
WHAT WILL THE LORD DO FOR JUDAH?
WHAT WILL THE LORD DO FOR ISRAEL & JUDAH?
Ezekiel 38:1–7 -Ezekiel prophesied about a great conflict prior to the second coming of jesus christ. study the following chart to learn more about this event. message of hope. problem. ezekiel 38:1–7. a great army is assembled under gog.
Ezekiel 10-11 -. ezekiel 10-11. cherubim ~ plural for cherub. kjv, cherubims. ezekiel ezekiel 10-11. ezekiel 10-11. beryl stone ~ nasb, tarshish stone. ezekiel 10-11. ezekiel 10-11. wheel ~ niv, nasb, better – whirling wheel .


text:
The Honorable John Bel Edwards
Governor of Louisiana
Board Officer: Chair
Governor Edwards graduated in 1988 from the United States Military Academy at West Point. The governor served eight years as an Airborne Ranger on active duty with the United States Army and commanded a rifle company in the 82nd Airborne Division at Fort Bragg, North Carolina. He went on to graduate Order of the Coif from Louisiana State University Law Center and set up a civil law practice in his home town of Amite.
In 2008, he was elected to the Louisiana House of Representatives from District 72, where he served for eight years until the voters of Louisiana elected him governor in November 2015.
Governor Edwards and his wife, First Lady Donna Edwards, have three children: Samantha Bel, Sarah Ellen, and John Miller.


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Remember Rakesh Bedi? The senior star has starred in a number of films such as Hero No. 1, Junoon, Chashme Buddoor and Jaane Bhi Do Yaaro among others. His daughter Ridhima Bedi has stepped into showbiz with Troydin Gomes and Arif Syed's (Troy-Arif) new single called Teri Kahaaniyaan.
Directed by Manish Nirwal, the lyrics of the number have been penned by Raghav Dutt, who had earlier collaborated with the two in Phullu for Chukar Tujhe.
Arif Syed is the son of acclaimed Fight Director Ahmed Bhai (Qayamat Se Qayamat Tak, Yudh) and grandson of famous Fight Director Azim Bhai (Sholay, Mughal-E-Azam, Aan, Mother India).
Troy-Arif entered the movie scene with the songs Saang Na and Aala Re Raja from the 2015 Marathi blockbuster Classmates.
The duo made their Bollywood debut in Thodi Thodi Si Manmania with their songs Meherbaan sung by Shekhar Ravjiani & Shalmali Kholgade and Banjaarey sung by Yasser Desai respectively.
Coming back to Ridhima, the youngster is a Bollywood aspirant and this is her first step towards her dream.
Did You Hear That? Ranbir Kapoor Wants To Work With Fawad Khan AGAIN!


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