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a resident of Independence and a native of Baton Rouge
He traveled the country as an insulator and was a jack-of-all-trades who enjoyed Community Dark Roast Coffee and fishing in Lake Verrett
Preceded in death by parents Lenes Joseph Hulin
Joseph was survived by his loving companion Shirley Populis
daughter Kristina Rose Hulin (Michael Vaccaro)
Karen Pierre (Brandon) and Adam Populis; three sisters Sally H
nine grandchildren and two great-grandchildren
Joseph gave the gift of life as an organ donor
The family would like to express our sincerest gratitude to the OLOL caregivers in the NCCU and LOPA
Joseph’s final care will be entrusted to Church Funeral Services of Baton Rouge
Arrangements are being finalized for a celebration of life in his honor this fall. 
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of Thomasville went home to be with his Lord and Savior on Saturday
2024 at Atrium Health High Point Medical Center
1944 in Davidson County to the late Carlie Hulin and Virgie Beck Hulin
Tommy ran his own business for numerous years
He was an avid Atlanta Braves fan and NASCAR driver
He always enjoyed being outside and especially hunting
Allen Hulin and wife Kelly of Lexington; one sister
Ann Eads and husband Richard of Thomasville; two grandsons
He also leaves behind his three great-grandchildren
Green and Sons Funeral Home Chapel with Rev
Tommy will lie in state on Wednesday from 12:00 PM-6:00 PM at J.C
Green and Sons Funeral Home in Thomasville
In lieu of flowers the family request that memorials be sent to Brenner&rsquo;s Children&rsquo;s Hospital
NC&nbsp; 27157-1021.Online condolences may be sent to the family at www.jcgreenandsons.com
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TK Hulin will give a final performance Sunday at Pat’s Atchafalaya Club in Henderson
TK Hulin can still fill a dance floor when he sings
“I’m Not a Fool Anymore.” The heartbreaking ballad put the St
Martinville native on the Billboard Hot 100 in 1963
the pain in Hulin’s soulful voice is all too real
home-run notes have turned into doubles and singles
is stealing the strength from Hulin’s back
PLS put him in a wheelchair almost six years ago
“It’s getting tougher and tougher singing in a wheelchair,” said Hulin
“You can’t express your words because you’re sitting down
“I’m in pain all the time — and it’s getting worse
The swamp pop legend treats his loyal fans to one last gig at the TK Hulin Retirement Party at 3 p.m
Sunday at Pat’s Atchafalaya Club in Henderson
The party silences a voice that had Hulin singing since he was a kid beating on cans in the family barn
Hulin caught the ear of choir director Robert Thibodeaux
who had him record an original composition
Thibodeaux also penned “I’m Not a Fool Anymore,” which caught fire on Texas radio stations
Mercury Records picked up the song for national release
sharing bus rides and shows with Ray Stevens
“I didn’t like the road at all,” said Hulin
“I came back and my mama came to pick me up in Lake Charles
Hulin scored regional hits with “As You Pass Me By (Graduation Night),” “Alligator Bayou,” “What You Are Seeking,” and “I’ll Still Be Your Friend,” along with classic R&amp;B
stretching from New Orleans to Ville Platte to Houston
He’ll always cherish the songs and the smiles
Herman Fuselier is executive director of the St
A longtime journalist covering Louisiana music and culture
His “Zydeco Stomp” show airs at noon Saturdays on KRVS 88.7 FM
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The family of Joyce Mae Lambert created this Life Tributes page to make it easy to share your memories
A Mass of Christian Burial will be held at 1:00 pm ..
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FAYETTE COUNTY, WV (LOOTPRESS) &#8211; A Georgia man is facing felony charges after leading police on a high-speed chase in Fayette County on the morning of September 13, 2024. 
The pursuit, which reached speeds over 130 miles per hour, ended with the suspect attempting to flee on foot.
According to Fayette County Sheriff Shannon Morris, deputies first attempted to stop a vehicle at approximately 9:45 a.m. on US Route 19 near Milroy Grose Road. 
The driver, later identified as 23-year-old Kaydrick M. Hulin of Georgia, refused to pull over and sped away. 
The chase continued onto Fayette Station Road, where Hulin drove into oncoming traffic before turning onto railroad tracks and traveling approximately two miles toward Hawks Nest. 
After abandoning his vehicle, Hulin fled on foot but was eventually apprehended by deputies along the riverbank.
Authorities later discovered that Hulin was wanted in Georgia and Colorado, though only Colorado is seeking his extradition.
Hulin faces several charges, including the felony offense of Fleeing in a Vehicle with Reckless Indifference and a misdemeanor charge of Obstructing. 
He was also processed on a fugitive warrant from Colorado and is awaiting further court proceedings in West Virginia.
Sheriff Morris praised the teamwork of multiple law enforcement agencies and fire departments involved in the operation. 
&#8220;This was a perfect example of Fayette County&#8217;s ability to conduct a large cooperative response effectively and efficiently,&#8221; he said.
Assisting the Fayette County Sheriff&#8217;s Department were Fayetteville Police, Oak Hill Police, Ansted Police, West Virginia State Police, the Department of Natural Resources, the US National Park Service, and fire departments from Ansted and Oak Hill.
The Fayette County Sheriff&#8217;s Department reminds the public that all defendants are presumed innocent until proven guilty in a court of law.
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Pictured: Elena Sather and Da'Juan Allison
In our previous couple of Future Stars articles, we've covered several young athletes who had already produced very elite marks in the first couple of weeks of the season.
As the season goes on, additional athletes have begun to put their talent and hard work on display for us to see.&nbsp;
Over the next two pages, we have ten girls and ten boys who have either been impressive all season long or who have advanced themselves and/or their teams through the rankings.
We have all sophomores in this week's edition of Future Stars with the exception for one freshman boy at the end of it all.
Click through the two pages to see who ran their way into our attention.
