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Industrial robot
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This article is about manufacturing robots. For mining robots, see Automated mining.
Articulated industrial robot operating in a foundry.
An industrial robot is a robot system used for manufacturing. Industrial robots are automated, programmable and capable of movement on two or more axes.[1]
Typical applications of robots include welding, painting, assembly, pick and place for printed circuit boards, packaging and labeling, palletizing, product inspection, and testing; all accomplished with high endurance, speed, and precision. They can assist in material handling.
In the year 2015, an estimated 1.63 million industrial robots were in operation worldwide according to International Federation of Robotics (IFR).[2]
Contents
[hide]
1 Types and features
2 History of industrial robotics
3 Technical description
3.1 Defining parameters
3.2 Robot programming and interfaces
3.3 End-of-arm tooling
3.4 Controlling movement
3.5 Typical programming
3.6 Singularities
4 Market structure
5 Health and Safety
6 See also
7 References
8 Further reading
9 External links
Types and features[edit]
A set of six-axis robots used for welding.
Factory Automation with industrial robots for palletizing food products like bread and toast at a bakery in Germany
The most commonly used robot configurations are articulated robots, SCARA robots, delta robots and cartesian coordinate robots, (gantry robots or x-y-z robots). In the context of general robotics, most types of robots would fall into the category of robotic arms (inherent in the use of the word manipulator in ISO standard 1738). Robots exhibit varying degrees of autonomy:
Some robots are programmed to faithfully carry out specific actions over and over again (repetitive actions) without variation and with a high degree of accuracy. These actions are determined by programmed routines that specify the direction, acceleration, velocity, deceleration, and distance of a series of coordinated motions.
Other robots are much more flexible as to the orientation of the object on which they are operating or even the task that has to be performed on the object itself, which the robot may even need to identify. For example, for more precise guidance, robots often contain machine vision sub-systems acting as their visual sensors, linked to powerful computers or controllers.[3] Artificial intelligence, or what passes for it,[clarification needed] is becoming an increasingly important factor in the modern industrial robot.
History of industrial robotics[edit]
The earliest known industrial robot, conforming to the ISO definition was completed by "Bill" Griffith P. Taylor in 1937 and published in Meccano Magazine, March 1938.[4][5] The crane-like device was built almost entirely using Meccano parts, and powered by a single electric motor. Five axes of movement were possible, including grab and grab rotation. Automation was achieved using punched paper tape to energise solenoids, which would facilitate the movement of the crane's control levers. The robot could stack wooden blocks in pre-programmed patterns. The number of motor revolutions required for each desired movement was first plotted on graph paper. This information was then transferred to the paper tape, which was also driven by the robot's single motor. Chris Shute built a complete replica of the robot in 1997.
George Devol, c. 1982
George Devol applied for the first robotics patents in 1954 (granted in 1961). The first company to produce a robot was Unimation, founded by Devol and Joseph F. Engelberger in 1956. Unimation robots were also called programmable transfer machines since their main use at first was to transfer objects from one point to another, less than a dozen feet or so apart. They used hydraulic actuators and were programmed in joint coordinates, i.e. the angles of the various joints were stored during a teaching phase and replayed in operation. They were accurate to within 1/10,000 of an inch[citation needed] (note: although accuracy is not an appropriate measure for robots, usually evaluated in terms of repeatability - see later). Unimation later licensed their technology to Kawasaki Heavy Industries and GKN, manufacturing Unimates in Japan and England respectively. For some time Unimation's only competitor was Cincinnati Milacron Inc. of Ohio. This changed radically in the late 1970s when several big Japanese conglomerates began producing similar industrial robots.
In 1969 Victor Scheinman at Stanford University invented the Stanford arm, an all-electric, 6-axis articulated robot designed to permit an arm solution. This allowed it accurately to follow arbitrary paths in space and widened the potential use of the robot to more sophisticated applications such as assembly and welding. Scheinman then designed a second arm for the MIT AI Lab, called the "MIT arm." Scheinman, after receiving a fellowship from Unimation to develop his designs, sold those designs to Unimation who further developed them with support from General Motors and later marketed it as the Programmable Universal Machine for Assembly (PUMA).
Industrial robotics took off quite quickly in Europe, with both ABB Robotics and KUKA Robotics bringing robots to the market in 1973. ABB Robotics (formerly ASEA) introduced IRB 6, among the world's first commercially available all electric micro-processor controlled robot. The first two IRB 6 robots were sold to Magnusson in Sweden for grinding and polishing pipe bends and were installed in production in January 1974. Also in 1973 KUKA Robotics built its first robot, known as FAMULUS,[6][7] also one of the first articulated robots to have six electromechanically driven axes.
Interest in robotics increased in the late 1970s and many US companies entered the field, including large firms like General Electric, and General Motors (which formed joint venture FANUC Robotics with FANUC LTD of Japan). U.S. startup companies included Automatix and Adept Technology, Inc. At the height of the robot boom in 1984, Unimation was acquired by Westinghouse Electric Corporation for 107 million U.S. dollars. Westinghouse sold Unimation to Stäubli Faverges SCA of France in 1988, which is still making articulated robots for general industrial and cleanroom applications and even bought the robotic division of Bosch in late 2004.
Only a few non-Japanese companies ultimately managed to survive in this market, the major ones being: Adept Technology, Stäubli, the Swedish-Swiss company ABB Asea Brown Boveri, the German company KUKA Robotics and the Italian company Comau.
Technical description[edit]
Defining parameters[edit]
Number of axes – two axes are required to reach any point in a plane; three axes are required to reach any point in space. To fully control the orientation of the end of the arm(i.e. the wrist) three more axes (yaw, pitch, and roll) are required. Some designs (e.g. the SCARA robot) trade limitations in motion possibilities for cost, speed, and accuracy.
Degrees of freedom – this is usually the same as the number of axes.
Working envelope – the region of space a robot can reach.
Kinematics – the actual arrangement of rigid members and joints in the robot, which determines the robot's possible motions. Classes of robot kinematics include articulated, cartesian, parallel and SCARA.
Carrying capacity or payload – how much weight a robot can lift.
Speed – how fast the robot can position the end of its arm. This may be defined in terms of the angular or linear speed of each axis or as a compound speed i.e. the speed of the end of the arm when all axes are moving.
