title: Dopamine agonist

text: Dopamine agonists are mainly used in the treatment of Parkinson's disease.  The cause of Parkinson's is not fully known but genetic factors, for example specific genetic mutations, and environmental triggers have been linked to the disease. In Parkinson's disease dopaminergic neurons that produce the neurotransmitter dopamine in the brain slowly break down and can eventually die. With decreasing levels of dopamine the brain can't function properly and causes abnormal brain activity, which ultimately leads to the symptoms of Parkinson's disease.


title: Dopamine agonist

text: There are two fundamental ways of treating Parkinson's disease, either by replacing dopamine or mimicking its effect.


title: Dopamine agonist

text: Dopamine agonists act directly on the dopamine receptors and mimic dopamine's effect. Dopamine agonists have two subclasses: ergoline and non ergoline agonists. Both subclasses target dopamine D-type receptors. Types of ergoline agonists are cabergoline and bromocriptine and examples of non-ergoline agonists are pramipexole, ropinirole and rotigotine. Ergoline agonists are much less used nowadays because of the risk of cartilage formation in heart valves.


title: Dopamine agonist

text: Depressive symptoms and disorders are common in patients with Parkinson's disease and can affect their quality of life. Increased anxiety can accentuate the symptoms of Parkinson's and is therefore essential to treat. Instead of conventional antidepressant medication in treating depression, treatment with dopamine agonists has been suggested. It is mainly thought that dopamine agonists help with treating depressive symptoms and disorders by alleviating motor complications, which is one of the main symptoms of Parkinson's disease.  Although preliminary evidence of clinical trials has shown interesting results, further research is crucial to establish the anti-depressive effects of dopamine agonists in treating depressive symptoms and disorders in those with Parkinson's.


title: Dopamine agonist

text: Dopamine is a prolactin-inhibiting factor (PIFs) since it lowers the prolactin-releasing factors (PRFs) synthesis and secretion through D-like receptors. That is why dopamine agonists are the first-line treatment in hyperprolactinemia. Ergoline-derived agents, bromocriptine and cabergoline are mostly used in treatment. Research shows that these agents reduce the size of prolactinomas by suppressing the hypersecretion of prolactin resulting in normal gonadal function.


title: Dopamine agonist

text: Numerous clinical trials have been performed to assess the use of dopamine agonists for the treatment of restless leg syndrome (RLS). RLS is identified by the strong urge to move and is a dopamine-dependent disorder. RLS symptoms decrease with the use of drugs that stimulate dopamine receptors and increase dopamine levels, such as dopamine agonists.


title: Dopamine agonist

text: Dopamine agonists are mainly used to treat Parkinson’s disease but are also used to treat hyperprolactinemia and restless legs syndrome. The side effects are mainly recorded in treatment for Parkinson’s disease where dopamine agonists are commonly used, especially as first-line treatment with levodopa.


title: Dopamine agonist

text: Dopamine agonists are divided into two subgroups or drug classes, first-generation and newer agents. Ergoline derived agonists are the first generation and are not used as much as the newer generation the non-ergoline derived agonists. Ergoline derived agonists are said to be "dirtier" drugs because of their interaction with other receptors than dopamine receptors, therefore they cause more side effects. Ergoline derived agonists are for example bromocriptine, cabergoline, pergolide and lisuride. Non-ergoline agonists are pramipexole, ropinirole, rotigotine, piribedil and apomorphine.


title: Dopamine agonist

text: The most common adverse effects are constipation, nausea and headaches. Other serious side effects are hallucinations, peripheral edema, gastrointestinal ulcers, pulmonary fibrosis and psychosis.


title: Dopamine agonist

text: Dopamine agonists have been linked to cardiac problems. Side effects such as hypotension, myocardial infarction, congestive heart failure, cardiac fibrosis, pericardial effusion and tachycardia. A high risk for valvular heart disease has been established in association with ergot-derived agonists especially in elderly patients with hypertension.


title: Dopamine agonist

text: Somnolence and sleep attacks have been reported as an adverse effect that happen to almost 30% of patients using dopamine agonists. Daytime sleepiness, insomnia and other sleep disturbances have been reported as well.


title: Dopamine agonist

text: Impulse control disorder that is described as gambling, hypersexuality, compulsive shopping and binge eating is one serious adverse effect of dopamine agonists.


title: Dopamine agonist

text: After long-term use of dopamine agonist a withdrawal syndrome may occur when discontinuing or during dose reduction. The following side effects are possible: anxiety, panic attacks, dysphoria, depression, agitation, irritability, suicidal ideation, fatigue, orthostatic hypotension, nausea, vomiting, diaphoresis, generalised pain, and drug cravings. For some individuals, these withdrawal symptoms are short-lived and make a full recovery, for others a protracted withdrawal syndrome may occur with withdrawal symptoms persisting for months or years.


title: Dopamine agonist

text: Dopamine agonists interact with a number of drugs but there is little evidence that they interact with other Parkinson’s drugs. In most cases there is no reason not to co-administer Parkinson's drugs. Although there has been an indication that the use of dopamine agonists with L-DOPA can cause psychosis therefore it is recommended that either the use of dopamine agonists be discontinued or the dose of L-DOPA reduced. Since ergot-dopamine agonist have antihypertensive qualities it is wise to monitor blood pressure when using dopamine agonists with antihypertensive drugs to ensure that the patient does not get hypotension. That includes the drug sildenafil which is commonly used to treat erectile dysfunction but also used for pulmonary hypertension.


title: Dopamine agonist

text: There is evidence that suggests that since ergot dopamine agonists are metabolized by CYP3A4 enzyme concentration rises with the use of CYP3A4 inhibitors. For example, in one study bromocriptine was given with a CYP3A4 inhibitor and the AUC (e. Area under the curve) increased 268%. Ropinirole is a non-ergot derived dopamine agonist and concomitant use with a CYP1A2 inhibitor can result in a higher concentration of ropinirole. When discontinuing the CYP1A2 inhibitor, if using both drugs, there is a change that a dose adjustment for ropinirole is needed. There is also evidence the dopamine agonists inhibit various CYP enzymes and therefore they may inhibit the metabolism of certain drugs.


title: Dopamine agonist

text: The absorption of the oral dose is approximately 28% however, only 6% reaches the systemic circulation unchanged, due to a substantial first-pass effect. Bromocriptine reaches mean peak plasma levels in about 1–1.5 hours after a single oral dose. The drug has high protein binding, ranging from 90-96% bound to serum albumin. Bromocriptine is metabolized by CYP3A4 and excreted primarily in the feces via biliary secretion. Metabolites and parent drugs are mostly excreted via the liver, but also 6% via the kidney. It has a half-life of 2–8 hours.


title: Dopamine agonist

text: Pergolide has a long half-life of about 27 hours and reaches a mean peak plasma level in about 2–3 hours after a single oral dose. The protein binding is 90% and the drug is mainly metabolized in the liver by CYP3A4 and CYP2D6. The major route of excretion is through the kidneys.


title: Dopamine agonist

text: Pramipexole reaches maximum plasma concentration 1–3 hours post-dose. It is about 15% bound to plasma proteins and the metabolism is minimal. Pramipexole has a long half-life, around 27 hours. The drug is mostly excreted in the urine, around 90%, but also in feces.


title: Dopamine agonist

text: Ropinirole is rapidly absorbed after a single oral dose, reaching plasma concentration in approximately 1–2 hours. The half-life is around 5–6 hours. Ropinirole is heavily metabolized by the liver and in vitro studies show that the enzyme involved in the metabolism of ropinirole is CYP1A2.


title: Dopamine agonist

text: Since rotigotine is a transdermal patch it provides continuous drug delivery over 24 hours. It has a half-life of 3 hours and the protein binding is around 92% in vitro and 89.5% in vivo. Rotigotine is extensively and rapidly metabolized in the liver and by the CYP enzymes. The drug is mostly excreted in urine (71%), but also in feces (23%).


title: Dopamine agonist

text: The dopamine receptors are 7-transmembrane domains and are members of the G protein-coupled receptors (GPCR) superfamily. Dopamine receptors have five subtypes, D through D, the subtypes can be divided into two subclasses due to their mechanism of action on adenylate cyclase enzyme, D-like receptors (D and D) and D-like receptors (D, D and D). D-like receptors are primarily coupled to Gα proteins and activates adenylate cyclase which increases intracellular levels of cAMP, they also activate the G complex and the N-type Ca channel. D-like receptors decrease intracellular levels of the second messenger cAMP by inhibiting adenylate cyclase.


title: Dopamine agonist

text: Bromocriptine is an ergot derivative, semi-synthetic. Bromocriptine is a D receptor agonist and D receptor antagonist with a binding affinity to D receptors of anterior pituitary cells, exclusively on lactotrophs. Bromocriptine stimulates Na, K-ATPase activity and/or cytosolic Ca elevation and therefore reduction of prolactin which leads to no production of cAMP.