Volume 8 - 2021 | <a class="ArticleLayoutHeader__info__doi" href="https://doi.org/10.3389/frobt.2021.611251">https://doi.org/10.3389/frobt.2021.611251</a>
pose particularly demanding challenges to both technology and humans
Traditional bilateral telemanipulation approaches often cannot be used in such applications due to technical and physical limitations such as long and varying delays
we research model-augmented haptic telemanipulation (MATM) that uses two kinds of models: a remote model that enables shared autonomous functionality of the teleoperated robot
and a local model that aims to generate assistive augmented haptic feedback for the human operator
Several technological methods that form the backbone of the MATM approach have already been successfully demonstrated in accomplished telerobotic space missions
we have applied our approach in more recent research to applications in the fields of orbital robotics
we have advanced specific aspects of the approach that were of particular importance for each respective application
This overview paper discusses the MATM approach in detail
presents the latest research results of the various technologies encompassed within this approach
provides a retrospective of DLR&#x00027;s telerobotic space missions
demonstrates the broad application potential of MATM based on the aforementioned use cases
and outlines lessons learned and open challenges
While these early systems were purely mechanically coupled
a revolution in telemanipulation occurred with the introduction of information technology (IT)
which made it possible to electronically couple the haptic interaction device to the remote system
The major advantages of this innovation were (i) the ability to cover greater distances
but above all (iv) a drastic reduction of apparent inertia
In addition to numerous incremental improvements in hardware and control approaches
there were a few other relatively new developments that significantly advanced the applicability and ease of use of telerobotics
that support the operator in achieving predicted goals
refers to an intermittent programming of the robot while the robot engages in a closed-loop interaction with its environment
Although such approaches can guarantee stable operation
telemanipulation with such significant delay still remains demanding for the operator
and a more powerful approach facilitating the task would be useful
One of the main research interests at DLR is to enable robots to operate in orbit and on the surface of celestial bodies and to perform exploration or construction tasks there. <a href="#F1">Figure 1</a> illustrates this vision and shows a spectrum of robotic systems to realize this goal
since robots are currently not able to operate fully autonomously
The robots on the surface can be operated either from Earth or from a spacecraft
depending on the distance and the availability of a spacecraft
Illustration of DLR&#x00027;s space robot vision
Teleoperation is a key topic of DLR&#x00027;s long-term research endeavors for robot applications on celestial bodies and is illustrated by the example of telemanipulation of a humanoid robot from a spacecraft
While the number of tasks that robots can perform autonomously is steadily increasing
teleoperation will still be required over the next few years or decades for situations where autonomy fails
This overview paper presents the model-augmented haptic telemanipulation (MATM) approach as a promising solution for such a telerobotic scenario
a remote model to enable shared autonomous functionality of the teleoperated robot and a local model to generate assistive augmented haptic feedback for the human operator
The forces that are displayed to the operator are a combination of augmented forces from the local model and forces resulting from interaction between the robot and the distant environment
The remote model is an environmental model of the remote environment to enable shared autonomy functionality to the teleoperated robot
The MATM approach can be considered as generalization of MMT
where the user interacts with a local model that acts as medium between the haptic device and the teleoperated robot
the feedback to the human is a combination of real and augmented virtual feedback
and a remote model is introduced to enable shared autonomy of the remote robot
MATM can be regarded as an intermediate step toward supervised and fully autonomous manipulation. <a href="#F2">Figure 2</a> illustrates how this approach differentiates from classical bilateral telemanipulation
and supervised autonomy in terms of time delay and visual feedback quality
With increasing levels of support and autonomy
higher delays can be dealt with and visual quality demands decrease
The figure also shows the delays that occurred in some of the missions and use cases described in this paper
Schematic diagram that illustrates up to which time delay and under which visual conditions different telerobotic concepts can be applied
It also shows the delays that occurred for selected missions from section 3 and use cases from section 4 (credit for photos of the Moon
The paper first presents MATM in detail and provides a state-of-the-art research overview in the underlying technologies used (section 2)
it gives a historical overview of the robotic space missions that were the main driving force behind this technology and highlights which aspects of MATM were advanced in each mission (section 3)
it discusses the potential and limitations of MATM based on use cases in different applications (section 4)
the paper is also intended to serve as a reference work and therefore contains references to key publications that provide further details on specific aspects of the respective technology
While in classical telemanipulation the operator is coupled to a remote robot via a haptic device, we aim to reach improved performance, efficiency, and ease of use during demanding telemanipulation tasks by means of two models that generate augmented feedback to the human operator and support the movements of the remote robot. <a href="#F3">Figure 3</a> schematically depicts this MATM approach and illustrates the elements that play a key role in it
The haptic interaction device acts as an input and output interface for the human operator and provides haptic force feedback
The remote robot is telemanipulated by the human operator and is intended to execute the desired commands in a remote environment
The communication channel connecting the two systems can cause a significant delay due to long transmission distances or limitations in the communication infrastructure
a model supports the movements or augments feedback
The following subsections describe the most important challenges in detail and outline our proposed solution
The applications of the methods described in this section along with its project or use case description will be presented in sections 3 and 4
Illustration of the control scheme of MATM
The local and the remote model can both read and modify (or augment) the commands to the remote robot and the feedback to the operator
Certain methods and situations demand such full signal access
as explained in the respective subsections
control approaches require considering the time delay in the communication channel that originate due to the huge distances between the operator and remote robot
which can have severe destabilizing consequences
Experimental results showed enhanced position synchronization and realistic impedance matching for a communication suffering from unknown time-varying delays of up to 2 s
and interacting with an active environment
The above methods form the backbone of stable bilateral control even for communication that includes a delay of several seconds
haptic augmentation and shared autonomy can enrich the telemanipulation framework as explained in the subsequent sections
A standard tool in haptics for generating such feedback are haptic constraints&#x02014;also denoted as virtual fixtures. The concept of virtual fixtures was introduced by <a href="#B72">Rosenberg (1992)</a> to support the operator during a telemanipulation task and was also evaluated for time-delayed systems (<a href="#B73">Rosenberg, 1993a</a>). Virtual fixtures are control algorithms which regulate manipulator motion, surveyed in <a href="#B19">Bowyer et al. (2013)</a>
They are typically employed to support or guide the operator for high precision tasks
avoid critical regions in which the remote robot could cause some damage
and avoid running into robotic constraints such as workspace limits or singularities
This capability is very useful for telemanipulation to predict object movements and poses and thus counteract the effects of time delays
the intention was measured by force sensors at the two haptic devices
Another open question is how to best parameterize and distribute haptic augmentation between the local and the remote model
Future theoretical investigations and user studies should address this topic
Feedback similar to haptic augmentation may also be implemented directly on the remote side and thus support the remote robot&#x00027;s movements without having to send commands over the communication channel first
making it faster and more precise compared to using a local model
This kind of model-based support of the remote robot belongs to the field of shared autonomy
which is discussed in the subsequent section
Examples of shared autonomy are supervised control
where the operator commands the robot intermittently with high-level tasks while the robot engages in a closed-loop interaction with the environment
where continuous input from the user is processed by the robot in order to validate
This means that in case the autonomous system is not able to complete the task at hand due to bad measurements
the human operator is asked for intervention and to implement corrective measures to complete the task
If and when the sensor measurement quality improves
the control authority is smoothly given back to the autonomous system
This reduces the physical and mental efforts demanded from the operator as he has to intervene if and only when the autonomous system has low confidence in its own task completion ability
fixed authority allocation-based shared control limits possibilities of human intervention in case of failure of autonomy