Acceleration – how quickly an axis can accelerate. Since this is a limiting factor a robot may not be able to reach its specified maximum speed for movements over a short distance or a complex path requiring frequent changes of direction.
Accuracy – how closely a robot can reach a commanded position. When the absolute position of the robot is measured and compared to the commanded position the error is a measure of accuracy. Accuracy can be improved with external sensing for example a vision system or Infra-Red. See robot calibration. Accuracy can vary with speed and position within the working envelope and with payload (see compliance).
Repeatability – how well the robot will return to a programmed position. This is not the same as accuracy. It may be that when told to go to a certain X-Y-Z position that it gets only to within 1 mm of that position. This would be its accuracy which may be improved by calibration. But if that position is taught into controller memory and each time it is sent there it returns to within 0.1mm of the taught position then the repeatability will be within 0.1mm.
Accuracy and repeatability are different measures. Repeatability is usually the most important criterion for a robot and is similar to the concept of 'precision' in measurement—see accuracy and precision. ISO 9283 [8] sets out a method whereby both accuracy and repeatability can be measured. Typically a robot is sent to a taught position a number of times and the error is measured at each return to the position after visiting 4 other positions. Repeatability is then quantified using the standard deviation of those samples in all three dimensions. A typical robot can, of course make a positional error exceeding that and that could be a problem for the process. Moreover, the repeatability is different in different parts of the working envelope and also changes with speed and payload. ISO 9283 specifies that accuracy and repeatability should be measured at maximum speed and at maximum payload. But this results in pessimistic values whereas the robot could be much more accurate and repeatable at light loads and speeds. Repeatability in an industrial process is also subject to the accuracy of the end effector, for example a gripper, and even to the design of the 'fingers' that match the gripper to the object being grasped. For example, if a robot picks a screw by its head, the screw could be at a random angle. A subsequent attempt to insert the screw into a hole could easily fail. These and similar scenarios can be improved with 'lead-ins' e.g. by making the entrance to the hole tapered.
Motion control – for some applications, such as simple pick-and-place assembly, the robot need merely return repeatably to a limited number of pre-taught positions. For more sophisticated applications, such as welding and finishing (spray painting), motion must be continuously controlled to follow a path in space, with controlled orientation and velocity.
Power source – some robots use electric motors, others use hydraulic actuators. The former are faster, the latter are stronger and advantageous in applications such as spray painting, where a spark could set off an explosion; however, low internal air-pressurisation of the arm can prevent ingress of flammable vapours as well as other contaminants.
Drive – some robots connect electric motors to the joints via gears; others connect the motor to the joint directly (direct drive). Using gears results in measurable 'backlash' which is free movement in an axis. Smaller robot arms frequently employ high speed, low torque DC motors, which generally require high gearing ratios; this has the disadvantage of backlash. In such cases the harmonic drive is often used.
Compliance - this is a measure of the amount in angle or distance that a robot axis will move when a force is applied to it. Because of compliance when a robot goes to a position carrying its maximum payload it will be at a position slightly lower than when it is carrying no payload. Compliance can also be responsible for overshoot when carrying high payloads in which case acceleration would need to be reduced.
Robot programming and interfaces[edit]
Offline programming by ROBCAD
A typical well-used teach pendant with optional mouse
The setup or programming of motions and sequences for an industrial robot is typically taught by linking the robot controller to a laptop, desktop computer or (internal or Internet) network.
A robot and a collection of machines or peripherals is referred to as a workcell, or cell. A typical cell might contain a parts feeder, a molding machine and a robot. The various machines are 'integrated' and controlled by a single computer or PLC. How the robot interacts with other machines in the cell must be programmed, both with regard to their positions in the cell and synchronizing with them.
Software: The computer is installed with corresponding interface software. The use of a computer greatly simplifies the programming process. Specialized robot software is run either in the robot controller or in the computer or both depending on the system design.
There are two basic entities that need to be taught (or programmed): positional data and procedure. For example, in a task to move a screw from a feeder to a hole the positions of the feeder and the hole must first be taught or programmed. Secondly the procedure to get the screw from the feeder to the hole must be programmed along with any I/O involved, for example a signal to indicate when the screw is in the feeder ready to be picked up. The purpose of the robot software is to facilitate both these programming tasks.
Teaching the robot positions may be achieved a number of ways:
Positional commands The robot can be directed to the required position using a GUI or text based commands in which the required X-Y-Z position may be specified and edited.
Teach pendant: Robot positions can be taught via a teach pendant. This is a handheld control and programming unit. The common features of such units are the ability to manually send the robot to a desired position, or "inch" or "jog" to adjust a position. They also have a means to change the speed since a low speed is usually required for careful positioning, or while test-running through a new or modified routine. A large emergency stop button is usually included as well. Typically once the robot has been programmed there is no more use for the teach pendant.
Lead-by-the-nose: this is a technique offered by many robot manufacturers. In this method, one user holds the robot's manipulator, while another person enters a command which de-energizes the robot causing it to go into limp. The user then moves the robot by hand to the required positions and/or along a required path while the software logs these positions into memory. The program can later run the robot to these positions or along the taught path. This technique is popular for tasks such as paint spraying.
Offline programming is where the entire cell, the robot and all the machines or instruments in the workspace are mapped graphically. The robot can then be moved on screen and the process simulated. A robotics simulator is used to create embedded applications for a robot, without depending on the physical operation of the robot arm and end effector. The advantages of robotics simulation is that it saves time in the design of robotics applications. It can also increase the level of safety associated with robotic equipment since various "what if" scenarios can be tried and tested before the system is activated.[8] Robot simulation software provides a platform to teach, test, run, and debug programs that have been written in a variety of programming languages.
RoboLogix Robotics Simulator.
Robot simulation tools allow for robotics programs to be conveniently written and debugged off-line with the final version of the program tested on an actual robot. The ability to preview the behavior of a robotic system in a virtual world allows for a variety of mechanisms, devices, configurations and controllers to be tried and tested before being applied to a "real world" system. Robotics simulators have the ability to provide real-time computing of the simulated motion of an industrial robot using both geometric modeling and kinematics modeling.[9]
Others In addition, machine operators often use user interface devices, typically touchscreen units, which serve as the operator control panel. The operator can switch from program to program, make adjustments within a program and also operate a host of peripheral devices that may be integrated within the same robotic system. These include end effectors, feeders that supply components to the robot, conveyor belts, emergency stop controls, machine vision systems, safety interlock systems, bar code printers and an almost infinite array of other industrial devices which are accessed and controlled via the operator control panel.