title: Dopamine agonist

text: Pramipexol is a highly active non-ergot D-like receptor agonist with a higher binding affinity to D receptors rather than D or D receptors. The mechanism of action of pramipexole is mostly unknown, it is thought to be involved in the activation of dopamine receptors in the area of the brain where the striatum and the substantia nigra is located. This stimulation of dopamine receptors in the striatum may lead to the better movement performance.


title: Dopamine agonist

text: When dealing with agonists it can be extremely complex to confirm relationships between structure and biological activity. Agonists generate responses from living tissues. Therefore, their activity depends both on their efficacy to activate receptors and their affinity to bind to receptors.


title: Dopamine agonist

text: Many molecules are unable to cross the blood brain barrier (BBB). Molecules must be small, non-polar and lipophilic to cross over. If compounds do not possess these qualities they must have a specific transporter that can transport them over the BBB. Dopamine cannot diffuse across the BBB because of the catechol group, it is too polar and therefore unable to enter the brain. The catechol group is a dihydroxy benzene ring.


title: Dopamine agonist

text: The synthesis of dopamine consists of three stages. The synthesis process starts with an amino acid, called L-Tyrosine. In the second stage Levodopa (L-dopa) is formed by adding a phenol group to the benzene ring of L-Tyrosine. The formation of L-dopa from L-tyrosine is catalyzed by the enzyme tyrosine hydroxylase. The third stage is the formation of dopamine by removing the carboxylic acid group from L-dopa, catalysed by the enzyme dopa decarboxylase.


title: Dopamine agonist

text: Levodopa is also too polar to cross the blood brain barrier but it happens to be an amino acid so it has a specialized transporter called L-type amino acid transporter or LAT-1 that helps it diffuse through the barrier.


title: Dopamine agonist

text: When dopamine interacts with ATP, which is a component of some dopamine receptors, it has a significant preference for a trans-conformation of the dopamine molecule. The dopamine-ATP complex is stabilised by hydrogen bonding between catechol hydroxyls and purine nitrogens and by electrostatic interactions between the protonated ammonium group of dopamine and a negative phosphate group. Two conformers of dopamine have been identified as alpha- and beta-conformers in which the catechol ring is coplanar with the plane of the ethylamine side chain. They are substantial in agonist-receptor interactions.


title: Dopamine agonist

text: Central dopaminergic agonist properties of semisynthetic ergoline derivatives lergotrile, pergolide, bromocriptine and lisuride have been established. Some studies suggest that ergot alkaloids have the properties of mixed agonist-antagonist with regards to certain presynaptic and postsynaptic receptors. N-n-Propyl groups (chemical formula: –CHCHCH) frequently enhance dopamine agonist effects in the ergoline derivatives.


title: Dopamine agonist

text: The (+)-enantiomer displays notably diminished activity whereas the (-)-enantiomer possess potent dopamine agonist properties.


title: Dopamine agonist

text: Bromocriptine has an ergot alkaloid structure. Ergot alkaloids are divided into 2 groups; amino acid ergot alkaloids and amine ergot alkaloids, bromocriptine is part of the former group. It contains a bromine halogen on the ergot structure which increases the affinity for the D-receptor but often reduces the efficacy. The similarity between the dopamine structure and the ergoline ring in bromocriptine is likely the cause for its action on the dopamine receptors. It has shown to have equal affinity for D- and D-receptor and much lower affinity for D-receptor.


title: Dopamine agonist

text: Non-ergoline dopamine receptor agonists have higher binding affinity to dopamine D-receptors than dopamine D-receptors. This binding affinity is related to D and D receptor homology, the homology between them has a high degree of sequence and is closest in their transmembrane domains, were they share around 75% of the amino acid.


title: Dopamine agonist

text: Apomorphine has a catechol element and belongs to a class called β-phenylethylamines and its main components are similar to the dopamine structure. The effect that apomorphine has on the dopamine receptors can also be linked to the similarities between its structure and dopamine. It is a chiral molecule and thus can be acquired in both the R and S form, the R form is the one that is used in therapy. When apomorphine interacts with the dopamine receptor, or the ATP on the receptor, the catechol and nitrogen are important to stabilize the structure with hydrogen bonding. The position of the hydroxyl groups is also important and monohydroxy derivatives have been found to be less potent than the dihydroxy groups. There are a number of stability concerns with apomorphine such as oxidation and racemization.


title: Dopamine agonist

text: Rotigotine is a phenolic amine and thus has poor oral bioavailability and fast clearance from the body. Therefore, it has been formulated as a transdermal patch, first and foremost to prevent first pass metabolism in the liver.


title: Dopamine agonist

text: There are two classes of drugs that act as indirect agonists of dopamine receptors: dopamine reuptake inhibitors and dopamine releasing agents. These are not considered dopamine agonists, since they have no specific agonist activity at dopamine receptors, but they are nonetheless related. Indirect agonists are prescribed for a wider range of conditions than standard dopamine agonists.


title: Dopamine agonist

text: Since the late 1960 Levodopa (L-DOPA) has been used to treat Parkinson’s disease but there has always been a debate whether the treatment is worth the side effects. Around 1970 clinicians started using the dopamine agonist apomorphine alongside L-DOPA to minimize the side effects caused by L-DOPA, the dopamine agonists bind to the dopamine receptor in the absence of dopamine. Apomorphine had limited use since it had considerable side effects and difficulty with administration. In 1974 bromocriptine was use widely after clinicians discovered its benefits in treating Parkinsons. When using the two drug classes together there is a possibility to reduce the amount of L-DOPA by 20-30% and thus keeping the fluctuating motor responses to a minimum. Dopamine agonists are often used in younger people as monotherapy and as initial therapy instead of L-DOPA. Although it is important to know that there is a correlation between the two drugs, if l-DOPA doesn't work dopamine agonists are also ineffective.


title: Dopamine agonist

text: The early dopamine agonists, such as bromocriptine, were ergot derived and activated the D-receptor. They induced major side effects such as fibrosis of cardiac valves. It is considered that the reason they induced such side effects is that they activate many types of receptors.


title: Dopamine agonist

text: Because of the major adverse effects of ergot derived dopamine agonists they are generally not used anymore and were mostly abandoned in favor of non-ergot agonists such as pramipexole, ropinirole and rotigotine. They do not induce as serious side effects although common side effects are nausea, edema and hypotension. Patients have also shown impaired impulse control such as overspending, hypersexuality and gambling.


title: Liverpool Street station

text: Liverpool Street station, also known as London Liverpool Street, is a central London railway terminus and connected London Underground station in the north-eastern corner of the City of London, in the ward of Bishopsgate Without. It is the terminus of the West Anglia Main Line to Cambridge, the Great Eastern Main Line to Norwich, commuter trains serving east London and destinations in the East of England, and the Stansted Express service to Stansted Airport.


title: Liverpool Street station

text: The station opened in 1874, as a replacement for Bishopsgate station as the Great Eastern Railway's main London terminus. By 1895, it had the most platforms of any London terminal station. During the First World War, an air raid on the station killed 16 on site, and 146 others in nearby areas. In the build-up to the Second World War, the station served as the entry point for thousands of child refugees arriving in London as part of the "Kindertransport" rescue mission. The station was damaged by the 1993 Bishopsgate bombing and, during the 7 July 2005 bombing, seven passengers were killed when a bomb exploded aboard an Underground train, just after it had departed from Liverpool Street. New platforms for the Elizabeth line opened in 2022 as part of the Crossrail project.


title: Liverpool Street station

text: Liverpool Street was built as a dual-level station, with provision for the Underground. A tube station opened in 1875 for the Metropolitan Railway; the tube station is now served by the Central, Circle, Hammersmith & City and Metropolitan lines. It is in fare zone 1 and is managed directly by Network Rail.


title: Liverpool Street station

text: Liverpool Street station was built as the new London terminus of the Great Eastern Railway (GER) which served and . The GER had been formed from the merger of several railway companies, inheriting as its London terminus. Bishopsgate was inadequate for the company's passenger traffic; its Shoreditch location was in the heart of one of the poorest slums in London and hence badly situated for the City of London commuters the company wanted to attract. Consequently, the GER planned a more central station. The original intention was to build a terminus which reached as far south as the road "London Wall", and which would be as tall as the Broad Street station which was being planned at the same time, however the city authorities did not permit the more southerly location.


title: Liverpool Street station

text: By 1865, plans changed to include a circa long line branching from the main line east of the company's existing terminus in Shoreditch, and a new station at Liverpool Street as the main terminus, with Bishopsgate station to be used for freight traffic. The station at Liverpool Street (the street had been named after the Tory Prime Minister Robert Jenkinson, 2nd Earl of Liverpool in 1829) was to be built for the use of the GER and of the East London Railway on two levels, with the underground East London line around below this, and the GER tracks supported on brick arches. The station was planned to be around in area, with its main façade onto Liverpool Street and an additional entrance on Bishopsgate-Street (now called Bishopsgate and forming part of the A10). The main train shed was to be a two-span wood construction with a central void providing light and ventilation to the lower station, and the station buildings were to be in an Italianate style to the designs of the GER's architect.