adaptive allocation factors are more robust against autonomy failures but are sensitive to the probabilistic filters&#x00027; convergence
Further improvements can be made to optimize the mixed-initiative approach by combining confidence factors from both autonomy and the human operator
availing possibilities offered by artificial intelligence and machine learning
This allows operators to choose between plans that reach the goal with different likelihood
operators might be willing to trade success probability for completion time
Ongoing work focuses on how to switch from teleoperation to supervised control
which requires to update the world model according to the changes induced by the teleoperated robot
The challenges that arise during model updates and their respective solutions are the subject of the following section
The model update represents the updating of the data of the local and the remote model as well as the synchronization between these two models
Two challenges arise directly from this task
how can the models be synchronized even though the data of the models may be in a different structure or representation
how can stability be established despite the fact that the updating process is highly nonlinear
The challenges of the proposed framework in terms of closed-loop stability are the fusion of different force feedback channels with computed
or fictitious forces and the design of the reference position for the devices
Those challenges also include the model update
which represents a highly nonlinear functionality especially in the presence of time delay
making it a potential source of instability
The modularity of the passivity concept simplifies combining independently developed passive modules
since no complex stability analyses of the overall control loops are required
The remaining challenge is the passive design of prospective haptic augmentation and shared autonomy features
that passivity is in general not more conservative than the popular Lyapunov stability criterion
especially since passivity does not necessarily have to be ensured in the frequency domain
but can be guaranteed in a highly adaptive manner in the time domain
The starting signal for DLR&#x00027;s telerobotic space missions was given in 1993 with ROTEX (<a href="#F4">Figure 4</a>). Since then, DLR has contributed to several telerobotic space missions in cooperation with various space agencies, in particular ESA, ROSCOSMOS, and JAXA. The most significant missions for the MATM approach are briefly described in this section. In contrast to a purely historical overview on our telerobotic missions (<a href="#B9">Artigas and Hirzinger, 2016</a>)
this section is intended to relate to the MATM approach and to highlight the specific impact of our past missions
The astronaut Hans Schlegel inside the Space Shuttle Columbia (left
credit: NASA) controls the robotic gripper of the ROTEX experiment (middle)
The chaser satellite of the ETS-VII mission was equipped with a robot arm (right
The first space robotics experiment performed by DLR was the ROTEX experiment (<a href="#B37">Hirzinger et al., 1993</a>) during the D2 mission in 1993 on board the Space Shuttle Columbia
A multisensory robot inside the spacecraft successfully worked in four operational modes
&#x02022; automatic (preprogramming on ground
&#x02022; teleoperation on board (astronauts using stereo-TV-monitor)
&#x02022; teleoperation from ground (using predictive computer graphics) via human operators and machine intelligence as well
&#x02022; tele-sensor-programming (learning by showing in a completely simulated world on ground including sensory perception with sensor-based execution later on board)
The main control concept behind all these modes was a shared autonomy approach, which includes shared control as well as shared intelligence, based on local autonomy loops on board. <a href="#F5">Figure 5</a> shows the overall loop structures for the sensor-based telerobotic concept
Figure 5. The overall loop structures for the sensor-based telerobotic concept of the ROTEX experiment (<a style="color:grey;" href="#B37">Hirzinger et al., 1993</a>). [&#x000A9;1993 IEEE. Reprinted, with permission, from (<a style="color:grey;" href="#B37">Hirzinger et al., 1993</a>)]
Due to the large time delays of up to 7 s that were involved during operation from ground
there was no haptic feedback in the ROTEX experiment
the human operator was enclosed in the feedback loop via stereovision and 3-D graphics on a very high level but with low bandwidth
while the low-level sensory loops were closed directly at the robot on board with high bandwidth
ROTEX used a predictive computer graphics approach
which seems to be the only way to overcome this problem
A human operator at the remote workstation gave robot commands by looking at a predicted graphics model of the robot
The control commands issued to this instantaneously reacting robot simulator are sent to the remote robot as well using the time-delayed transmission links
Complex tasks were split up into elemental moves
which allows the simulated (as well as the real) robot to refine the gross commands autonomously
We introduced the term tele-sensor-programming that means the robot is graphically guided through the task (off-line on ground)
storing not only the relevant Cartesian poses of the gripper but also the corresponding nominal sensory patterns (graphically simulated) for later reference in the on-board execution phase
this mode of tele-sensor-programming is a form of off-line-programming
which tries to overcome the well-known problems of conventional approaches
especially the fact that the simulated and the real world are not identical
tele-sensor-programming provides the real robot with simulated sensory data that refer to relative positions between the end-effector and the environment
thus compensating for any kind of inaccuracies in the absolute positions of the robot and the real world
Using the simulated sensor values during the programming phase can be seen as the first model-based teleoperation approach in space robotics
Launched in 2005 and operated for nearly 5 years in space, the Robotics Component Verification Experiment on the ISS (ROKVISS) was a big success for two reasons: the first aim was the in-flight verification of highly integrated modular robotic joints (<a href="#F6">Figure 6</a>
the second one the demonstration of different control modes
reaching from high system autonomy to force feedback teleoperation (telepresence mode)
ROKVISS was designed to test and verify real telepresence operation using haptic and visual feedback at high data rates
For that the telepresence system of ROKVISS was equipped with
&#x02022; a highly dynamic teleoperated robot including sensors and local intelligence
&#x02022; a high-bandwidth real time communication channel
&#x02022; an immersive multimodal human&#x02013;machine interface
The ROKVISS system mounted on a platform on the outside of the ISS (left
Cosmonaut Oleg Kononenko with the Kontur-2 joystick on board the ISS (right
Space agencies are planning and working toward crewed lunar and planetary exploration missions to be realized within the next few decades
Sending astronauts directly to the surface of the celestial bodies is extremely dangerous and costly
robots can be teleoperated from an orbital spacecraft to explore the surface
DLR and the Russian space agency ROSCOSMOS collaborated on the Kontur-2 mission during the period 2012&#x02013;2016
A direct link over S band was used for communication between the ISS and Earth with short latency and ISS experiment windows
In spite of the short latency (10&#x02013;30 ms round-trip delay)
it was observed that the bilateral controller was unstable due to the closed control loop with force feedback
In addition to the single-operator single-robot teleoperation
further tests were conducted for cooperative grasping of objects by two users
In the scenario, a cosmonaut on board the ISS and a second operator from ground (located at our project partner in Russia) teleoperated a dual arm robot at DLR to cooperatively handle a flexible sphere. In order to handle the sphere safely (without dropping it or pressing it with too high forces), the haptic intention augmentation approach explained in section 2.2 was tested and verified during the Kontur-2 mission (<a href="#B58">Panzirsch et al., 2017</a>)
It was learned that force feedback provided the cosmonaut with a more intuitive feeling of the robot-environment interaction with which he could modulate the interaction forces more accurately as desired
Space telerobotics based on haptic telepresence provides close, immersive coupling between the user and the robotic asset. However, it presents two drawbacks: short effective operation time due to user fatigue, and difficulty to scale up (<a href="#B46">Lii et al., 2018</a>)
METERON SUPVIS Justin was a mission to tackle these issues with a different approach to teleoperation with supervised autonomy
Rather than using the robot as a haptically coupled avatar for the user
the robots are utilized as intelligent robotic assets
or coworkers to be commanded at the task level
Between 2017 and 2018, three ISS-Earth telerobotic experiment sessions were carried out with five NASA and ESA astronauts. For METERON SUPVIS Justin, an analog scenario of a Martian surface environment was implemented at DLR in Germany to be serviced by DLR&#x00027;s humanoid robot Rollin&#x00027; Justin (<a href="#B17">Borst et al., 2007</a>, <a href="#B18">2009</a>)
ISS in turn takes on the role of the orbiting spacecraft
from where the astronaut commands the robots on simulated Martian surface
Figure 7. An example layout of the knowledge-driven intuitive tablet user interface on board the ISS (<a style="color:grey;" href="#B46">Lii et al., 2018</a>)
Through three sessions, increasingly complex tasks were carried out: from service and inspection, to manual device adjustment and maintenance, concluding with a full set of component retrieval and assembly tasks. <a href="#F8">Figure 8</a> shows ESA astronaut Alexander Gerst performing component retrieval and assembly with Rollin&#x00027; Justin
Thanks to the supervised autonomy approach
all participating ISS crew members not only were able to successfully complete all assigned tasks
their feedback also indicated that they would be able to handle working with larger robotic teams to perform more complex tasks with this approach