The teach pendant or PC is usually disconnected after programming and the robot then runs on the program that has been installed in its controller. However a computer is often used to 'supervise' the robot and any peripherals, or to provide additional storage for access to numerous complex paths and routines.
End-of-arm tooling[edit]
The most essential robot peripheral is the end effector, or end-of-arm-tooling (EOT). Common examples of end effectors include welding devices (such as MIG-welding guns, spot-welders, etc.), spray guns and also grinding and deburring devices (such as pneumatic disk or belt grinders, burrs, etc.), and grippers (devices that can grasp an object, usually electromechanical or pneumatic). Another common means of picking up an object is by vacuum. End effectors are frequently highly complex, made to match the handled product and often capable of picking up an array of products at one time. They may utilize various sensors to aid the robot system in locating, handling, and positioning products.
Controlling movement[edit]
For a given robot the only parameters necessary to completely locate the end effector (gripper, welding torch, etc.) of the robot are the angles of each of the joints or displacements of the linear axes (or combinations of the two for robot formats such as SCARA). However, there are many different ways to define the points. The most common and most convenient way of defining a point is to specify a Cartesian coordinate for it, i.e. the position of the 'end effector' in mm in the X, Y and Z directions relative to the robot's origin. In addition, depending on the types of joints a particular robot may have, the orientation of the end effector in yaw, pitch, and roll and the location of the tool point relative to the robot's faceplate must also be specified. For a jointed arm these coordinates must be converted to joint angles by the robot controller and such conversions are known as Cartesian Transformations which may need to be performed iteratively or recursively for a multiple axis robot. The mathematics of the relationship between joint angles and actual spatial coordinates is called kinematics. See robot control
Positioning by Cartesian coordinates may be done by entering the coordinates into the system or by using a teach pendant which moves the robot in X-Y-Z directions. It is much easier for a human operator to visualize motions up/down, left/right, etc. than to move each joint one at a time. When the desired position is reached it is then defined in some way particular to the robot software in use, e.g. P1 - P5 below.
Typical programming[edit]
Most articulated robots perform by storing a series of positions in memory, and moving to them at various times in their programming sequence. For example, a robot which is moving items from one place to another might have a simple 'pick and place' program similar to the following:
Define points P1–P5:
Safely above workpiece (defined as P1)
10 cm Above bin A (defined as P2)
At position to take part from bin A (defined as P3)
10 cm Above bin B (defined as P4)
At position to take part from bin B. (defined as P5)
Define program:
Move to P1
Move to P2
Move to P3
Close gripper
Move to P2
Move to P4
Move to P5
Open gripper
Move to P4
Move to P1 and finish
For examples of how this would look in popular robot languages see industrial robot programming.
Singularities[edit]
The American National Standard for Industrial Robots and Robot Systems — Safety Requirements (ANSI/RIA R15.06-1999) defines a singularity as “a condition caused by the collinear alignment of two or more robot axes resulting in unpredictable robot motion and velocities.” It is most common in robot arms that utilize a “triple-roll wrist”. This is a wrist about which the three axes of the wrist, controlling yaw, pitch, and roll, all pass through a common point. An example of a wrist singularity is when the path through which the robot is traveling causes the first and third axes of the robot’s wrist (i.e. robot's axes 4 and 6) to line up. The second wrist axis then attempts to spin 180° in zero time to maintain the orientation of the end effector. Another common term for this singularity is a “wrist flip”. The result of a singularity can be quite dramatic and can have adverse effects on the robot arm, the end effector, and the process. Some industrial robot manufacturers have attempted to side-step the situation by slightly altering the robot’s path to prevent this condition. Another method is to slow the robot’s travel speed, thus reducing the speed required for the wrist to make the transition. The ANSI/RIA has mandated that robot manufacturers shall make the user aware of singularities if they occur while the system is being manually manipulated.
A second type of singularity in wrist-partitioned vertically articulated six-axis robots occurs when the wrist center lies on a cylinder that is centered about axis 1 and with radius equal to the distance between axes 1 and 4. This is called a shoulder singularity. Some robot manufacturers also mention alignment singularities, where axes 1 and 6 become coincident. This is simply a sub-case of shoulder singularities. When the robot passes close to a shoulder singularity, joint 1 spins very fast.
The third and last type of singularity in wrist-partitioned vertically articulated six-axis robots occurs when the wrist's center lies in the same plane as axes 2 and 3.
Singularities are closely related to the phenomena of gimbal lock, which has a similar root cause of axes becoming lined up.
A video illustrating these three types of singular configurations is available here.[9]
Market structure[edit]
According to the International Federation of Robotics (IFR) study World Robotics 2017, there were about 1,828,000 operational industrial robots by the end of 2016. This number is estimated to reach 3,053,000 by the end of 2020.[10] For the year 2016 the IFR estimates the worldwide sales of industrial robots with US$13.1 billion. Including the cost of software, peripherals and systems engineering, the annual turnover for robot systems is estimated to be US$40.0 billion in 2016.[10]
China is the largest industrial robot market, with 87,000 units sold in 2016.[10] Japan has the largest operational stock of industrial robots, with 286,554 at the end of 2015.[11] The biggest customer of industrial robots is automotive industry with 35% market share, then electrical/electronics industry with 31%, metal and machinery industry with 8%, rubber and plastics industry with 5%, food industry with 3%.[10] In textiles, apparel and leather industry, 1,580 units are operational.[12]
Estimated worldwide annual supply of industrial robots (in units):[10]
Year
supply
1998 69,000
1999 79,000
2000 99,000
2001 78,000
2002 69,000
2003 81,000
2004 97,000
2005 120,000
2006 112,000
2007 114,000
2008 113,000
2009 60,000
2010 118,000
2012 159,346
2013 178,132
2014 229,261
2015 253,748
2016 294,312
Health and Safety[edit]
Main article: Workplace robotics safety
The International Federation of Robotics has predicted a worldwide increase in adoption of industrial robots and they estimated 1.7 million new robot installations in factories worldwide by 2020 [IFR 2017]. Rapid advances in automation technologies (e.g. fixed robots, collaborative and mobile robots, and exoskeletons) have the potential to improve work conditions but also to introduce workplace hazards in manufacturing workplaces.[13] [1] Despite the lack of occupational surveillance data on injuries associated specifically with robots, researchers from the US National Institute for Occupational Safety and Health (NIOSH) identified 61 robot-related deaths between 1992 and 2015 using keyword searches of the Bureau of Labor Statistics (BLS) Census of Fatal Occupational Injuries research database (see info from Center for Occupational Robotics Research). Using data from the Bureau of Labor Statistics, NIOSH and its state partners have investigated 4 robot-related fatalities under the Fatality Assessment and Control Evaluation Program. In addition the Occupational Safety and Health Administration (OSHA) has investigated dozens of robot-related deaths and injuries, which can be reviewed at OSHA Accident Search page. Injuries and fatalities could increase over time because of the increasing number of collaborative and co-existing robots, powered exoskeletons, and autonomous vehicles into the work environment.