title: Liverpool Street station

text: The line and station construction were authorised by the Great Eastern Railway (Metropolitan Station and Railways) Act 1864. The station was built on a site previously occupied by the Bethlem Royal Hospital, adjacent to Broad Street station, west of Bishopsgate and facing onto Liverpool Street to the south. The development land was compulsorily purchased, displacing around 3,000 residents of the parish of St Botolph-without-Bishopsgate. Around 7,000 people living in tenements around Shoreditch were evicted to complete the line towards Liverpool Street, while the City of London Theatre and City of London Gasworks were both demolished. To manage the disruption caused by rehousing, the company was required by the 1864 Act to run daily low-cost workmen's trains from the station.


title: Liverpool Street station

text: The station was designed by GER engineer Edward Wilson and built by Lucas Brothers; the roof was designed and constructed by the Fairburn Engineering Company. The overall design was approximately Gothic, built using stock bricks and bath stone dressings. The building incorporated booking offices as well as the company offices of the GER, including chairman's, board, committee, secretary and engineers' rooms. The roof was spanned by four wrought iron spans, two central spans of and outer spans of 46 and 44 ft, in length over the eastern main lines, and long over the local platforms; the station had 10 platforms, two of which were used for main-line trains and the remainder for suburban trains.


title: Liverpool Street station

text: The station was built with a connection to the sub-surface Metropolitan Railway, with the platform sunk below ground level; consequently there are considerable gradients leaving the station. The Metropolitan Railway used the station as a terminus from 1 February 1875 until 11 July 1875; their own underground station opened on 12 July 1875.


title: Liverpool Street station

text: Local trains began serving the partially completed station from 2 October 1874, and it was fully opened on 1 November 1875, at a final cost of over £2 million. The original City terminus at Bishopsgate closed to passengers and was converted for use as a goods station from 1881. This continued until it was destroyed by fire in 1964.


title: Liverpool Street station

text: The Great Eastern Hotel adjoining the new Liverpool Street station opened in May 1884. It was designed by Charles Barry Jr. (son of the celebrated architect Charles Barry who designed the Houses of Parliament). Upon opening, it was the only hotel in the City of London. An extension called the Abercon Rooms was built in 1901, designed by Colonel Robert William Edis. The hotel includes the Hamilton Rooms, named after former GER chairman Lord Claud Hamilton.


title: Liverpool Street station

text: Although initially viewed as an expensive white elephant, within 10 years the station was working at capacity (about 600 trains per day) and the GER was acquiring land to the east of the station for expansion. An Act of Parliament was obtained in 1888 and work started in 1890 on the eastward expansion of Liverpool Street by adding eight new tracks and platforms. This gave the station the most platforms of any London terminus until Victoria station was expanded in 1908.


title: Liverpool Street station

text: The main station was extended about eastwards; additional shops and offices were constructed east of the new train shed up to the parish boundary with Bishopsgate-Street Without. A new roof was built over the new construction. The outer wall was constructed with Staffordshire blue brick and Ruabon bricks. The four train shed roofs were carried out by Messrs. Handyside and Co., supervised by a Mr Sherlock, the resident engineer; all the foundations, earthwork and brickwork were carried out by Mowlem & Co. Electric power (for lighting) was supplied from an engine house north of the station. Additional civil works included three iron bridges carrying road traffic over the railway on Skinner, Primrose and Worship Streets. The bridge ironwork was supplied and erected by the Horseley Company. John Wilson was chief engineer, with W. N. Ashbee as architect. As part of the works, the GER was obliged by Parliament to rehouse all tenants displaced by the works, with 137 put into existing property and the remaining 600 into tenements constructed at the company's expense.


title: Liverpool Street station

text: By the turn of the 20th century, Liverpool Street had one of the most extensive suburban rail services in London, including branches to and Woodford, and was one of the busiest in the world. In 1912, around 200,000 passengers used the station daily on around 1,000 separate trains.


title: Liverpool Street station

text: Operation Turkenkreuz, the initial First World War air raid on London, took place on 13 June 1917, when 20 Gotha G.IV bombers attacked the capital. The raid struck a number of sites including Liverpool Street. Seven tons of explosives were dropped on the capital, killing 162 people and injuring 432. Three bombs hit the station, of which two exploded, having fallen through the train shed roof, near to two trains. One of these hit a carriage on a train about to depart, another hit carriages used by army doctors; the death toll at the station itself was 16 dead and 15 injured. It was the deadliest single raid on Britain during the war.


title: Liverpool Street station

text: Over 1,000 GER employees who died during the war were honoured on a large marble memorial installed in the booking hall, unveiled on 22 June 1922 by Sir Henry Wilson. On his return home from the unveiling ceremony, Wilson was assassinated by two Irish Republican Army members. He was commemorated by a memorial plaque adjoining the GER monument, unveiled one month after his death. The GER memorial was relocated during the modification of the station and now incorporates both the Wilson and Fryatt memorials, as well as a number of railway related architectural elements salvaged from demolished buildings.


title: Liverpool Street station

text: The station also has a plaque commemorating mariner Charles Fryatt who was executed in 1916 for ramming a German U-boat with the GER steamer "SS Brussels".


title: Liverpool Street station

text: By the early 1900s, the success of deep-bore electric trains on the Underground suggested that local services out of London could also be electrified. Following the war, the GER needed more capacity out of Liverpool Street as it was at capacity (serving almost 230,000 passengers daily in 1921), but they could not afford electrification. They considered high-powered and high-tractive steam locomotives including the GER Class A55 as a possible alternative, but these were rejected because of high track loadings.


title: Liverpool Street station

text: An alternative scheme was introduced, using a combination of automatic signalling and modifications to the layout at Liverpool Street. The station introduced coaling, watering, and other maintenance facilities directly at the station, as well as separate engine bays and a modified track and station layout that reduced turnaround times and increased productivity. Services began on 2 July 1920 with trains to Chingford and Enfield running every 10 minutes. The cost of the modifications was £80,000 compared to an estimated £3 million for electrification. The service was officially called the Intensive Service (as it allowed a 50% increase in capacity on peak services), but became popularly known as the Jazz Service. It lasted until the General Strike of 1926, following which services generally declined.


title: Liverpool Street station

text: The GER amalgamated with several other railways to form the London and North Eastern Railway (LNER) as part of the reorganisation of railway companies in 1923. Liverpool Street came under ownership of the LNER, and suffered from a general lack of attention and neglect throughout the 1930s.


title: Liverpool Street station

text: The station master in 1935 was H C R Calver and he had 395 staff under him with his direct reports, including ticket office, parcels staff, signalmen, platform inspectors and porters. Of this number, 75 were passed for fogging duties for when additional staff were required for safe operation of trains in foggy conditions.


title: Liverpool Street station

text: In addition to this there were many other staff employed at the station on a variety of duties including policemen (uniformed and plain clothes), locomotive staff, permanent way staff, carriage and wagon examiners, steam heat examiners, electric and gas examiners, telegraph staff, linemen, signal fitters, Goods Manager's Despatch Office staff, outside porters, hotel porters, staff from the continental office and GPO staff.


title: Liverpool Street station

text: The former headquarters building of the GER (still a railway office in 1935) was adjacent to Liverpool Street and some departments in that building also had roles in the operation of the station.


title: Liverpool Street station

text: In 1935 the approaches to Liverpool Street and the station itself, were controlled by seven signal boxes, which fell under the responsibility of the Liverpool Street station master. The boxes were:


title: Liverpool Street station

text: Thousands of Jewish refugee children arrived at Liverpool Street in the late 1930s as part of the "Kindertransport" rescue mission to save them in the run up to the Second World War. The Für Das Kind Kindertransport Memorial sculpture by artist Flor Kent was installed at the station in September 2003 commemorating this event. It consisted of a specialised glass case with original objects and a bronze sculpture of a girl, a direct descendant of a child rescued by Nicholas Winton, who unveiled the work. The objects included in the sculpture began to deteriorate in bad weather, and a replacement bronze memorial, "Kindertransport – The Arrival" by Frank Meisler was installed as a replacement at the main entrance in November 2006. The child statue from the Kent memorial was re-erected separately in 2011.


title: Liverpool Street station

text: During the war, the station's structure sustained damage from a nearby bomb, particularly the Gothic tower at the main entrance on Liverpool Street and its glass roof.


title: Liverpool Street station

text: As a precautionary measure the large and weighty West Side hanging clock was bought down to platform level and served as an enquiry office for the duration of the war.


title: Liverpool Street station

text: After the formation of the London Passenger Transport Board in 1933, work to electrify the line from Liverpool Street to Shenfield began in association with the LNER. Progress had been halted by the war but work resumed after the end of hostilities. The line between Liverpool Street and Stratford was electrified from 3 December 1946, and the full electrification of the Shenfield line at 1500 V DC was completed in September 1949. At the same time, electrification of London Underground services in Essex and in northeast and east London led to the withdrawal of some services from Liverpool Street, being replaced with LU operations. Electrification continued with the line to Chingford electrified by November 1960. In 1960-61 conversion of the 1,500 V DC route to Shenfield which had been extended to Southend and Chelmsford was converted to 6.25kV ac.