ESA astronaut Alexander Gerst on board the ISS (left
credit: ESA) commanding DLR&#x00027;s Rollin&#x00027; Justin in the SOLEX environment to perform component retrieval and assembly tasks (right)
The astronaut on the ISS drove the mobile platform to three geological sampling sites (mocked-up in a hangar in the Netherlands)
investigated them and collected rock samples
all while in communication with geologists
(Left) Astronaut Luca Parmitano used a haptic device and a joystick to control the robot arms and the mobile platform (credit: ESA)
(Right) The Analog-1 mobile platform at a mocked-up geological sampling site (credit: ESA)
The astronaut&#x00027;s work station consisted of a laptop to display and interact with the user interface; a Sigma.7 haptic interface device from Force Dimension (modified by the company to be used in microgravity) to command position of the tool on the manipulator and receive force feedback; and an integrated joystick with keypad to drive the platform, move the cameras, and also interact with the user interface (see <a href="#F9">Figure 9</a>
we used TDPA to deal with latency (described in section 2.1)
Full details of the control are outside the scope of this paper
The astronaut was able to command the robot stably
it was clear from pre-trials with astronauts and astronaut trainers that certain maneuvers could also be automated
This begs the question of how to scale up and down levels of autonomy for different environments or tasks
possible uses of augmented reality were identified: to aid communication with scientists (during the experiment the astronaut benefited from a grid projected over the image)
to show the projected path of the platform under the current steering angle) or in semi-autonomous driving
and to specify via points for the robot path on the camera image itself
While space missions were our original motivation for research on the MATM approach
it is evident that numerous other applications can also benefit from this approach
six exemplary use cases are presented to illustrate the wide variety of potential applications that reach from orbital applications over terrestrial telemanipulation in caregiving and telesurgery to applications that involve driving and flying robotic systems
special emphasis is given to the specific challenges
we have exploited the full spectrum of MATM so far
but rather emphasized certain aspects that appeared to be of particular interest for the respective use case
These foci are indicated in parentheses in the section headings
Figure 10. Demonstration of a telerobotic high-precision assembly task of an electrical connector of CubeSats (<a style="color:grey;" href="#B95">Weber Martins et al., 2018</a>)
in case of emergency a teleoperator can instantly gain control of the remote robot and take immediate actions before an ambulance arrives on site
the person in need of care can activate teleoperated human assistance
or the robot requests human support itself if the autonomous capabilities of the system do not suffice to solve a required task
Figure 11. (Left) Concept of the caregiving ecosystem SMiLE. (Right) Exemplary implementation (<a style="color:grey;" href="#B94">Vogel et al., 2020</a>). [&#x000A9;2020 IEEE. Reprinted, with permission, from (<a style="color:grey;" href="#B94">Vogel et al., 2020</a>)]
which are parameterized with the knowledge of the remote model
can help to increase the usability of the robotic system
It was shown that seamless switching to teleoperation can be achieved through the application of one common Cartesian controller for teleoperation and autonomous operation modes on the remote robot side
in order to sequentially couple one haptic device to a variety of robotic systems and to augment the human operator with the shared-autonomy functionalities
the coupling has to be designed in the Cartesian space as well
The results of SMiLE further confirm that the shared-autonomy functionalities can be stably combined with the time-delayed telemanipulation framework if the generation of the respective fictitious force feedback is designed with passive characteristics
A challenge apparent in domestic use cases is the large variety of different objects and tasks the system has to handle
the human teleoperator can not only serve as a fallback solution for tasks unknown to the system but the data generated in these task executions can help to increase the functionality of the autonomous agent
we investigate task representations that enable the definition of new tasks through learning by demonstration approaches
Figure 12. (Left) Focus areas of surgical robotics research. (translated by permission from Springer Nature Customer Service Centre GmbH: Springer Nature, (<a style="color:grey;" href="#B42">Klodmann et al., 2020</a>)
(Right) DLR MiroSurge research system for telemanipulation in robot-assisted laparoscopic surgery
The basic control architecture maps the user inputs to joint positions of the patient-side manipulators by an inverse kinematics algorithm accounting for workspace constraints
This basic control architecture is continuously enhanced by different MATM-based approaches
sterilizable sensors integrable directly at the instrument tips are still not commercially available
A rich set of geometric primitives is implemented to provide task-related and haptically augmented virtual fixtures that are intended to finally enhance the surgeon&#x00027;s capabilities
by guiding toward or along target tissues or preventing unintentionally injuring critical anatomical structures
Perceiving the patient&#x00027;s situs accurately and reactively update the robot&#x00027;s knowledge or rather representation of patient and procedure (section 2.4) to appropriately configure and parameterize these features embody some still open research questions to finally integrate the concept of task-dependent assistance functions into realistic scenarios in robot-assisted laparoscopic surgery
The ambitious future of planetary exploration has the potential to push the boundaries of technological advancements
nondeterministic remote environment at communication delay might render full autonomy and supervised control as an unfeasible feat with laborious task execution times
can bypass many of the task requirements especially in the fields of perception and cognition
telenavigation benefits from velocity as the command signal
it too presents us with the trade-off between performance and stability
which makes this a favorable approach in terms of applicability to a large variety of feedback generation types
Figure 13. (Left) Schematic showing the generation of fictitious forces by polygons overlapping with obstacle in the danger map [&#x000A9;2020 IEEE. Reprinted, with permission, from <a style="color:grey;" href="#B62">Panzirsch et al. (2018b)</a>]. (Top Right) Screenshot of the user interface. (Bottom Right) LRU with augmented polygons in the experimental environment [&#x000A9;<a style="color:grey;" href="#B83">Sierotowicz et al. (2020)</a>
The main findings of the user study is that force feedback significantly improves navigation performance in the proximity of obstacles
The positive effect of the force feedback was evident in conditions without and with a communication delay of 800 ms
these results show that a fictitious force feedback approach based on a TPDA controller is beneficial in difficult terrain and in the presence of substantial communication delay
the predictive polygon method could also help maintain a certain &#x0201C;safe&#x0201D; distance for the LRU from its environment
Since the width of the predictive polygons is a tunable factor
it can be adjusted to increase or decrease the safety factor or to allow/restrict the LRU&#x00027;s movement through narrow canyon-like environment
the TDPA could effectively stabilize and provide valuable force feedback with minimized position drift to the human operator
the haptic augmentation was beneficial with regard to navigation accuracy for demanding telenavigation tasks
The 2-D danger map considers any object above a certain height as an obstacle
this would be impossible to tune when the LRU is traversing an unstructured environment
a 2.5-D danger map with annotations would give more freedom to the operator and allow driving over small pebbles
Although a 2-DoF joystick could be used to maneuver the LRU with a car like interface
a 3-DoF haptic joystick could be used to fully explore LRU&#x00027;s potential of rear steering capabilities for crab-like and sideway motions
Within the class of aerial manipulators, those presenting kinematic redundancy like the DLR Suspended Aerial Manipulator (SAM; <a href="#B78">Sarkisov et al., 2019</a>; see <a href="#F14">Figure 14</a>) are able to allow the user to not only control the robotic arm
but also steer the UAV (also called flying base) to achieve a desired camera view of the task being performed
suitable control strategies have to be applied in order to ensure a strict hierarchy between the manipulation and the vision task
such that the flying base can move without disturbing the manipulation task
as the traditional TDPA method is not capable of dealing with such a hierarchy in the presence of time delays
Figure 14. (Left) Concept of the whole-body teleoperation approach for the SAM. [&#x000A9;<a style="color:grey;" href="#B22">Coelho et al. (2021)</a>, CC BY 4.0]. (Right) Experimental setup, showing the robot, the ground station and the view provided to the user [&#x000A9;2020 IEEE. Reprinted, with permission, from <a style="color:grey;" href="#B44">Lee et al. (2020)</a>]
An initial approach to cope with the aforementioned issues was introduced in <a href="#B23">Coelho et al. (2020)</a> and a complete solution was subsequently presented in <a href="#B22">Coelho et al. (2021)</a>. A conceptual view of the presented approach is shown in <a href="#F14">Figure 14</a> together with an overview of an experimental scenario
the user was able to choose to command either vision or manipulation task while the other task was autonomously controlled to keep the last commanded pose in a shared-control fashion
As the vision task was restricted to the motion subset where the end-effector is not disturbed
a haptic concept called Null-Space Wall was created to inform the user when the limits of that subset were reached