Safety standards are being developed by the Robotic Industries Association (RIA) in conjunction with the American National Standards Institute (ANSI).[2] On October 5, 2017, OSHA, NIOSH and RIA signed an alliance to work together to enhance technical expertise, identify and help address potential workplace hazards associated with traditional industrial robots and the emerging technology of human-robot collaboration installations and systems, and help identify needed research to reduce workplace hazards. On October 16 NIOSH launched the Center for Occupational Robotics Research to "provide scientific leadership to guide the development and use of occupational robots that enhance worker safety, health, and wellbeing." So far, the research needs identified by NIOSH and its partners include: tracking and preventing injuries and fatalities, intervention and dissemination strategies to promote safe machine control and maintenance procedures, and on translating effective evidence-based interventions into workplace practice.
See also[edit]
Robotics portal
Automation
Domestic robot
Intelligent industrial work assistant (iiwa)
Lights out (manufacturing)
Mobile industrial robots
Cartesian coordinate robot
Gantry robot
Safety standards applied to Robotics
Strategies for addressing new technologies from the INRS
References[edit]
Jump up ^ https://www.iso.org/obp/ui/#iso:std:iso:8373:ed-2:v1:en
Jump up ^ "Worries about premature industrialisation". The Economist. Retrieved 2017-10-21.
Jump up ^ Turek, Fred D. (June 2011). "Machine Vision Fundamentals, How to Make Robots See". NASA Tech Briefs. 35 (6): 60–62. Retrieved 2011-11-29.
Jump up ^ "An Automatic Block-Setting Crane". Meccano Magazine. Liverpool UK: Meccano. 23 (3): 172. March 1938.
Jump up ^ Taylor, Griffith P. (1995). Robin Johnson, ed. The Robot Gargantua. Gargantua: Constructor Quarterly.
Jump up ^ KUKA-Roboter.de: 1973 The First KUKA Robot English, 28th of March 2010
Jump up ^ "History of Industrial Robots" (PDF). Archived from the original (PDF) on 2012-12-24. Retrieved 2012-10-27.
Jump up ^ "EVS-EN ISO 9283:2001". Retrieved 17 April 2015.
Jump up ^ "Singularities in six-axis vertically-articulated industrial robots". CoRo Blog. Retrieved 17 April 2015.
^ Jump up to: a b c d e Executive Summary World Robotics 2017 Industrial Robots
Jump up ^ http://www.jara.jp/data/dl/stock-of-robot-2015.pdf
Jump up ^ Simon Cox (5 October 2017). "Worries about premature industrialisation". The Economist.
Jump up ^ Technology, Committee on Information; Automation; Workforce, and the U.S.; Board, Computer Science and Telecommunications; Sciences, Division on Engineering and Physical; Sciences, National Academies of; Engineering; Medicine, and (2017-03-16). Information Technology and the U.S. Workforce: Where Are We and Where Do We Go from Here?. doi:10.17226/24649. ISBN 9780309454025.
Further reading[edit]
Nof, Shimon Y. (editor) (1999). Handbook of Industrial Robotics, 2nd ed. John Wiley & Sons. 1378 pp. ISBN 0-471-17783-0.
Lars Westerlund (author) (2000). The extended arm of man. ISBN 91-7736-467-8.
External links[edit]
Wikimedia Commons has media related to Industrial robots.
Industrial robots and robot system safety (by OSHA, so in the public domain).
International Federation of Robotics IFR (worldwide)
Robotic Industries Association RIA (North America)
BARA, British Automation and Robotics Association (UK)
Center for Occupational Robotics Research by NIOSH
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text:
Say You'll Haunt Me
From Wikipedia, the free encyclopedia
Jump to: navigation, search
"Say You'll Haunt Me"
Single by Stone Sour
from the album Audio Secrecy
Released
July 6, 2010
Recorded
2010 at Blackbird Studios in Nashville, Tennessee, United States
Genre
Post-grunge, alternative metal
Length
4:40 (Music Video)
4:24 (Album Version)
4:02 (Radio Edit)
Label
Roadrunner
Songwriter(s)
Shawn Economaki, Roy Mayorga, Josh Rand, Jim Root, Corey Taylor
Producer(s)
Nick Raskulinecz
Stone Sour singles chronology
"Mission Statement"
(2010) "Say You'll Haunt Me"
(2010) "Digital (Did You Tell)"
(2010)
"Mission Statement"
(2010) "Say You'll Haunt Me"
(2010) "Digital (Did You Tell)"
(2010)
"Say You'll Haunt Me" is the second single from rock band Stone Sour's third album Audio Secrecy which was released on September 7, 2010 via Roadrunner Records.[1] The song was released to the public on July 6, 2010.[2] The song has received radio airplay on multiple major rock and metal stations nationally in the US. The digital single was released through Amazon & iTunes on July 20, 2010.