title: Liverpool Street station

text: In 1973 the British Railways Board, London Transport Executive, Greater London Council and the Department of the Environment produced a report examining the modernisation of London transport. It recommended high priority given to reconstructing Liverpool Street and Broad Street stations and recommended financing this through property development on the site. Liverpool Street had a number of design and access issues, many of which derived from the 1890 extension which had effectively created two stations on one site, with two concourses linked by walkways, booking halls, and inefficient traffic flows within the station. Additionally the rail infrastructure presented limitations; only seven of the platforms could accommodate 12-carriage trains, and the track exit layout was a bottleneck. In 1975 British Railways announced plans to demolish and redevelop both stations. The proposed demolition met considerable public opposition and prompted a campaign led by the Poet Laureate Sir John Betjeman, leading to a public inquiry from November 1976 to February 1977.


title: Liverpool Street station

text: In autumn 1980 conversion of the overhead electrification from 6.25kV AC to the standard supply of 25kV AC. The inquiry recommended that the western (1875) train shed roof should be retained in new development; consequently it was repaired and reinforced between 1982 and 1984, followed by repairs to the main roof completed in 1987. Initial plans included adding two additional tracks, with 22 platforms in a layout similar to that of Waterloo station; the combined Broad Street and Liverpool Street station was to be at the level of the latter, with relatively low-rise office developments. The development was reassessed in 1983/4, when it was decided to retain the existing six-road exit throat and 18-platform layout, in combination with resignalling; this resulted in a station confined to the Liverpool Street site, with ground space released for development. British Railways signed an agreement with developers Rosehaugh Stanhope in 1985, and work on the office development, known as Broadgate, began.


title: Liverpool Street station

text: Railway work included the construction of a short link from the North London Line to the Cambridge main line, allowing trains that had previously used Broad Street to terminate at Liverpool Street. The station was reconstructed with a single concourse at the head of the station platforms, and entrances from Bishopsgate and Liverpool Street, as well as a bus interchange in the south west corner. The Broadgate development was constructed between 1985 and 1991, with of office space on the site of the former Broad Street station and above the Liverpool Street tracks. Proceeds from the Broadgate development were used to help fund the station modernisation.


title: Liverpool Street station

text: In 1988, The Arcade above the underground station on the corner of Liverpool Street and Old Broad Street was due to be completely demolished by London Regional Transport and MEPC, who wanted to develop the site into a five-storey block of offices and shops. More than 6,000 people signed a petition to "Save the Arcade", and the historic Victorian building still stands today. The campaign against the development was led by Graham Horwood, who owned an employment agency within the Arcade at the time.


title: Liverpool Street station

text: In 1989, the first visual display unit-controlled signalling operation on British Rail (known as an Integrated Electronic Control Centre) became operational at Liverpool Street.


title: Liverpool Street station

text: The redeveloped Liverpool Street was officially opened by Queen Elizabeth II on 5 December 1991. At that time a giant departures board was installed above the concourse; it was one of the last remaining mechanical 'flapper' display boards at a British railway station until its replacement in November 2007.


title: Liverpool Street station

text: In 1991, an additional entrance was constructed on the east side of Bishopsgate with a subway under the road. The station was "twinned" with Amsterdam Centraal railway station on 2 December 1993, with a plaque marking this close to the entrance to the Underground station.


title: Liverpool Street station

text: The station was badly damaged on 24 April 1993 by the Bishopsgate bombing and was temporarily closed as a result. About £250,000 of damage was caused to the station, primarily to the glass roof. The station re-opened on 26 April 1993.


title: Liverpool Street station

text: In 2013, during excavation work for the Crossrail project, a mass burial ground dating from the 17th century was uncovered a few feet beneath the surface at Liverpool Street, the so-called Bedlam burial ground or New Churchyard. It contained the remains of several hundred people and it is thought that the interments were of a wide variety of people, including plague victims, prisoners and unclaimed corpses. A 16th-century gold coin, thought to have been used as a sequin or pendant, was also found. In early 2015 full scale excavation of the burials began, then estimated at around 3,000 interments.


title: Liverpool Street station

text: In advance of the full opening of the Elizabeth line, precursor operator TfL Rail took over from Greater Anglia the Liverpool Street-Shenfield stopping "metro" service from 2015. At the same time, services on the Lea Valley Lines out of Liverpool Street to Enfield Town, Cheshunt (via Seven Sisters) and Chingford transferred to London Overground. The central section of the Elizabeth line opened on 24 May 2022 between Paddington and Abbey Wood. The Elizabeth line platforms are to the south-west of the existing tube station building. A new ticket hall with step-free access opened next to the Broadgate development, with links to the existing Underground station, and a pedestrian link via the new platforms to the ticket hall of , providing direct access to London Underground's Northern line and the National Rail Northern City Line at Moorgate. Thus, Liverpool Street appears on the Tube map as an interchange with Moorgate, similarly to and .


title: Liverpool Street station

text: In the year prior to the COVID-19 pandemic, Liverpool Street was the third-busiest railway station in the United Kingdom after London Waterloo and London Victoria, with an estimated 66 million passenger entries/exits. Patronage fell 83% in 2020/21 to 11.2 million due to the pandemic.


title: Liverpool Street station

text: Trains depart from the main line station for destinations across the east of England, including , , , , , , , , , , and many suburban stations in north and east London, Essex and Hertfordshire. A few daily express trains to provide a connection with the Dutchflyer ferry to Hook of Holland. Stansted Express trains provide a link to and Southend Victoria-bound services stop at .


title: Liverpool Street station

text: Most passenger services on the Great Eastern Main Line are operated by Greater Anglia. Since 2015, the Shenfield stopping service has been operated by Transport for London (first under the TfL Rail brand, now the Elizabeth line), and the Lea Valley Lines to Enfield Town, Cheshunt (via Seven Sisters) and Chingford are operated by London Overground. A small number of late-evening and weekend services operated by c2c run via Barking. The station is split into two “halves”: the "west" side for the Lea Valley Lines services and the "east" side for services via Shenfield.


title: Liverpool Street station

text: Trains on the central section of the Elizabeth line run west towards and east to in south-east London.


title: Liverpool Street station

text: Liverpool Street Underground station is served by the Central, Circle, Hammersmith & City and Metropolitan lines, and is the sixth-busiest on the London Underground network. On the Central line it is between Bank and Bethnal Green stations, on Circle and Metropolitan lines between Aldgate and Moorgate and, on Hammersmith and City, between Aldgate East and Moorgate. In common with other tube stations serving Central London termini, it is in fare zone 1. There is no wheelchair access to the tube lines, except from the eastbound Circle, Hammersmith & City and Metropolitan lines, which have a ramp leading to the platform.


title: Liverpool Street station

text: Liverpool Street had been designed to integrate with the expanding London Underground network, and served as a new terminus for the Metropolitan Railway (MR) which extended east from Moorgate. From 1874 to 1875, the MR used the Liverpool Street main line station as a terminus; the company opened its own station on 12 July 1875, initially named Bishopsgate. Subsurface platforms 1 and 2 were opened in 1875. A west-facing bay platform, platform 3, was formerly located to the south of platform 2; this was used by terminating Metropolitan line trains from the west. It was in use by 1896, and was still in use in 1974, but was redundant by 1994.


title: Liverpool Street station

text: The Metropolitan Railway connection was closed in 1904 and the station was renamed Liverpool Street on 1 November 1909.


title: Liverpool Street station

text: In 1912, after the completion of an extension project from Bank, Liverpool Street became a new terminus of the Central London Railway (CLR). The platforms that are now the deep-level Central line platforms 4 and 5 opened as the eastern terminus of the CLR on 28 July 1912. The tube station was one of the first to use the Moore Vacuum Tube, a new system of lighting that produced three times as much as a normal bulb.


title: Liverpool Street station

text: The tube station became one of the principal shelters during the Blitz. The station was not initially open to the public as a shelter, but during heavy raids on the East End on 7 September 1940, many sought refuge at the station, which was the safest and most practical shelter for many. Some sources suggest that the local people forced entry, others that staff decided to open the gates to everyone without asking for tickets, something which would have been technically illegal.


title: Liverpool Street station

text: On 4 December 1946, the passenger line was extended eastwards as part of the war-delayed London Passenger Transport Board's New Works Programme. An Underground ticket hall was added in 1951.


title: Liverpool Street station

text: During the 7 July 2005 terrorist attacks on London, a bomb was exploded aboard an Underground train that had departed Liverpool Street toward Aldgate. Seven passengers were killed.


title: Liverpool Street station

text: The Liverpool Street Post Office Railway station is a disused station that was operated by Royal Mail on the London Post Office Railway system.