the extended TDPA ensured the system passivity in simulations with up to 300 ms round-trip delay as well as in a real scenario
where command and feedback signals were exchanged through a wireless network with time delay
The user was able to successfully perform pick-and-place tasks while keeping the manipulator and the object in the field of view
it was found that moving the flying base to align the camera image with the command directions of the input device can significantly decrease the task-completion time as well as the mental effort
the multilateral haptic augmentation method based on virtual grasping points (see section 2.2) could be especially meaningful in the described setup for the cases when the flying robot needs to keep some distance from obstacles
the robot grasping point on the manipulated object can be distant from the environment interaction point of the object
which can be chosen as the virtual grasping point
(Left) The On-Orbit Servicing facility at DLR
(Right) The haptic device and the remote robot are of the same type of collaborative robot
The manipulator arm attached to the satellite mock-up can be controlled using vision-based semi-autonomous control with the stereo camera set-up at the end-effector of the robotic arm. This semi-autonomous approach relies highly on perception of the target satellite, which is affected by internal and external factors such as camera noise, close range vision degradation, illumination changes, and reflections among many other (<a href="#B80">Schmidt et al., 2016</a>)
These factors might lead to a failure in the task execution by the autonomous system
and a human in the loop supervision is always preferred due to the critical nature of the orbital robotic missions
Traditional bilateral teleoperation proved to be feasible up to time delays of several seconds round-trip (see section 2.1)
task execution then becomes extremely difficult and slow
Particularly in scenarios with such long delays
a support of the operator by suitable technologies can be of great value
which aims to enable efficient operator-assisting telemanipulation
The concept encompasses and generalizes previous approaches for enhanced telemanipulation
in particular model-mediated telemanipulation
The approach employs two kinds of models to achieve this goal and to augment both the feedback to the operator and the commands for the teleoperated remote robot
a remote model enables a shared autonomous functionality of the teleoperated robot
while a local model aims at generating an assistive augmented haptic feedback to the human operator
This scope makes the MATM approach one of the most comprehensive and powerful
but also one of the most technologically sophisticated and challenging telemanipulation approaches
In a historical retrospective of our past telerobotic space missions
the way to this technology was described and the challenges we encountered during these missions were highlighted
The biggest challenge of the first missions we participated in
was to overcome the hurdles that were imposed by the low computing power at that time that led to long time delays
Since these delays made closed-loop telemanipulation with force feedback impossible
our research concentrated on shared control and model prediction
the development of a control approach that allows stable and transparent bilateral telemanipulation despite delay
and jitter of communication packets became the main focus of our research activities on telemanipulation
basic research on the design of optimal haptic feedback was also conducted
supervised autonomous operation was evaluated using a humanoid robot as an exemplary execution platform
It turned out during this mission that such an autonomous functionality can provide a great relieve for operating a robot and even allows for parallel operation of several robots
it also showed the limitation of autonomous operation especially in unstructured environments
a robot system will in the near future not be able to operate autonomously during a whole mission
although autonomy can already perform some specific robotic tasks today
These results suggest to combine autonomy and telemanipulation in an advantageous way
which is realized in particular with the remote model of MATM
the telemanipulation technologies for the telenavigation of a rover through an unstructured environment and for the teleoperation of a robot arm mounted on this rover were evaluated
It could be shown for the first time that full-DoF direct teleoperation with force feedback can be robustly established for such a system and underlines the benefit of haptic feedback over open-loop teleoperation
While these space missions were the main driver for our research on telemanipulation
the technology also has enormous potential for other applications
which was highlighted on the basis of six use cases
These use cases unveiled the potential and limitations of the MATM approach in the applications that reach from orbital applications over terrestrial telemanipulation in caregiving and telesurgery to applications that involve driving and flying robotic systems
In none of these use cases have we exploited the full spectrum of MATM so far
but rather emphasized certain aspects of it
The following lines give an overview of the most important results
in particular task- and system-related virtual fixtures demonstrated their usefulness in telesurgery
a predictive polygon method helped to maintain a certain &#x0201C;safe&#x0201D; distance for DLR&#x00027;s rover LRU from its environment and therefore to avoid collisions
We identified an enormous potential in making haptic augmentation methods more flexible
which could be achieved by parameterizing them manually using human intervention or automatically by machine learning methods
While in the presented use case of aerial manipulation
the autonomous functionality took control of a subtask and was thus used to support the operator
the shared control for on-orbit servicing showed that even proactive autonomous trajectory generation is comprehensible and clearly supportive for the operator
The mixed-initiative-based shared control present certain limitations
particularly if object recognition is affected by camera noise
More adaptive approaches need to be developed in future enabling easier human intervention or automatic adaption of authority
it is apparent that the shared control approach is currently only able to handle objects that are previously known to the algorithm
in the future new objects could be self-learned by learning-by-demonstration approaches
we could confirm in the caregiving use case that the combination of shared-autonomy functionalities and a time-delayed telemanipulation framework becomes stable if the respective fictitious force feedback is designed with passive features
All our available MATM modules for delayed teleoperation
or multilateral haptic augmentation methods and model updates were implemented on the basis of passive modules
which can be almost arbitrarily combined without further stability considerations
seamless switching from autonomy to telemanipulation or between different teleoperated robots was enabled by a coupling control structure that can be readily transferred to comparable telerobotic systems as well
Beyond these lessons learned and the challenges identified
a number of other important questions remain for future work
in particular to enable the MATM approach to be realized as a whole
A robust and powerful solution for updating the symbolic models for supervised autonomy especially during the teleoperation phase is still an active topic of research
the synchronization between the local and the remote model also needs to be developed
needs to be validated as a suitable tool for a general control framework to allow easy extension of the MATM approach for new applications and robots
a new transparency metric would be useful for comparing MATM with direct teleoperation methods and model-mediated teleoperation
as a big challenge remains the design of a user interface involving graphical
and haptic channels that provides the operator access to all model-augmentation functionalities and control modalities reaching from direct teleoperation to supervised autonomy
While MATM has not been implemented as a whole
it has already proven its usefulness in numerous applications and plays an important role as intermediate step toward supervised and fully autonomous robots
The original contributions presented in the study are included in the article/supplementary material
further inquiries can be directed to the corresponding author/s
Written informed consent was obtained from the individual(s) for the publication of any potentially identifiable images or data included in this article
All authors contributed to the article and approved the submitted version
This research work was funded by several funding sources
The work mention in section 2.1 was partially funded by the German Research Foundation (DFG
Deutsche Forschungsgemeinschaft) as part of Germany&#x00027;s Excellence Strategy&#x02013;EXC 2050/1&#x02013;Project ID 390696704&#x02013;Cluster of Excellence Centre for Tactile Internet with Human-in-the-Loop (CeTI) of Technische Universit&#x000E4;t Dresden
Section 4.1 contains results achieved in the project Space Factory 4.0 funded by German Aerospace Center (DLR) and the Federal Ministry for Economic Affairs and Energy (BMWi)
The work of section 4.2 was partially funded by the Bavarian Ministry of Economic Affairs
within the projects SMiLE (LABAY97) and SMiLE2gether (LABAY102)
The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest
The authors would like to thank Jordi Artigas, Katharina Hertkorn, Philipp Kremer, Carsten Preusche, Mikel Sagardia, and Simon Sch&#x000E4;tzle for the discussions and ideas about the MATM concept, and also thank Tilo W&#x000FC;sthoff and Markus Grebenstein for their illustration of DLR&#x00027;s robotic vision in <a href="#F1">Figure 1</a>
The authors would also like to express our deep appreciation for the close collaboration in METERON SUPVIS Justin and Analog-1
with our partners at the ESA Human Robot Interaction Laboratory headed by Thomas Krueger
Greatest appreciation also applies to our other partners at ESA
and ROSCOSMOS for the productive cooperation