Contents
[hide]
1 Background
2 Music video
3 Track listing
4 Chart positions
5 See also
6 Rock Band Music Gaming Platform
7 References
8 External links
Background[edit]
Frontman Corey Taylor told The Pulse of Radio, that it took him a while to warm up to “Say You’ll Haunt Me” during the making of the record. “It was one of those songs, that I didn’t really feel until it was finished,” he said. “I enjoyed the lyrics, but I wasn’t sure about the music. I’d come in and I’d sing it, and I put my heart into it, because the lyrics are about my wife and how I feel about my wife, and then I left. And I came back and they [the rest of the band] had just made it incredible. Now I can’t get it out of my head.”
Music video[edit]
The band has shot a music video, directed by Paul R. Brown.[3] The video premiered on July 27, 2010.[4]
The video begins with a car (1972 Plymouth Barracuda) pulling into a creepy alleyway with Corey Taylor being pulled out of the trunk by his bandmates. He is then lead upstairs to be strapped into a chair and interrogated by a woman (Joanna Moskawa) who seems to have an aggression towards him. As this is happening, ghostly images of the band perform in front of each member, the video also features these images solo inside an abandoned warehouse including Taylor. Taylor is then blindfolded and then a weird screen is brought out. Corey then walks into the room from the shadows, with a shaved head, wearing a suit and sunglasses. He takes the sunglasses off and then the blindfold is removed, revealing the woman from before. At the end of the solo and the final "everything to" shaved Corey presses the button and the other Corey is then seen singing on the screen. The lady panics from this sight and the rest of the band have smiles on their faces. At the end of the video the band leaves the lady tied. Right before it fades to black, the screen says "What did you see?" This was part of a contest that the band held to see the concept of the video, which had a code which read "I am you" which explains the fact Corey was replaced with the woman.
The video uses the album version, not the short radio edit.
Track listing[edit]
iTunes single[5]
No.
Title
Length
1. "Say You'll Haunt Me" 4:24
Promo CD single Europe
No.
Title
Length
1. "Say You'll Haunt Me" (Radio Edit) 4:03
2. "Say You'll Haunt Me" (Album Version) 4:24
Chart positions[edit]
In the week of October 2, 2010, "Say You'll Haunt Me" reached No. 1 on both the U.S. Billboard Rock Songs chart and the Mainstream Rock Tracks chart. In doing so, it became Stone Sour's first single to reach No. 1 on the Rock Songs chart and their second, after "Through Glass", to reach No. 1 on the Mainstream Rock Tracks chart.
Chart (2010)
Peak
position
UK Singles (The Official Charts Company) 198
US Billboard Bubbling Under Hot 100 Singles 10
US Billboard Rock Songs[6] 1
US Billboard Alternative Songs[7] 8
US Billboard Hot Mainstream Rock Tracks 1
See also[edit]
List of Rock Songs number-one singles
List of Billboard Mainstream Rock number-one songs of the 2010s
Rock Band Music Gaming Platform[edit]
It was made available to download on January 18, 2011 for use in the Rock Band 3 music gaming platform in both Basic rhythm, and PRO mode which utilizes real guitar / bass guitar, and MIDI compatible electronic drum kits / keyboards in addition to vocals.
References[edit]
Jump up ^ "STONE SOUR: 'Audio Secrecy' Cover Artwork Unveiled". Blabbermouth.net. July 6, 2010.
Jump up ^ "Stone Sour, 'Say You'll Haunt Me' -- New Song". Aolradioblog.com. July 6, 2010.
Jump up ^ [1][dead link]
Jump up ^ Patrick Hosken. "Music – Music News, New Songs, Videos, Music Shows and Playlists from". MTV. Retrieved 2017-07-06.
Jump up ^ "Say You'll Haunt Me - Single". iTunes. Retrieved December 27, 2012.
Jump up ^ "Stone Sour - Chart history". Billboard. Retrieved 2017-07-06.
Jump up ^ "Stone Sour - Chart history". Billboard. Retrieved 2017-07-06.
External links[edit]
Lyrics of this song at MetroLyrics
[hide]
v
t
e
Stone Sour
Corey Taylor
Josh Rand
Roy Mayorga
Johny Chow
Christian Martucci
Joel Ekman
Shawn Economaki
Jim Root
Studio albums
Stone Sour
Come What(ever) May
Audio Secrecy
House of Gold & Bones – Part 1
House of Gold & Bones – Part 2
Hydrograd
Live albums
Live in Moscow
EPs
Meanwhile in Burbank...
Straight Outta Burbank...
Video albums
Live at Brighton
Singles
"Get Inside"
"Bother"
"Inhale"
"30/30-150"
"Through Glass"
"Sillyworld"
"Made of Scars"
"Zzyzx Rd."
"Mission Statement"
"Say You'll Haunt Me"
"Digital (Did You Tell)"
"Hesitate"
"Gone Sovereign/Absolute Zero"
"Do Me a Favor"
"Tired"
"Song #3"
"Rose Red Violent Blue (This Song Is Dumb & So Am I)"
Tours
Music as a Weapon III
Family Values Tour 2006
Uproar Festival 2010
Related articles
Discography
Songs
Demos
House of Gold & Bones (comics)
Slipknot
Roadrunner United
Black President
Amebix
Junk Beer Kidnap Band
Retrieved from "https://en.wikipedia.org/w/index.php?title=Say_You%27ll_Haunt_Me&oldid=808113763"
Categories:
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2010 singles
Billboard Mainstream Rock number-one singles
Billboard Rock Songs number-one singles
2010 songs
Song recordings produced by Nick Raskulinecz
Roadrunner Records singles
Songs written by Corey Taylor
Songs written by Shawn Economaki
Songs written by Roy Mayorga
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Songs written by Jim Root
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text:
Treaty on the Functioning of the European Union
From Wikipedia, the free encyclopedia
Jump to: navigation, search
Wikisource has original text related to this article:
Consolidated version of the Treaty on the Functioning of the European Union
The Treaty on the Functioning of the European Union (2007) is one of two primary Treaties of the European Union, alongside the Treaty on European Union (TEU). Originating as the Treaty of Rome, the TFEU forms the detailed basis of European Union law, by setting out the scope of the EU's authority to legislate and the principles of law in those areas where EU law operates.