title: Liverpool Street station

text: The station is between Mount Pleasant Mail Centre and Whitechapel Eastern District Post Office, and is situated at the south end of Liverpool Street under the Great Eastern Hotel. It opened in December 1927; lifts on either side of the station as well as chutes enabled the transfer of mail to and from the main station. Two parcel and letter bag conveyors were connected to platforms 10 and 11 (currently used by Greater Anglia); postal traffic reached 10,000 bags daily in the 1930s, with 690 Post Office services calling. The system was discontinued in 2003.


title: Liverpool Street station

text: In 2014, a team from the University of Cambridge began conducting a study in a short, double track section of unused tunnel near the platforms where a newly built tunnel for Crossrail is situated almost two metres beneath. The study is to establish how the original cast-iron lining sections, which are similar to those used for many miles of railway under London, resist possible deformation and soil movement caused by the developments.


title: Liverpool Street station

text: In late 2022, the six off-peak trains per hour from Shenfield to the main Liverpool Street station will be doubled in frequency and diverted into the Crossrail tunnel west of . Four peak trains per hour will be retained on the "metro" service between and the main Liverpool Street station over the Great Eastern Main Line between Stratford and Liverpool Street (omitting Whitechapel). To accommodate the nine car Crossrail trains, platform 18 at the main Liverpool Street station was decommissioned in December 2020 to allow platforms 16 and 17 to be extended.


title: Liverpool Street station

text: The Central line runs directly below on the London Overground's East London Line and an interchange has been desired locally in neighbouring Shoreditch since it opened in 2010. The new platforms would lie between Bethnal Green and Liverpool Street on one of the longest gaps between stations in inner London. Although there would be benefits to this interchange, it was ruled out on grounds of cost, the disruption it would cause to the Central line while being built, and because the platforms would be too close to sidings at Liverpool Street; the proposal will not be reconsidered until after Crossrail is fully operational.


title: Liverpool Street station

text: A freight trial between Liverpool Street and London Gateway was planned to start in April or May 2020, using a Class 769 bi-mode train.


title: Liverpool Street station

text: Liverpool Street is one of the four railway stations present on the British version of Monopoly, along with King's Cross, and Marylebone. All four stations were termini of LNER services when Victor Watson redesigned the game for the British market in 1936.


title: Liverpool Street station

text: The station has been used several times as the site of fictionalised terrorist attacks: in Andy McNab's novel "Dark Winter" the station is the target of an attack; in "London Under Attack", a 2004 "Panorama" docu-drama portrayal of a terrorist attack on London using chlorine gas; and the drama "Dirty War" (2004) portrayed a suicide terrorist attack using a "dirty bomb" near the Underground station. The station has also been used as a backdrop for a number of other film and television productions, including espionage films "Stormbreaker" (2006) and "" (1996), and crime drama "The Shadow Line" (2011), as well as the site for staged "flash mobs" in the film "" (2009), and for a T-Mobile advert.


title: Liverpool Street station

text: H. G. Wells' 1898 novel "The War of The Worlds" included a chaotic rush to board trains at Liverpool Street as the Martian machines overran military defences in the West End.


title: Comparison of file systems

text: Note that in addition to the below table, block capabilities can be implemented below the file system layer in Linux (LVM, integritysetup, cryptsetup) or Windows (Volume Shadow Copy Service, SECURITY), etc.


title: We

text: There is also a distinct determiner "we" as in "we humans aren't perfect", which some people consider to be just an extended use of the pronoun.


title: We

text: "We" has been part of English since Old English, having come from Proto-Germanic *"wejes", from PIE *"we"-. Similarly, "us" was used in Old English as the accusative and dative plural of "we", from PIE *"nes"-. The following table shows the old English first-person plural and dual pronouns:


title: We

text: By late Middle English the dual form was lost and the dative and accusative had merged. The "ours" genitive can be seen as early as the 12th century. "Ourselves" replaced original construction "we selfe", "us selfum" in the 15th century, so that, by century's end, the Middle English forms of "we" had solidified into those we use today.


title: We

text: "We" is not generally seen as participating in the system of gender. In Old English, it certainly didn't. Only third-person pronouns had distinct masculine, feminine, and neutre gender forms. But by the 17th century, that old gender system, which also marked gender on common nouns and adjectives, had disappeared, leaving only pronoun marking. At the same time, a new relative pronoun system was developing that eventually split between personal relative "who" and impersonal relative "which". This is seen as a new personal / non-personal (or impersonal) gender system. As a result,


title: We

text: "We" can appear as a subject, object, determiner or predicative complement. The reflexive form also appears as an adjunct.


title: We

text: Pronouns rarely take dependents, but it is possible for we to have many of the same kind of dependents as other noun phrases.


title: We

text: "We" referents generally must include the speaker, along with other persons. A few exceptional cases, which include nosism, are presented below. "We" is always definite and specific.


title: We

text: The royal "we", or majestic plural ("pluralis majestatis"), is sometimes used by a person of high office, such as a monarch, earl, or pope. It has singular semantics.


title: We

text: The editorial "we" is a similar phenomenon, in which an editorial columnist in a newspaper or a similar commentator in another medium refers to themselves as "we" when giving their opinion. Here, the writer casts themselves in the role of spokesperson: either for the media institution who employs them, or on behalf of the party or body of citizens who agree with the commentary. The reference is not explicit, but is generally consistent with first-person plural.


title: We

text: The author's "we", or "pluralis modestiae", is a practice referring to a generic third person as "we" (instead of "one" or the informal "you"):


title: We

text: "We" in this sense often refers to "the reader and the author" because the author often assumes that the reader knows and agrees with certain principles or previous theorems for the sake of brevity (or, if not, the reader is prompted to look them up). This practice is discouraged by some academic style guides because it fails to distinguish between sole authorship and co-authorship. Again, the reference is not explicit, but is generally consistent with first-person plural.


title: We

text: Some languages distinguish between inclusive "we", which includes both the speaker and the addressee(s), and exclusive "we", which excludes the addressee(s). English does not make this distinction grammatically, though "we" can have both inclusive and exclusive semantics.


title: We

text: "We" is used sometimes in place of "you" to address a second party: A doctor may ask a patient: "And how are we feeling today?". A waiter may ask a client: "What are we in the mood for?"


title: Robot Operating System

text: Robot Operating System (ROS or ros) is an open-source robotics middleware suite. Although ROS is not an operating system (OS) but a set of software frameworks for robot software development, it provides services designed for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. Running sets of ROS-based processes are represented in a graph architecture where processing takes place in nodes that may receive, post, and multiplex sensor data, control, state, planning, actuator, and other messages. Despite the importance of reactivity and low latency in robot control, ROS is "not" a real-time operating system (RTOS). However, it is possible to integrate ROS with real-time code. The lack of support for real-time systems has been addressed in the creation of ROS 2, a major revision of the ROS API which will take advantage of modern libraries and technologies for core ROS functions and add support for real-time code and embedded system hardware.


title: Robot Operating System

text: Both the language-independent tools and the main client libraries (C++, Python, and Lisp) are released under the terms of the BSD license, and as such are open-source software and free for both commercial and research use. The majority of other packages are licensed under a variety of open-source licenses. These other packages implement commonly used functionality and applications such as hardware drivers, robot models, datatypes, planning, perception, simultaneous localization and mapping, simulation tools, and other algorithms.


title: Robot Operating System

text: The main ROS client libraries are geared toward a Unix-like system, primarily because of their dependence on large collections of open-source software dependencies. For these client libraries, Ubuntu Linux is listed as "Supported" while other variants such as Fedora Linux, macOS, and Microsoft Windows are designated "experimental" and are supported by the community. The native Java ROS client library, , however, does not share these limitations and has enabled ROS-based software to be written for the Android OS. has also enabled ROS to be integrated into an officially supported MATLAB toolbox which can be used on Linux, macOS, and Microsoft Windows. A JavaScript client library, has also been developed which enables integration of software into a ROS system via any standards-compliant web browser.


title: Robot Operating System

text: Sometime before 2007, the first pieces of what eventually would become ROS began coalescing at Stanford University. Eric Berger and Keenan Wyrobek, PhD students working in Kenneth Salisbury's robotics laboratory at Stanford, were leading the Personal Robotics Program. While working on robots to do manipulation tasks in human environments, the two students noticed that many of their colleagues were held back by the diverse nature of robotics: an excellent software developer might not have the hardware knowledge required, someone developing state of the art path planning might not know how to do the computer vision required. In an attempt to remedy this situation, the two students set out to make a baseline system that would provide a starting place for others in academia to build upon. In the words of Eric Berger, "something that didn’t suck, in all of those different dimensions".