1. <a class="footnotetextanchor" href="#note1a" title="">^</a>The acronym SMiLE stands for service robotics for people in restricted living situations (in German &#x0201C;Servicerobotik f&#x000FC;r Menschen in Lebenssituationen mit Einschr&#x000E4;nkungen&#x0201D;)
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Received: 28 September 2020; Accepted: 03 March 2021; Published: 11 June 2021
Copyright &#x000A9; 2021 Hulin, Panzirsch, Singh, Coelho, Balachandran, Pereira, Weber, Bechtel, Riecke, Brunner, Lii, Klodmann, Hellings, Hagmann, Quere, Bauer, Sierotowicz, Lampariello, Vogel, Dietrich, Leidner, Ott, Hirzinger and Albu-Sch&#x000E4;ffer. This is an open-access article distributed under the terms of the <a rel="license" href="http://creativecommons.org/licenses/by/4.0/" target="_blank">Creative Commons Attribution License (CC BY)</a>
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&#x0002A;Correspondence: Thomas Hulin, <a id="encmail">dGhvbWFzLmh1bGluQGRsci5kZQ==</a>
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The Catholic-New Iberia High school community came together in waves to vote for one of its own this week
Hulin received close to 52% of votes cast for a total of 14,803 votes earning her the title of Athlete of the Week
Hulin earned this recognition after having the Panthers' hottest bat and leading their offense with eight RBIs and four runs
This is nothing new for the 5-foot-2 first basemen/pitcher who was also clutch for her team's offense last year
she finished with a .308 batting average on 26 plate appearances
On the mound she went 4-0 after making 14 appearances for the Panthers
helping her team open up the 2025 season with a 2-3 record so far
the Panthers are looking to get above .500 and to make another deep run in the playoffs
Original story: Winter sports are quickly approaching an end
and boys and girls basketball postseason play is in full effect
spring sports have crept up on us in Lafayette Parish and its surrounding areas
High school baseball and softball seasons are underway and in perfect timing with the weather starting to heat up
the Daily Advertiser has a handful of options to choose from for this week’s poll
This week's poll includes athletes from the following winter and spring sports: girls basketball
The poll can be found at the bottom of the story and closes on Friday
Here are the candidates for Athlete of the Week for Feb
24- March 2 (athletes listed in alphabetical order):
North VermilionThe Patriots had their hands filled in their second round playoff game vs LaGrange on Monday
Brasseaux came through leading her team offensively and in rebounds
scoring eight points and grabbing eight rebounds
North Vermilion went on to beat the Gators 39-31
In the Knights' quarterfinals matchup vs Calvary Baptist
The freshman guard dropped a team-high 22 points leading her team past the Cavaliers 73-27
LCA is now one of two 337 area teams competing in Marsh Madness next week
Teurlings Catholic had a 3-0 series sweep over Catholic-New Iberia and Guillory played a key role in the sweep
The sophomore pitcher was on the mound in game two of the series and kept the Panthers batters off balance
He and Dylan Helms combined for a no-hitter
REQUIRED READING: <a href=https://www.theadvertiser.com/story/sports/high-school/basketball/2025/02/28/southside-basketball-survives-terrebonne-in-opening-round-of-playoffs/80841205007/ rel=noreferrer target=_blank>Lucky Sharks: Southside basketball survives first round of playoffs vs Terrebonne</a>
REQUIRED READING: <a href=https://www.theadvertiser.com/story/sports/high-school/basketball/2025/02/27/the-paityn-dean-game-lca-girls-basketball-advances-to-semifinals/80720037007/ rel=noreferrer target=_blank>LCA girls basketball Paityn Dean has breakout game in quarterfinals vs Calvary Baptist</a>
In the Crusaders' opening playoff game versus Northwood-Lena
He finished the game with a double-double scoring 16 points and snagging 10 rebounds
The Crusaders would go on to win the game 60-45 to advance to the second round
The Panthers' hottest bat these past few games has been Hulin
the freshman went 9-for-10 at the plate with every ball she hit going deep into outfield
She finished with eight RBIs and four runs
Singleton was the hero in Southside’s opening playoff round versus Terrebonne
Singleton scored the tip in a buzzer-beater to beat the Tigers 44-43
He also led the Sharks offense throughout the game
Editor's note: Anyone can nominate an athlete of the week for every sport
Readers can email nominations to sports reporter Shannon Belt at sbelt@gannett.com
Please include a player's statistics and a photo if possible
All high school varsity players from Lafayette
Martin and Iberia parishes are eligible to be placed on the ballot
Nominations must be received by Monday morning following that week's games for consideration
Shannon Belt covers high school sports and the Louisiana Ragin’ Cajuns for The Daily Advertiser as part of the USA TODAY Network
Follow her high school and Cajuns coverage on Twitter: @ShannonBelt3
Send them to Shannon Belt at sbelt@gannett.com
1949 in Davidson County to the late Jesse Lee Hulin and Blanche Maxine Walker Hulin
Jesse worked for Terrell Brothers for 32 years and attended Community Baptist Church
He also loved working on old cars and spending time with his grandchildren and his son
Jesse is preceded in death by his two brothers
and Michael &ldquo;Ike&rdquo; Hulin.Surviving is his long-time girlfriend
(his favorite daughter) Trish of Thomasville
Donald &ldquo;Doody&rdquo; Hulin of Lexington
and Robert &ldquo;Rabbit&rdquo; Hulin and wife
and Brenda &ldquo;Punkin&rdquo; McClure and husband Chuck of Trinity
Mitzi&nbsp;&ldquo;Fuzzy&rdquo; Starnes and husband &ldquo;Preacher Man&rdquo; of Troy
Peanut.A service will be held on Wednesday
2021 at 11:00 AM at Community Baptist Church
Burial will follow at Jackson Creek Baptist Church
2021 from 6:00 PM to 8:00 PM at J C Green and Sons Funeral Home
donations may be given to the building fund at Community Baptist Church
Online condolences may be sent to www.jcgreenandsons.com
The family of John Eric Hulin created this Life Tributes page to make it easy to share your memories
A Liturgy of the Word will be held at 1:00 PM on Th..
Enter your phone number above to have directions sent via text
of Thomasville went home to be with his Lord and Savior on Thursday
1952 to Sylvia Sowers Shaw and the late Robert Lenzy Hulin
Gayle Sebastian Hulin of the home; one son
Christopher Bradley &ldquo;Brad&rdquo; Hulin and his spouse
Love Murray Hulin of Thomasville; his granddaughter
Robert Brian Hulin and spouse Janice; and several nieces
Tony attended Ledford Senior High School and served his country in the United States Air Force from September 4
1970 until his honorable discharge on August 31
He was employed by North State Telephone in 1974 and retired after 37 years of service in 2011
He was then employed by Bucks Communications for approximately 3 years
Tony was known for his many years of involvement with auto racing and also enjoyed golfing with his son and friends
He was a member of Bethany Baptist Church in Thomasville for 6 years
Tony loved his family and loved spending time with them for Sunday lunch and every year at the beach making memories
A memorial service to celebrate Tony&rsquo;s life will be held on Sunday
2023 at 2:30 PM at Bethany Baptist Church in Thomasville with Pastor Tom Fields officiating
The family will receive friends and family 30 minutes prior to the service
Memorials may be directed to Bethany Baptist Church
Online condolences may be sent to the family at www.jcgreenandsons.com
2022 at Atrium Health Wake Forest Baptist in Winston-Salem
1940 in Davidson County to the late Willard Harrison and Louise Hunt Harrison
Polly worked many years at Kayby Mills and later on worked in the deli at Food Lion in Thomasville
She enjoyed the mountains and spending time with her family
In April of 1960 she married Walter Ray Hulin
Karen Hulin Ivey (Mitchel) and Randy Hulin (Susan)
Wyona &ldquo;Cricket&rdquo; Harrison; four grandchildren
and Jason Hulin; and four great-grandchildren
2022 at 2:00 PM at the JC Green &amp; Sons Chapel in Thomasville
The family will greet friends prior to the service from 1:00 to 2:00 PM at the funeral home
Burial will follow the service at Piney Grove Church in Denton
created this Life Tributes page to make it easy to share your memories
Funeral Services will be held at 1:00 PM on Monday,..
age 80 and a lifelong resident of Davidson County passed away on August 12
a daughter to the late Carmie Lee Gordon and Myrtle Lou Kepley
JoAnn worked for many years in sales at Walmart where she loved helping people and making friends
She was also a member of Walters Grove Baptist Church
JoAnn lived a full and loving life enjoying her time with family and sewing
Alvin Hulin and wife Cathy of Florida and Don Hulin and wife Judy of Lexington; sisters
Lois Hoover and husband Tommy of Thomasville and Vernail Hall Small and husband Woody of Lexington; grandchildren
Mitchell Hulin and wife Michelle and Michelle Hughes and husband Chris; great-grandchildren
2021 at 3:00 PM at Walters Grove Baptist Church in Lexington officiated by Rev
Burial will follow in the Walters Grove Baptist Church Cemetery
The family will receive friends from 2:00 PM until 3:00 PM prior to the service in the sanctuary
The Southside High School softball program enjoyed a winning campaign this past season
going 18-14 and earning a playoff berth for the third consecutive season
Southside will take the field under new leadership as Paige Hulin has been hired as the Sharks softball coach
“I am super excited about this opportunity,” Hulin said
and I feel it is a great place for me to start.”
who has two years of coaching experience as an assistant at Acadiana High and Clinton High in Mississippi
“Southside has a great group of girls with a lot of talent,” Hulin said
who starred at Lakeshore High in Mandeville where she was a three-time first team all-district selection before continuing her career at the college level in Mississippi
Hulin played at Copiah-Lincoln Community College for a year before transferring to Mississippi College
“I’ve always had a desire to become a head coach one day,” Hulin said
“Probably even more once I became a college athlete
“It was kind of hard to leave Acadiana High,” Hulin said
but I built a lot of relationships in that time.”