Contents
[hide]
1 History
2 Contents
2.1 Part 1, Principles
2.2 Part 2, Non-discrimination and citizenship of the Union
2.3 Part 3, Union policies and internal actions
2.3.1 Title I: Internal market
2.3.2 Title II: Free movement of goods
2.3.3 Title III: Agriculture and Fisheries
2.3.4 Title IV: Free movement of workers, services and capital
2.3.5 Title V: Area of freedom, justice and security
2.3.6 Title VI: Transport
2.3.7 Title VII: Common Rules on Competition, Taxation and Approximation of Laws
2.3.8 Title VIII: Economic and monetary policy
2.3.9 Titles IX to XV: Employment, social and consumer policy
2.3.10 Titles XVI to XXIV Networks, industry, environment, energy, other
2.4 Part 4, Association of the overseas countries and territories
2.5 Part 5, External action by the Union
2.6 Part 6, Institutional and financial provisions
2.7 Part 7, General and final provisions
3 See also
4 References
History[edit]
The TFEU originated as the treaty establishing the European Economic Community (the EEC treaty), signed in Rome on 25 March 1957. On 7 February 1992, the Maastricht treaty, which led to the formation of the European Union, saw the EEC Treaty renamed as the Treaty establishing the European Community (TEC) and renumbered. The Maastricht reforms also saw the creation of the European Union's three pillar structure, of which the European Community was the major constituent part.
Following the 2005 referenda, which saw the failed attempt at launching a European Constitution, on 13 December 2007 the Lisbon treaty was signed. This saw the 'TEC' renamed as the Treaty on the Functioning of the European Union (TFEU) and, once again, renumbered. The Lisbon reforms resulted in the merging of the three pillars into the reformed European Union.
Contents[edit]
The TFEU consists of seven parts:
Part 1, Principles[edit]
In principles, article 1 establishes the basis of the treaty and its legal value. Articles 2 to 6 outline the competencies of the EU according to the level of powers accorded in each area. Articles 7 to 14 set out social principles, articles 15 and 16 set out public access to documents and meetings and article 17 states that the EU shall respect the status of religious, philosophical and non-confessional organisations under national law.[1]
Part 2, Non-discrimination and citizenship of the Union[edit]
The second part begins with article 18 which outlaws, within the limitations of the treaties, discrimination on the basis of nationality. Article 19 states the EU will "combat discrimination based on sex, racial or ethnic origin, religion or belief, disability, age or sexual orientation". Articles 20 to 24 establishes EU citizenship and accords rights to it; to free movement, consular protection from other states, vote and stand in local and European elections, right to petition Parliament and the European Ombudsman and to contact and receive a reply from EU institutions in their own language. Article 25 requires the Commission to report on the implementation of these rights every three years.[1]
Part 3, Union policies and internal actions[edit]
Part 3 is the largest in the TFEU. Articles 26 to 197 concern the substantive policies and actions of the EU.
Title I: Internal market[edit]
Title II: Free movement of goods[edit]
Including the customs union
Title III: Agriculture and Fisheries[edit]
Common Agricultural Policy and Common Fisheries Policy
Title IV: Free movement of workers, services and capital[edit]
free movement of people, services and capital
Title V: Area of freedom, justice and security[edit]
Including police and justice co-operation
Title VI: Transport[edit]
Title VII: Common Rules on Competition, Taxation and Approximation of Laws[edit]
European Union competition law, taxation and harmonisation of regulations (note Article 101 and Article 102)
Title VIII: Economic and monetary policy[edit]
Articles 119 to 144 concern economic and monetary policy, including articles on the euro. Chapter 1: Economic policy - Article 126 deals with how excessive member state debt is handled.[2] Chapter 2: Monetary policy - Article 127 outlines that the European System of Central Banks should maintain price stability and work with the principles of an open markets and free competition.[3]
Titles IX to XV: Employment, social and consumer policy[edit]
Main articles: European labour law and European consumer law
Title IX concerns employment policy, under articles 145–150. Title X concerns social policy, and with reference to the European Social Charter 1961 and the Community Charter of the Fundamental Social Rights of Workers 1989. This gives rise to the weight of European labour law.
Title XI establishes the European Social Fund under articles 162–164. Title XII, articles 165 and 166 concern education, vocational training, youth and sport policies. Title XIII concerns culture, in article 167. Title XIV allows measures for public health, under article 168. Title XV empowers the EU to act for consumer protection, in article 169.
Titles XVI to XXIV Networks, industry, environment, energy, other[edit]
Title XVI, articles 170–172 empower action to develop and integrate Trans-European Networks. Title XVII, article 173, regards the EU's industrial policy, to promote industry. Title XVIII, articles 174 to 178 concern economic, social and territorial cohesion (reducing disparities in development). Title XIX concerns research and development and space policy, under which the European Research Area and European Space Policy are developed.
Title XX concerns the increasingly important environmental policy, allowing action under articles 191 to 193. Title XXI, article 194, establishes the Energy policy of the European Union.
Title XXII, article 195 is tourism. Title XXIII, article 196 is civil protection. Title XXIV, article 197 is administrative co-operation.
Part 4, Association of the overseas countries and territories[edit]
Part 4, in articles 198 to 204, deals with association of overseas territories. Article 198 sets the objective of association as promoting the economic and social development of those associated territories as listed in annexe 2. The following articles elaborate on the form of association such as customs duties.[1]
Part 5, External action by the Union[edit]
Part 5, in articles 205 to 222, deals with EU foreign policy. Article 205 states that external actions must be in accordance with the principles laid out in Chapter 1 Title 5 of the Treaty on European Union. Article 206 and 207 establish the common commercial (external trade) policy of the EU. Articles 208 to 214 deal with co-operation on development and humanitarian aid for third countries. Article 215 deals with sanctions while articles 216 to 219 deal with procedures for establishing international treaties with third countries. Article 220 instructs the High Representative and Commission to engage in appropriate co-operation with other international organisations and article 221 establishes the EU delegations. Article 222, the Solidarity clause states that members shall come to the aid of a fellow member who is subject to a terrorist attack, natural disaster or man-made disaster. This includes the use of military force.[1]
Part 6, Institutional and financial provisions[edit]
Part 6, in articles 223 to 334, elaborates on the institutional provisions in the Treaty on European Union. As well as elaborating on the structures, articles 288 to 299 outline the forms of legislative acts and procedures of the EU. Articles 300 to 309 establish the European Economic and Social Committee, the Committee of the Regions and the European Investment Bank. Articles 310 to 325 outline the EU budget. Finally, articles 326 to 334 establishes provision for enhanced co-operation.[1]
Part 7, General and final provisions[edit]
Part 7, in articles 335 to 358, deals with final legal points, such as territorial and temporal application, the seat of institutions (to be decided by member states, but this is enacted by a protocol attached to the treaties), immunities and the effect on treaties signed before 1958 or the date of accession.[1]
See also[edit]
EU law
Treaty on European Union
References[edit]
^ Jump up to: a b c d e f "Treaty on the Functioning of the European Union" (PDF). Eur-lex.europa.eu. Retrieved 17 March 2016.