title: Robot Operating System

text: In their first steps towards this unifying system, the two built the PR1 as a hardware prototype and began to work on software from it, borrowing the best practices from other early open-source robotic software frameworks, particularly switchyard, a system that Morgan Quigley, another Stanford PhD student, had been working on in support of the STanford Artificial Intelligence Robot (STAIR) by the Stanford Artificial Intelligence Laboratory. Early funding of US$50,000 was provided by Joanna Hoffman and Alain Rossmann, which supported the development of the PR1. While seeking funding for further development, Eric Berger and Keenan Wyrobek met Scott Hassan, the founder of Willow Garage, a technology incubator which was working on an autonomous SUV and a solar autonomous boat. Hassan shared Berger and Wyrobek's vision of a "Linux for robotics", and invited them to come and work at Willow Garage. Willow Garage was started in January 2007, and the first commit of ROS code was made to SourceForge on 7 November 2007.


title: Robot Operating System

text: Willow Garage began developing the PR2 robot as a follow-up to the PR1, and ROS as the software to run it. Groups from more than twenty institutions made contributions to ROS, both the core software and the growing number of packages which worked with ROS to form a greater software ecosystem. That people outside of Willow were contributing to ROS (especially from Stanford's STAIR project) meant that ROS was a multi-robot platform from the start. While Willow Garage had originally had other projects in progress, they were scrapped in favor of the Personal Robotics Program: focused on producing the PR2 as a research platform for academia and ROS as the open-source robotics stack that would underlie both academic research and tech startups, much like the LAMP stack did for web-based startups.


title: Robot Operating System

text: In December 2008, Willow Garage met the first of their three internal milestones: continuous navigation for the PR2 over a period of two days and a distance of pi kilometers. Soon after, an early version of ROS (0.4 Mango Tango) was released, followed by the first RVIZ documentation and the first paper on ROS. In early summer, the second internal milestone: having the PR2 navigate the office, open doors, and plug itself it in, was reached. This was followed in August by the initiation of the ROS.org website. Early tutorials on ROS were posted in December, preparing for the release of ROS 1.0, in January 2010. This was Milestone 3: producing tons of documentation and tutorials for the enormous abilities that Willow Garage's engineers had developed over the preceding 3 years.


title: Robot Operating System

text: Following this, Willow Garage achieved one of its longest held goals: giving away 10 PR2 robots to worthy academic institutions. This had long been a goal of the founders, as they felt that the PR2 could kick-start robotics research around the world. They ended up awarding eleven PR2s to different institutions, including University of Freiburg (Germany), Robert Bosch GmbH, Georgia Institute of Technology, KU Leuven (Belgium), Massachusetts Institute of Technology (MIT), Stanford University, Technical University of Munich (Germany), University of California, Berkeley, University of Pennsylvania, University of Southern California (USC), and University of Tokyo (Japan). This, combined with Willow Garage's highly successful internship program (run from 2008 to 2010 by Melonee Wise), helped to spread the word about ROS throughout the robotics world. The first official ROS distribution release: ROS Box Turtle, was released on 2 March 2010, marking the first time that ROS was officially distributed with a set of versioned packages for public use. These developments led to the first drone running ROS, the first autonomous car running ROS, and the adaption of ROS for Lego Mindstorms. With the PR2 Beta program well underway, the PR2 robot was officially released for commercial purchase on 9 September 2010.


title: Robot Operating System

text: 2011 was a banner year for ROS with the launch of ROS Answers, a Q/A forum for ROS users, on 15 February; the introduction of the highly successful TurtleBot robot kit on 18 April; and the total number of ROS repositories passing 100 on 5 May. Willow Garage began 2012 by creating the Open Source Robotics Foundation (OSRF) in April. The OSRF was immediately awarded a software contract by the Defense Advanced Research Projects Agency (DARPA). Later that year, the first ROSCon was held in St. Paul, Minnesota, the first book on ROS, "ROS By Example", was published, and Baxter, the first commercial robot to run ROS, was announced by Rethink Robotics. Soon after passing its fifth anniversary in November, ROS began running on every continent on 3 December 2012.


title: Robot Operating System

text: In February 2013, the OSRF became the primary software maintainers for ROS, foreshadowing the announcement in August that Willow Garage would be absorbed by its founders, Suitable Technologies. At this point, ROS had released seven major versions (up to ROS Groovy), and had users all over the globe. This chapter of ROS development would be finalized when Clearpath Robotics took over support responsibilities for the PR2 in early 2014.


title: Robot Operating System

text: In the years since OSRF took over primary development of ROS, a new version has been released every year, while interest in ROS continues to grow. ROSCons have occurred every year since 2012, co-located with either ICRA or IROS, two flagship robotics conferences. Meetups of ROS developers have been organized in a variety of countries, a number of ROS books have been published, and many educational programs initiated. On 1 September 2014, NASA announced the first robot to run ROS in space: Robotnaut 2, on the International Space Station. In 2017, the OSRF changed its name to Open Robotics. Tech giants Amazon and Microsoft began to take an interest in ROS during this time, with Microsoft porting core ROS to Windows in September 2018, followed by Amazon Web Services releasing RoboMaker in November 2018.


title: Robot Operating System

text: Perhaps the most important development of the OSRF/Open Robotics years thus far (not to discount the explosion of robot platforms which began to support ROS or the enormous improvements in each ROS version) was the proposal of ROS 2, a significant API change to ROS which is intended to support real time programming, a wider variety of computing environments, and utilize more modern technology. ROS 2 was announced at ROSCon 2014, the first commits to the repository were made in February 2015, followed by alpha releases in August 2015. The first distribution release of ROS 2, Ardent Apalone, was released on 8 December 2017, ushering in a new era of next-generation ROS development.


title: Robot Operating System

text: ROS was designed to be open source, intending that users would be able to choose the configuration of tools and libraries which interacted with the core of ROS so that users could shift their software stacks to fit their robot and application area. As such, there is very little which is core to ROS, beyond the general structure within which programs must exist and communicate. In one sense, ROS is the underlying plumbing behind nodes and message passing. However, in reality, ROS is not only that plumbing, but a rich and mature set of tools, a wide-ranging set of robot-agnostic abilities provided by packages, and a greater ecosystem of additions to ROS.


title: Robot Operating System

text: ROS processes are represented as nodes in a graph structure, connected by edges called topics. ROS nodes can pass messages to one another through topics, make service calls to other nodes, provide a service for other nodes, or set or retrieve shared data from a communal database called the parameter server. A process called the ROS Master makes all of this possible by registering nodes to itself, setting up node-to-node communication for topics, and controlling parameter server updates. Messages and service calls do not pass through the master, rather the master sets up peer-to-peer communication between all node processes after they register themselves with the master. This decentralized architecture lends itself well to robots, which often consist of a subset of networked computer hardware, and may communicate with off-board computers for heavy computing or commands.


title: Robot Operating System

text: A node represents one process running the ROS graph. Every node has a name, which it registers with the ROS master before it can take any other actions. Multiple nodes with different names can exist under different namespaces, or a node can be defined as anonymous, in which case it will randomly generate an additional identifier to add to its given name. Nodes are at the center of ROS programming, as most ROS client code is in the form of a ROS node which takes actions based on information received from other nodes, sends information to other nodes, or sends and receives requests for actions to and from other nodes.


title: Robot Operating System

text: Topics are named buses over which nodes send and receive messages. Topic names must be unique within their namespace as well. To send messages to a topic, a node must publish to said topic, while to receive messages it must subscribe. The publish/subscribe model is anonymous: no node knows which nodes are sending or receiving on a topic, only that it is sending/receiving on that topic. The types of messages passed on a topic vary widely and can be user-defined. The content of these messages can be sensor data, motor control commands, state information, actuator commands, or anything else.


title: Robot Operating System

text: A node may also advertise services. A service represents an action that a node can take which will have a single result. As such, services are often used for actions which have a defined start and end, such as capturing a one-frame image, rather than processing velocity commands to a wheel motor or odometer data from a wheel encoder. Nodes advertise services and call services from one another.


title: Robot Operating System

text: The parameter server is a database shared between nodes which allows for communal access to static or semi-static information. Data which does not change frequently and as such will be infrequently accessed, such as the distance between two fixed points in the environment, or the weight of the robot, are good candidates for storage in the parameter server.


title: Robot Operating System

text: ROS's core functionality is augmented by a variety of tools which allow developers to visualize and record data, easily navigate the ROS package structures, and create scripts automating complex configuration and setup processes. The addition of these tools greatly increases the abilities of systems using ROS by simplifying and providing solutions to a number of common robotics development problems. These tools are provided in packages like any other algorithm, but rather than providing implementations of hardware drivers or algorithms for various robotic tasks, these packages provide task and robot-agnostic tools which come with the core of most modern ROS installations.


title: Robot Operating System

text: catkin is the ROS build system, having replaced as of ROS Groovy. catkin is based on CMake, and is similarly cross-platform, open-source, and language-independent.


title: Robot Operating System

text: The package provides a suite of tools which augment the functionality of the bash shell. These tools include , , and , which replicate the functionalities of ls, cd, and cp respectively. The ROS versions of these tools allow users to use package names in place of the file path where the package is located. The package also adds tab-completion to most ROS utilities, and includes rosed, which edits a given file with the chosen default text editor, as well , which runs executables in ROS packages. supports the same functionalities for zsh and tcsh, to a lesser extent.