Hulin wouldn’t have left the Rams for anything other than a head coaching opportunity
“I wasn’t planning to leave Acadiana,” Hulin said
“I wasn’t leaving unless it was for a head coaching job
helped coach Kevin Smith and the Rams go 20-10 and reach the Division I select quarterfinals
“She was our outfield coach and worked with our slappers,” Smith said
“She has a great knowledge of the game and does a good job getting the information across to the kids
I think she will do well at Southside and help their program grow.”
Hulin’s vision for the Sharks’ program is to one day lead them to the state softball tournament
she will take advancing beyond the second round of the playoffs
which is as far as the Sharks have advanced in the four years the program has competed for district honors
“The goal is definitely to get this program to state
and we’re going to push really hard for that,” Hulin said
Email Eric Narcisse at <a href="mailto:enarcisse@theadvocate.com">enarcisse@theadvocate.com</a>
the two students began drafting and pushing for legislation that would make this a reality
Now in their final year of law school,&nbsp;Marullo&nbsp;and Hulin have successfully secured funding for a treatment program in Connecticut that will save lives
“The funding will mean that people entering prison in Connecticut will no longer be forcibly removed from their prescribed medication,” said Hulin
More than&nbsp;half of opioid overdose deaths in Connecticut are former prisoners
“People who reenter the community after incarceration are at a high risk of dying by overdose
and providing access to treatment while in jail or prison has been proven to reduce that risk,” added Hulin
Marullo&nbsp;said this treatment program will save the state money and reduce crime in the long term
“People who get treatment are more likely to hold a job and less likely to commit a crime,” said&nbsp;Marullo
“In a pilot treatment program in New Haven
individuals who received long-term treatment were an astonishing thirteen times less likely to be re-incarcerated
Every dollar spent on opioid treatment can save $1.80 by reducing incarceration
Hulin,&nbsp;and others from the Legislative Advocacy Clinic&nbsp;worked with Connecticut state legislators to introduce a bill that&nbsp;requires Connecticut to provide prisoners with access to medication-assisted treatment (MAT) — the gold standard treatment for opioid-use disorder and the same treatment that people have access to in the community
the measure could not be fully funded in 2018
a compromise bill was passed that laid the groundwork for future expansion
the students worked directly with the staff for the newly elected Governor Ned Lamont to secure full funding for a MAT prison treatment program
“After our partial success in the 2018 session
we looked for further opportunities to expand treatment,” said&nbsp;Marullo
“After Governor Lamont won the election in November
we worked with his staff to convince them that this program was a high priority in his first budget
the Governor dedicated significant funding for treatment
The funding was enacted by the General Assembly and signed into law.”
The newly funded program is part of an emerging national trend that is proving how evidence-based addiction treatment in prisons and jails can have profound results
In addition to Rhode Island and Connecticut
Vermont is also operating a broad-based program
and New Jersey have made significant strides toward offering comprehensive treatment
Sheriffs across the country have started their own pilot programs in county jails.&nbsp;
“There's a lot of evidence that treatment works,” said Hulin
<a href="tel://2034324992">203.432.4992</a>
This year will be my 7th year teaching. I am currently a special education teacher at Parsippany High School and an advisor for their Key Club, a service club under Kiwanis International. I am also a member of the Dominican Young Adults Caldwell chapter &amp; a Eucharistic Minister at my parish St. Peter the Apostle in Parsippany.
Thank you for supporting Caldwell University. What inspired your gift?
Do you have a favorite or meaningful experience from your time at Caldwell? Tell us!
There are so many, it&#8217;s hard to choose! I would have to say my top two are: my senior History Outcomes class with Dr. Marie Mullaney and going on the college&#8217;s first service trip to Belize in 2013.
Caldwell University does not discriminate on the basis of race, color, national and ethnic origin, or any other characteristic protected by applicable law in administration of its educational policies, admissions policies, scholarship and loan programs, and athletic and other school-administered programs.
Click here to view a webcast of the service on 12/14/2020 at 12:00 PM, Central Standard Time.
Picture by Eddie GuerreroYou wouldn't guess it but Peter Hulin is retiring after 50 years in business
All articles from our website &amp; appThe digital version of Today&#x27;s PaperBreaking news alerts direct to your inboxInteractive Crosswords, Sudoku and TriviaAll articles from the other regional websites in your areaContinue<a href="https://www.standard.net.au/story/8745001/former-councillor-peter-hulin-to-run-for-warrnambool-city-again/" rel="follow" target="_self">Mr Hulin, who turns 65 on Saturday, </a>September 28
is closing the doors for the last time to Peter Hulin Upholstery in Koroit Street on Thursday
He said he had mixed emotions about hanging up his tools
"I honestly don't know how I feel," Mr Hulin said
"I feel lucky that I can at least make the decision."
Mr Hulin became a business owner at 16 when his dad passed away
"My father came out to Australia from Germany after the war," he said
Mr Hulin said his father John initially set up an upholstery business in northern Victoria
"After a while he realised it wasn't going anywhere so he got a job down here doing upholstery for a firm," Mr Hulin said
"He did that for a number of years and then he decided to go out on his own."
From a very young age Mr Hulin was expected to be at the shop helping his dad out
he never imagined he would find himself in charge of the business and supporting his mother and sisters at age 16
"We rented a shop in Kepler Street and Dad was always concerned about the fire risk out the back," Mr Hulin said
He said an auto electrician used a flame thrower to clean out motors and there was a fear a fire would break out
has been running his business since the age of 16
Picture by Eddie Guerrero"Dad used to go to the council offices and say 'I'm worried there's going to be a fire - you need to do something about it
He clearly remembers the day a woman came into the shop and told his father his car parked out the back was on fire
"We went around the back where Dad's car was parked," Mr Hulin said
Mr Hulin made his way through the flames and smoke and moved the car
What happened next is something Mr Hulin will never forget
"When I got out Dad had a heart attack and died," Mr Hulin said
He was overcome by grief and the reality of the situation
Mr Hulin was tasked with supporting his mother Mary and his sisters
"I had sisters to support - they were at school and then university," he said
Mr Hulin said the family had no money when his father died
"We had to sell the family car to bury him
<a href="https://www.standard.net.au/story/6629901/councillor-resigns-after-11-years/" rel="follow" target="_self">Mr Hulin</a> said there were a number of years that followed that were extremely tough
he will be forever grateful to the community members that banded together to help the family
"With support from mum and support from a number of very good people
He is convinced the Catholic Church went searching for items that needed upholstering to keep him in business
Mr Hulin said it had been a privilege to work on many precious items over the years
"I really enjoyed working on the history of the Western District," he said
which means Mr Hulin has been contacted by people from all over the world who had items that needed restoring
M Hulin said he was extremely grateful to the many people who had acted as mentors to him over the years
He encouraged other people to do the same and offer support and guidance to young business owners
Mr Hulin said he would still complete some restoration work from the workshop at his home
He said he felt he had an obligation to help people restore precious items
Mr Hulin said one of the most memorable pieces he was tasked with restoring was a chair owned by Sir William Clarke
a well-known wealthy Australian businessman in the 1890s
He has also worked on furniture dating back to the early 1700s
Mr Hulin said he was looking forward to slowing down and enjoying spending time with his wife Ulrike
He used to accompany Mr Hulin to the shop every day
I&#x27;m a journalist with more than 15 years experience. I currently work at The Standard in Warrnambool. If you have anything to add to this story please contact me at mpatterson@warrnamboolstandard.com.au
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the Randolph County Sheriff&amp;rsquo;s Office responded to NC Hwy 47
the deputy observed a victim with signs of an assault
&amp;nbsp;EMS responded to evaluate the victim...
the Randolph County Sheriff&amp;rsquo;s Office is again offering a C.A.R.E
Camp to homeschoolers and private school children at no cost
Camp is for students in grades 2nd-4th and D.A.R.E
the Randolph County Sheriff&amp;rsquo;s Office responded to Worthville Rd.
at the request of NC Wildlife Resources Commission for an agency assist call for service.&amp;nbsp;
Alejandro Guevara-Reyna was arrested and transported ..
while assisting with a license checkpoint on Unity St.
the Randolph County Sheriff&amp;rsquo;s Office identified Justin Brent Moran
who did not have an active driver&amp;rsquo;s license
members of the Invictus Task Force initiated an investigation related to a Cybertip from the National Center for Missing and Exploited Children
Earl David Rivers was identified as a suspect.&amp;n..
the Randolph County Sheriff&amp;rsquo;s Office initiated a traffic stop on Jordan Road in Ramseur
and a pursuit began and continued into Moore County
where the Moore County Sheriff&amp;apos;s Office and NC Highway P..
the Randolph County Sheriff&amp;rsquo;s Office responded to Olivers Chapel Rd.
in reference to the discharge of a firearm into a dwelling and a vehicle
deputies observed a vehicle with damage consistent ..