Jump up ^ "EUR-Lex - 12008E126 - EN - EUR-Lex".
Jump up ^ "EUR-Lex - 12008E127 - EN - EUR-Lex".
[show]
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Treaties of the European Union and related documents
Legal basis
Treaty on the Functioning of the European Union (2007)
Treaty on European Union (2007)
Treaty establishing the European Atomic Energy Community (1957)
Main treaties
Brussels (Western Union, 1948)
Paris (European Coal and Steel Community, 1951)
Modified Brussels (Western European Union, 1954)
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Abandoned treaties and agreements
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Treaty establishing a Constitution for Europe (2004)
UK renegotiation of EU membership (2016)
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Charter of Fundamental Rights (2000)
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PFI Convention (2002)
Prüm Convention (2005)
Treaty Establishing the European Stability Mechanism (2012)
European Fiscal Compact (2012)
Agreement on a Unified Patent Court (2013)
Single Resolution Fund Agreement (2014)
European Union Portal
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Rock Chalk, Jayhawk
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"Rock Chalk, Jayhawk" (a.k.a. the "Rock Chalk" chant) is a chant used at University of Kansas Jayhawks sporting events. The chant is made up of the phrase "Rock chalk, Jayhawk, KU".
Contents
[hide]
1 History
2 Usage
3 References
4 External links
History[edit]
The chant was first adopted by the university's science club in 1886. Chemistry professor E.H.S. Bailey and his colleagues were returning by train to Lawrence after a conference. During their travel, they discussed a need of a rousing yell. They came up with "Rah, Rah, Jayhawk, Go KU",[1] repeated three times, which later became "Rock Chalk Jayhawk, KU".
By 1889, "Rock Chalk"—a transposition of chalk rock, a type of limestone, that exists in the Cretaceous-age bedrocks of central and western parts of the state as well as on Mount Oread, where the University is located, which is similar to the coccolith-bearing chalk of the white cliffs of Dover—later replaced the two "rahs." Those responsible for the change are unknown, with Bailey himself crediting the geology department,[2] and others an English professor.[3]
Kansas troops have used it in the Philippine-American War in 1899, the Boxer Rebellion, and World War II.[4] In the 1911 Border War football game, over 1,000 fans gathered in downtown Lawrence to listen to a "broadcast" of the game by telegraph and participated in cheers including the Rock Chalk.[5]
In the 1920 Summer Olympics, Albert I of Belgium asked for a typical American college yell, and gathered athletes replied with the chant.[4]
Former United States President Theodore Roosevelt called the Rock Chalk chant the greatest college chant he ever heard.[6]
Usage[edit]
Fans have used the phrase "Rock Chalk" in creative ways, such as Rock "Chocolate" Jayhawk ice cream.
It is best known as being loudly chanted at basketball games at Allen Fieldhouse and football games at University of Kansas Memorial Stadium. During pregame, the refrain of "Rock chalk... Jay-Hawk... KU," is repeated twice slowly, and then three times quickly. It is usually preceded by the Kansas alma mater "Crimson and the Blue,” and followed by the fight song, "I'm a Jayhawk.” Since the early 1990's, Kansas fans have been known to do the slow repetition of "Rock chalk... Jay-Hawk... KU" when the Jayhawks are believed to be safely ahead, and victory is guaranteed.
"Rock chalk" is also often used on campus as a way to say goodbye, with the reply being "Jayhawk.”
References[edit]
Jump up ^ "Rock Chalk K-State? Kind of, a century ago". The Topeka Capital-Journal. 2007.
Jump up ^ KUhistory.com - A Swell Yell
Jump up ^ "The Rock Chalk Chant". RockChalk.com. Archived from the original on September 8, 2012. Retrieved April 5, 2008.
^ Jump up to: a b DeReus, Bailey and Betsy McLeod (May 20, 2005). "The Land of the Jayhawks". The University Daily Kansan. Archived from the original on March 19, 2006. Retrieved April 5, 2008.
Jump up ^ "100 years ago: Football fans enjoy mechanized reproduction of KU-MU game". Lawrence Journal-World. November 27, 2011. Retrieved December 27, 2011.
Jump up ^ "The Chant". KU.edu.
External links[edit]
MP3 of the chant
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Pop Rocks
From Wikipedia, the free encyclopedia
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For other uses, see Pop rock (disambiguation).
"Space Dust" redirects here. For other uses, see Space dust (disambiguation).
Strawberry Pop Rocks
Pop Rocks
Pop Rocks is a candy with ingredients including sugar, lactose (milk sugar), and flavoring. It differs from typical hard candy in that it creates a small popping reaction when it dissolves in one's mouth.
Contents
[hide]
1 Background and history
2 Manufacturing
3 Urban legend
4 References
5 External links
Background and history[edit]
The concept was patented by General Foods research chemists Leon T. Kremzner and William A. Mitchell on December 12, 1961 (U.S. patent #3,012,893),[1][2] but the candy was not offered to the public until 1975 by General Foods, which in 1983 withdrew it, citing its lack of success in the marketplace, and its relatively short shelf life.
Distribution was initially controlled to ensure freshness; but with its increasing popularity, unauthorized redistribution from market to market resulted in out-of-date product reaching consumers. After that, Kraft Foods licensed the Pop Rocks brand to Zeta Espacial S.A. who continued manufacturing the product under Kraft's license. Eventually Zeta Espacial S.A. became the brand's owner and sole manufacturer. Pop Rocks is distributed in the U.S. by Pop Rocks Inc. (Atlanta, Georgia) and by Zeta Espacial S.A. (Barcelona, Spain) in the rest of the world. Zeta Espacial S.A. also sells popping candy internationally under other brands including Peta Zetas, Fizz Wiz and Magic Gum.