title: Robot Operating System

text: ROS contains many open-source implementations of common robotics functionality and algorithms. These open-source implementations are organized into packages. Many packages are included as part of ROS distributions, while others may be developed by individuals and distributed through code sharing sites such as . Some packages of note include:


title: Robot Operating System

text: ROS releases may be incompatible with other releases and are often referred to by code name rather than version number. ROS currently releases a version every year in May, following the release of Ubuntu LTS versions. ROS 2 currently releases a new version every six months (in December and July). These releases are supported for a single year. There are currently two active major versions seeing releases: ROS 1 and ROS 2. Aside to this there is the ROS-Industrial or ROS-I derivate project since at least 2012.


title: Robot Operating System

text: ROS-Industrial is an open-source project (BSD (legacy)/Apache 2.0 (preferred) license) that extends the advanced abilities of ROS to manufacturing automation and robotics. In the industrial environment, there are two different approaches to programming a robot: either through an external proprietary controller, typically implemented using ROS, or via the respective native programming language of the robot. ROS can therefore be seen as the software-based approach to program industrial robots instead of the classic robot controller-based approach.


title: Robot Operating System

text: The ROS-Industrial repository includes interfaces for common industrial manipulators, grippers, sensors, and device networks. It also provides software libraries for automatic 2D/3D sensor calibration, process path/motion planning, applications like Scan-N-Plan, developer tools like the Qt Creator ROS Plugin, and training curriculum that is specific to the needs of manufacturers. ROS-I is supported by an international Consortium of industry and research members. The project began as a collaborative endeavor between Yaskawa Motoman Robotics, Southwest Research Institute, and Willow Garage to support the use of ROS for manufacturing automation, with the GitHub repository being founded in January 2012 by Shaun Edwards (SwRI). Currently, the Consortium is divided into three groups; the ROS-Industrial Consortium Americas (led by SwRI and located in San Antonio, Texas), the ROS-Industrial Consortium Europe (led by Fraunhofer IPA and located in Stuttgart, Germany) and the ROS-Industrial Consortium Asia Pacific (led by Advanced Remanufacturing and Technology Centre (ARTC) and Nanyang Technological University (NTU) and located in Singapore).


title: Robot Operating System

text: The Consortia supports the global ROS-Industrial community by conducting ROS-I training, providing technical support and setting the future roadmap for ROS-I, as well as conducting precompetitive joint industry projects to develop new ROS-I abilities.


title: Waveguide

text: A waveguide is a structure that guides waves, such as electromagnetic waves or sound, with minimal loss of energy by restricting the transmission of energy to one direction. Without the physical constraint of a waveguide, wave intensities decrease according to the inverse square law as they expand into three-dimensional space.


title: Waveguide

text: There are different types of waveguides for different types of waves. The original and most common meaning is a hollow conductive metal pipe used to carry high frequency radio waves, particularly microwaves. Dielectric waveguides are used at higher radio frequencies, and transparent dielectric waveguides and optical fibers serve as waveguides for light. In acoustics, air ducts and horns are used as waveguides for sound in musical instruments and loudspeakers, and specially-shaped metal rods conduct ultrasonic waves in ultrasonic machining.


title: Waveguide

text: The geometry of a waveguide reflects its function; in addition to more common types that channel the wave in one dimension, there are two-dimensional slab waveguides which confine waves to two dimensions. The frequency of the transmitted wave also dictates the size of a waveguide: each waveguide has a cutoff wavelength determined by its size and will not conduct waves of greater wavelength; an optical fiber that guides light will not transmit microwaves which have a much larger wavelength. Some naturally occurring structures can also act as waveguides. The SOFAR channel layer in the ocean can guide the sound of whale song across enormous distances.


title: Waveguide

text: Any shape of cross section of waveguide can support EM waves. Irregular shapes are difficult to analyse. Commonly used waveguides are rectangular and circular in shape.


title: Waveguide

text: The uses of waveguides for transmitting signals were known even before the term was coined. The phenomenon of sound waves guided through a taut wire have been known for a long time, as well as sound through a hollow pipe such as a cave or medical stethoscope. Other uses of waveguides are in transmitting power between the components of a system such as radio, radar or optical devices. Waveguides are the fundamental principle of guided wave testing (GWT), one of the many methods of non-destructive evaluation.


title: Waveguide

text: The first structure for guiding waves was proposed by J. J. Thomson in 1893, and was first experimentally tested by Oliver Lodge in 1894. The first mathematical analysis of electromagnetic waves in a metal cylinder was performed by Lord Rayleigh in 1897.


title: Waveguide

text: For sound waves, Lord Rayleigh published a full mathematical analysis of propagation modes in his seminal work, “The Theory of Sound”. Jagadish Chandra Bose researched millimetre wavelengths using waveguides, and in 1897 described to the Royal Institution in London his research carried out in Kolkata.


title: Waveguide

text: The study of dielectric waveguides (such as optical fibers, see below) began as early as the 1920s, by several people, most famous of which are Rayleigh, Sommerfeld and Debye.


title: Waveguide

text: Optical fiber began to receive special attention in the 1960s due to its importance to the communications industry.


title: Waveguide

text: The development of radio communication initially occurred at the lower frequencies because these could be more easily propagated over large distances. The long wavelengths made these frequencies unsuitable for use in hollow metal waveguides because of the impractically large diameter tubes required. Consequently, research into hollow metal waveguides stalled and the work of Lord Rayleigh was forgotten for a time and had to be rediscovered by others. Practical investigations resumed in the 1930s by George C. Southworth at Bell Labs and Wilmer L. Barrow at MIT. Southworth at first took the theory from papers on waves in dielectric rods because the work of Lord Rayleigh was unknown to him. This misled him somewhat; some of his experiments failed because he was not aware of the phenomenon of waveguide cutoff frequency already found in Lord Rayleigh's work. Serious theoretical work was taken up by John R. Carson and Sallie P. Mead. This work led to the discovery that for the TE mode in circular waveguide losses go down with frequency and at one time this was a serious contender for the format for long-distance telecommunications.


title: Waveguide

text: The importance of radar in World War II gave a great impetus to waveguide research, at least on the Allied side. The magnetron, developed in 1940 by John Randall and Harry Boot at the University of Birmingham in the United Kingdom, provided a good power source and made microwave radar feasible. The most important centre of US research was at the Radiation Laboratory (Rad Lab) at MIT but many others took part in the US, and in the UK such as the Telecommunications Research Establishment. The head of the Fundamental Development Group at Rad Lab was Edward Mills Purcell. His researchers included Julian Schwinger, Nathan Marcuvitz, Carol Gray Montgomery, and Robert H. Dicke. Much of the Rad Lab work concentrated on finding lumped element models of waveguide structures so that components in waveguide could be analysed with standard circuit theory. Hans Bethe was also briefly at Rad Lab, but while there he produced his small aperture theory which proved important for waveguide cavity filters, first developed at Rad Lab. The German side, on the other hand, largely ignored the potential of waveguides in radar until very late in the war. So much so that when radar parts from a downed British plane were sent to Siemens & Halske for analysis, even though they were recognised as microwave components, their purpose could not be identified.


title: Waveguide

text: German academics were even allowed to continue publicly publishing their research in this field because it was not felt to be important.


title: Waveguide

text: Immediately after World War II waveguide was the technology of choice in the microwave field. However, it has some problems; it is bulky, expensive to produce, and the cutoff frequency effect makes it difficult to produce wideband devices. Ridged waveguide can increase bandwidth beyond an octave, but a better solution is to use a technology working in TEM mode (that is, non-waveguide) such as coaxial conductors since TEM does not have a cutoff frequency. A shielded rectangular conductor can also be used and this has certain manufacturing advantages over coax and can be seen as the forerunner of the planar technologies (stripline and microstrip). However, planar technologies really started to take off when printed circuits were introduced. These methods are significantly cheaper than waveguide and have largely taken its place in most bands. However, waveguide is still favoured in the higher microwave bands from around Ku band upwards.


title: Waveguide

text: A propagation mode in a waveguide is one solution of the wave equations, or, in other words, the form of the wave. Due to the constraints of the boundary conditions, there are only limited frequencies and forms for the wave function which can propagate in the waveguide. The lowest frequency in which a certain mode can propagate is the cutoff frequency of that mode. The mode with the lowest cutoff frequency is the fundamental mode of the waveguide, and its cutoff frequency is the waveguide cutoff frequency.