Randolph County Sheriff&amp;rsquo;s Office received a report of a possible child abuse
&amp;nbsp;Following an investigation by the Criminal Investigations Division
charges were sought against Ian Kincaid Fletcher for felony negligen..
Randolph County Sheriff&amp;rsquo;s Office received a report of a possible financial theft
charges were sought against Laura Lee Freeman for felony identity ..
the Randolph County Sheriff&amp;rsquo;s Office Electronic House Arrest (EHA) Officers received information that Hugo Ruiz Mendez had violated the conditions of his Pre-Trial Release Supervision Program
the Randolph County Sheriff&amp;rsquo;s Office received a report of a possible forgery
Following an investigation by the Criminal Investigation Division Detectives
charges were sought against Kevin Ray Huston for felony identity the..
Randolph County Sheriff&amp;rsquo;s Office Deputies conducted a traffic stop at Sealy Dr.
&amp;nbsp; The driver was identified as Bryan Christopher Shell
the Randolph County Sheriff&amp;rsquo;s Office received a report of potential child abuse that had taken place on US Highway 64 East
the Randolph County Sheriff&amp;rsquo;s Office conducted a traffic stop at Mendenhall Rd
during the booking process of Michael Edward Henderson
Detention Staff located an illegal substance in his possession
&amp;nbsp;Charges were sought against Henderson Jr
for Felony Possession Schedule IV Controlled Substance and ..
the Randolph County Sheriff&amp;rsquo;s Office responded to Pilot Mtn
at the request of NC Probation and Parole for an agency assist call for service
&amp;nbsp;During a routine search of the residence of Nathan David Je..
the Randolph County Sheriff&amp;rsquo;s Office responded to Mill Pond Dr.
deputies located Matthew Antonio Lampkins and Kenneth Wayne Linton
a Randolph County Sheriff&amp;rsquo;s Office Deputy encountered a female subject who was visibly injured and wished to report an assault
Deputies searched the area but were unable to locate the assailant
The Randolph County Sheriff&amp;rsquo;s Office Vice Narcotics Unit has concluded an investigation relating to the distribution of Fentanyl in Randolph County
warrants for arrest were issued on Lesley Marie Ball and Chri..
the Randolph County Sheriff&amp;rsquo;s Office Electronic House Arrest (EHA) Officers conducted a compliance drug screening on Christian Jacob McDowell with the Adult Daily Reporting Center
per the conditions set forth by Randolph Coun..
the Randolph County Sheriff&amp;rsquo;s Office Electronic House Arrest (EHA) Officers were notified of a potential violation committed by Kelly Lamar Faircloth
Kenneth Sean Gray was charged with (7) seven additional counts of second-degree exploitation of a minor
&amp;nbsp;Further investigation found that Gray had received and was in possession of CSAM
the Randolph County Sheriff&amp;rsquo;s Office Criminal Investigations Division received a referral from the Randolph County Department of Social Services regarding the welfare of a child
the Randolph County Sheriff&amp;rsquo;s Office Vice Narcotics Enforcement Team conducted a traffic stop near Archdale Rd
&amp;nbsp;The driver was identified as Kenny Ardon.&amp;nbsp;
the Randolph County Sheriff&amp;rsquo;s Office conducted a traffic stop on I-73 near McDowell Rd.
The driver was identified as Jessica Suzanne Ellington
who had an outstanding criminal summons.&amp;nbsp;
The Randolph County Sheriff&amp;rsquo;s Office Sex Offender Registry Detective received information that registered sex offender Kirby Kennedy was no longer living at the address he had registered in Randolph County.&amp;nbsp;
the Randolph County Sheriff&amp;rsquo;s Office responded to Archdale Rd.
&amp;nbsp; The caller advised a passenger car was in the driveway and an unknown male subject was lying in the yard
the Randolph County Sheriff&amp;rsquo;s Office conducted a traffic stop on Union Church Rd.
methamphetamine and paraphernalia were located.&amp;nbsp;
The April meeting of the Randolph County Board of Commissioners included two retirement recognitions
consideration of several contracts/agreements
the Randolph County Sheriff&amp;rsquo;s Office responded to Earnhardt Rd.
it was determined that no assault had taken place; just a verbal argument had oc..
Jason Brian Faircloth was identified as a suspect.&amp;a..
Deon Marquez Finger was identified as a suspect.&amp;amp..
the Randolph County Sheriff&amp;rsquo;s Office responded to Chapsworth Dr.
and the Crime Scene Investigations Detectives responded to collect..
the Randolph County Sheriff&amp;rsquo;s Office Electronic House Arrest (EHA) Officers received information that Kelly Lamar Faircloth had been arrested in another jurisdiction and had illegal substances in his possession at the time
the Randolph County Sheriff&amp;rsquo;s Office responded to Katrina Dr.
the victim provided information regarding the theft
the Randolph County Sheriff&amp;rsquo;s Office responded to Bridlewood Dr.
and Randolph County EMS responded for an evaluation.&amp;a..
the Randolph County Sheriff&amp;rsquo;s Office conducted a traffic stop at N
methamphetamine and paraphernalia were located
the Randolph County Sheriff&amp;rsquo;s Office responded to Shady Grove Church Rd.
regarding a larceny of a four-wheeler that had already occurred
An investigation was conducted by the Criminal Interdiction Team (CIT) Ur..
members of the Invictus Task Force initiated an investigation related to multiple Cyber tips received from the National Center for Missing and Exploited Children
&amp;nbsp; During the course of the investigation
the Randolph County Sheriff&amp;rsquo;s Office Electronic House Arrest (EHA) Officers were alerted to Lawrence Nathaniel Chandler violating the terms and conditions of the Pre-Trial Release contract by going to numerous unauthorized loca..
the Randolph County Sheriff’s Office responded to Sharon Acres Dr.
it was determined that Morgan Lindsey Davidson had posted and sold numerous items from the..
the Randolph County Sheriff&amp;rsquo;s Office conducted a traffic stop on U.S
&amp;nbsp;She was identified as Michelle Lynn Hamby
the Randolph County Sheriff&amp;rsquo;s Office responded to Grantville Ln.
the victim advised items had been stolen from the property and had discovered they had been pawned.&amp;nbsp..
Are you a parent of a student eager to explore a rewarding career in public service
The Randolph County Sheriff&amp;rsquo;s Office Community-Based Programs Division is excited to announce the 2025 Junior Sheriff&amp;rsquo;s Academy
2025 &amp;ndash;The Randolph County Sheriff&amp;rsquo;s Office announces the launch of a new program for youth:&amp;nbsp;
This program is designed to recognize school-aged children/youth within our community who are ..
is a great time to talk with your family about staying safe online
SNAPCHAT allows users to send photos and vides that disappear after they’re received
In an effort to promote Randolph County as a great place to live
county leaders have been working with &amp;ldquo;VIEWPOINT with Dennis Quaid&amp;rdquo; for the past several months to convey the charm of our community
***UPDATE*** &amp;nbsp;The Randolph County Sheriff&amp;rsquo;s Office Launches Phase 2 of the Guardian Project -Vulnerable Population Registry to Enhance Their Safety and Support.The Randolph County Sheriff&amp;rsquo;s Office announces Phase 2 of the Guar..
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The Randolph County Register of Deeds officially began accepting passport applications on behalf of the U.S
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