In 2008, Dr. Marvin J. Rudolph, who led the group assigned to bring Pop Rocks out of the laboratory and into the manufacturing plant, wrote a history of Pop Rocks development. The book, titled Pop Rocks: The Inside Story of America's Revolutionary Candy, was based on interviews with food technologists, engineers, marketing managers, and members of Billy Mitchell's family, along with the author's experience. In the book, Dr. Rudolph points out that the Turkish company HLEKS Popping Candy flooded the market with popping candy in the year 2000.
A similar product, Cosmic Candy, previously called Space Dust, was in powdered form and was also manufactured by General Foods.[3]
In 2012, Cadbury Schweppes Pty. Ltd. (in Australia) began producing a chocolate product named "Marvellous Creations Jelly Popping Candy Beanies" which contains popping candy, jelly beans and beanies (candy covered chocolate).[4] By 2013 Whittakers (New Zealand) had also released a local product (white chocolate with a local carbonated drink "Lemon and Paeroa' or "L&P" for short). Prominent British chef Heston Blumenthal has also made several desserts incorporating popping candy, both for the peculiar sensory experience of the popping and for the nostalgia value of using an ingredient popular in the 1970s.[5][6][7]
Manufacturing[edit]
The candy is made by mixing its ingredients and heating them until they melt into a syrup, then exposing the mixture to pressurized carbon dioxide gas (about 600 pounds per square inch or 40 bar) and allowing it to cool. The process causes tiny high-pressure bubbles to be trapped inside the candy.[8] When it is placed in the mouth and comes into contact with saliva the candy breaks and dissolves, releasing the carbon dioxide from the bubbles, resulting in a popping and sizzling sound and leaving a slight tingling sensation. It also releases carbon dioxide when coming in contact with any liquid. The bubbles in the candy pieces can be viewed using a microscope.
Urban legend[edit]
Rumors persisted that eating Pop Rocks and drinking soda would cause a person's stomach to boil and explode.[9] This was, in part, caused by the false assumption that Pop Rocks contain an acid/base mixture (such as baking soda and vinegar) which produces large volumes of gas when mixed through chewing and saliva.[citation needed] One of these myths involved a character named Mikey from the Life cereal commercials. Mikey, played by child actor John Gilchrist, was falsely rumored to have died after eating a Pop Rocks and Coca-Cola mixture—namely, a six-pack of Coca-Cola and six pouches of Pop Rocks.[9]
Though the confection had been extensively tested and found safe, the carbonated candy still alarmed residents in Seattle. The Food and Drug Administration set up a hotline there to assure anxious parents that the fizzing candy would not cause their children to choke. General Foods was battling the "exploding kid" rumors as early as 1979. General Foods sent letters to school principals,[10] created an open letter to parents,[11] took out advertisements in major publications and sent the confection's inventor on the road to explain that a Pop Rocks package contains less gas (namely, carbon dioxide, the same gas used in all carbonated beverages) than half a can of soda.
Because of the unique flavor of the legend, and the duration of its perpetuation, the story has appeared in many other forms of media and fiction. On the very first episode of MythBusters, Adam Savage and Jamie Hyneman put the Mikey rumor to the test by mixing six packs of Pop Rocks and a six-pack of cola inside a pig's stomach, complete with enough hydrochloric acid to simulate the acid inside a human stomach. Despite the pig stomach growing to three times its initial size, it did not blow up even after time was allotted for digestion. In another stomach used as an experimental counterpart, only a large amount of sodium bicarbonate along with acid and soda (and without any Pop Rocks) was able to cause a gastric rupture.[12] The broadcast included interview clips with Pop Rocks Inc. vice president Fernando Arguis explaining the candy and the myth, and Adam later alluded to the myth at a presentation at Rensselaer Polytechnic Institute by showing that Pop Rocks and soda—albeit in a smaller amount—in his own stomach was not fatal.[13]
References[edit]
Jump up ^ Google Patents
Jump up ^ Video: ABC News, Pop Rocks celebrates 50 years (2006)
Jump up ^ Rumor in the Market Place, Fredrick Koenig, p.76
Jump up ^ Cadbury Marvellous Creations
Jump up ^ "Heston's Titanic Feast". Heston's Feasts. Channel 4.
Jump up ^ "Chocolate". How to Cook Like Heston. Channel 4.
Jump up ^ "Potato". How to Cook Like Heston. Channel 4.
Jump up ^ "Pop Rocks Candy FAQ". Archived from the original on November 3, 2001.
^ Jump up to: a b Mikkelson, Barbara (January 20, 2007). "Pop Rocks Death". Snopes. Retrieved 2007-08-19.
Jump up ^ Rudolph, Dr. Marvin J. (September 2006) Pop Rocks The Inside Story of America's Revolutionary Candy Appendix 5.
Jump up ^ Rudolph, Dr. Marvin J. (September 2006) Pop Rocks The Inside Story of America's Revolutionary Candy Appendix 3.
Jump up ^ Discovery Channel :: Mythbusters: Episode Guide
Jump up ^ http://poly.union.rpi.edu/article_view.php3?view=3544&part=1
External links[edit]
Pop Rocks official web site
Zeta Espacial S.A.
General Foods Corporation's U.S. Patent 3,012,893 for the concept behind Pop Rocks (pdf)
General Foods Corporation's U.S. Patent 4,289,794 for Pop Rocks (pdf)
Images of US patent 4289794 for Pop Rocks from the U.S. Patent and Trademark Office
Rudolph, Dr. Marvin J. (September 2006). Pop Rocks: The Inside Story of America’s Revolutionary Candy. Sharon, MA: Specialty Publishers LLC. p. 112. ISBN 0-9786318-0-3 ISBN 978-0978631802 – book detailing the story of Pop Rocks development to Pop Rocks today
Retrieved from "https://en.wikipedia.org/w/index.php?title=Pop_Rocks&oldid=818097438"
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Brand name confectionery
Products introduced in 1975
Kraft Foods brands
Patented foods
Candy
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