title: Waveguide

text: Propagation modes are computed by solving the Helmholtz equation alongside a set of boundary conditions depending on the geometrical shape and materials bounding the region. The usual assumption for infinitely long uniform waveguides allows us to assume a propagating form for the wave, i.e. stating that every field component has a known dependency on the propagation direction (i.e. formula_1). More specifically, the common approach is to first replace all unknown time-varying unknown fields formula_2 (assuming for simplicity to describe the fields in cartesian components) with their complex phasors representation formula_3, sufficient to fully describe any infinitely long single-tone signal at frequency formula_4, (angular frequency formula_5), and rewrite the Helmholtz equation and boundary conditions accordingly. Then, every unknown field is forced to have a form like formula_6, where the formula_7 term represents the propagation constant (still unknown) along the direction along which the waveguide extends to infinity. The Helmholtz equation can be rewritten to accommodate such form and the resulting equality needs to be solved for formula_7 and formula_9, yielding in the end an eigenvalue equation for formula_7 and a corresponding eigenfunction formula_11for each solution of the former.


title: Waveguide

text: The propagation constant formula_7 of the guided wave is complex, in general. For a lossless case, the propagation constant might be found to take on either real or imaginary values, depending on the chosen solution of the eigenvalue equation and on the angular frequency formula_13. When formula_7 is purely real, the mode is said to be "below cutoff", since the amplitude of the field phasors tends to exponentially decrease with propagation; an imaginary formula_7, instead, represents modes said to be "in propagation" or "above cutoff", as the complex amplitude of the phasors does not change with formula_1.


title: Waveguide

text: In circuit theory, the impedance is a generalization of electrical resistance in the case of alternating current, and is measured in ohms (formula_17).


title: Waveguide

text: A waveguide in circuit theory is described by a transmission line having a length and characteristic impedance. In other words, the impedance indicates the ratio of voltage to current of the circuit component (in this case a waveguide) during propagation of the wave. This description of the waveguide was originally intended for alternating current, but is also suitable for electromagnetic and sound waves, once the wave and material properties (such as pressure, density, dielectric constant) are properly converted into electrical terms (current and impedance for example).


title: Waveguide

text: Impedance matching is important when components of an electric circuit are connected (waveguide to antenna for example): The impedance ratio determines how much of the wave is transmitted forward and how much is reflected. In connecting a waveguide to an antenna a complete transmission is usually required, so an effort is made to match their impedances.


title: Waveguide

text: The reflection coefficient can be calculated using: formula_18, where formula_19 (Gamma) is the reflection coefficient (0 denotes full transmission, 1 full reflection, and 0.5 is a reflection of half the incoming voltage), formula_20 and formula_21 are the impedance of the first component (from which the wave enters) and the second component, respectively.


title: Waveguide

text: An impedance mismatch creates a reflected wave, which added to the incoming waves creates a standing wave. An impedance mismatch can be also quantified with the standing wave ratio (SWR or VSWR for voltage), which is connected to the impedance ratio and reflection coefficient by: formula_22, where formula_23 are the minimum and maximum values of the voltage absolute value, and the VSWR is the voltage standing wave ratio, which value of 1 denotes full transmission, without reflection and thus no standing wave, while very large values mean high reflection and standing wave pattern.


title: Waveguide

text: Waveguides can be constructed to carry waves over a wide portion of the electromagnetic spectrum, but are especially useful in the microwave and optical frequency ranges. Depending on the frequency, they can be constructed from either conductive or dielectric materials. Waveguides are used for transferring both power and communication signals.


title: Waveguide

text: Waveguides used at optical frequencies are typically dielectric waveguides, structures in which a dielectric material with high permittivity, and thus high index of refraction, is surrounded by a material with lower permittivity. The structure guides optical waves by total internal reflection. An example of an optical waveguide is optical fiber,


title: Waveguide

text: Other types of optical waveguide are also used, including photonic-crystal fiber, which guides waves by any of several distinct mechanisms. Guides in the form of a hollow tube with a highly reflective inner surface have also been used as light pipes for illumination applications. The inner surfaces may be polished metal, or may be covered with a multilayer film that guides light by Bragg reflection (this is a special case of a photonic-crystal fiber). One can also use small prisms around the pipe which reflect light via total internal reflection —such confinement is necessarily imperfect, however, since total internal reflection can never truly guide light within a "lower"-index core (in the prism case, some light leaks out at the prism corners).


title: Waveguide

text: An "acoustic waveguide" is a physical structure for guiding sound waves. Sound in an acoustic waveguide behaves like electromagnetic waves on a transmission line. Waves on a string, like the ones in a tin can telephone, are a simple example of an acoustic waveguide. Another example are pressure waves in the pipes of an organ. The term "acoustic waveguide" is also used to describe elastic waves guided in micro-scale devices, like those employed in piezoelectric delay lines and in stimulated Brillouin scattering.


title: Waveguide

text: Waveguides are interesting objects of study from a strictly mathematical perspective. A waveguide (or tube) is defined as type of boundary condition on the wave equation such that the wave function must be equal to zero on the boundary and that the allowed region is finite in all dimensions but one (an infinitely long cylinder is an example.) A large number of interesting results can be proven from these general conditions. It turns out that any tube with a bulge (where the width of the tube increases) admits at least one bound state that exist inside the mode gaps. The frequencies of all the bound states can be identified by using a pulse short in time. This can be shown using the variational principles. An interesting result by Jeffrey Goldstone and Robert Jaffe is that any tube of constant width with a twist, admits a bound state.


title: Waveguide

text: Sound synthesis uses digital delay lines as computational elements to simulate wave propagation in tubes of wind instruments and the vibrating strings of string instruments.


title: Yamishibai: Japanese Ghost Stories

text: Yamishibai: Japanese Ghost Stories also known in Japan as and Theater of Darkness is an ongoing Japanese anime series. The first season was directed by Tomoya Takashima, with scripts written by Hiromu Kumamoto and produced by ILCA. Each episode was animated to mimic the kamishibai method of story-telling. The series is organized into a collection of shorts with each episode being only a few minutes in length. Each episode features a different tale based on myths and urban legends of Japanese origin.


title: Yamishibai: Japanese Ghost Stories

text: The first season premiered on TV Tokyo on July 14, 2013, and ran for thirteen episodes until September 29, 2013; it spawned a host of merchandise and a mobile game while also receiving mixed reactions at the end of its broadcast. A second season aired from July 6, 2014, to September 28, 2014, and was directed by both Takashi Shimizu and Noboru Iguchi along with scripts written by Shōichirō Masumoto. The third season aired between January 11, 2016, and April 3, 2016. A fourth season aired between January 16, 2017 and March 26, 2017. A fifth season aired on July 2, 2017 and ended on October 1, 2017. A sixth season aired on July 6, 2018. A seventh season aired on July 7, 2019. An eighth season aired on January 10, 2021. A ninth season aired on July 11, 2021 with the theme of the episodes being based on the Chinese Zodiac. A tenth season started airing in January 2022.


title: Yamishibai: Japanese Ghost Stories

text: Every week at 5 p.m. an old man in a yellow mask (the kamishibaiya or kamishibai narrator) shows up at a children's playground and tells them ghost stories based on myths and urban legends of Japanese origin. The man tells the stories on the back of his bicycle using a traditional method and features a new tale each week. In the third season, instead of the old man in a yellow mask and his kamishibai stage, a boy (later revealed to be the kamishibaiya in the form of a child) sits on a playground slide and sings, "Friends on that side, come to this side... Friends on this side, go to that side..." as he draws illustrations of the creatures in the stories. At the end of each episode, the narrator's mask sings the closing song to him, multiplying in number as each episode ends with the final one being worn on the boy's face. As of Season 4, the kamishibaiya returns, telling the stories to children at a playground every 5 p.m., going back to the original format of Seasons 1 and 2 (voice actors are different every episode). In Season 5, the children are not seen playing on the swings. Instead, they gather to the call of the old man in silhouette. In Season 6, the old man tells his stories in a forest instead of a school. A shadow takes the form of the old man then puts on the mask as he introduces the story. In Season 7, the old man tells his stories in a creepy apartment. In Season 8, he tells his stories at a busy urban intersection, surrounded by vague shadowy passersby. In Season 9, he tells the stories to the animals from the Chinese Zodiac. The tenth season has the narrator slowly making his announcement in an empty playground only to stop halfway; the season finale is based on "Hyakumonogatari Kaidankai".


title: Yamishibai: Japanese Ghost Stories

text: The first season of the series is produced by ILCA and directed by Tomoya Takashima along with script writing by Hiromu Kumamoto and narrated by Kanji Tsuda.<ref name="Staff/cast"></ref> The series is animated in such a way as to mimic a traditional Japanese method of storytelling known as Kamishibai.


title: Yamishibai: Japanese Ghost Stories

text: The second season was directed by Takashi Shimizu and Noboru Iguchi while Shōichirō Masumoto wrote the script.


title: Yamishibai: Japanese Ghost Stories

text: The 13-episode first season premiered on July 14, 2013 on TV Tokyo during the station's 26:15 (02:15 JST) time slot, which technically resulted in the episodes airing on the days following the ones scheduled. The series was later aired on AT-X. Crunchyroll also acquired both seasons of the series for online simulcast streaming in select parts of the world with English subtitles. On April 4, 2014 released season one in its entirety on a single DVD volume in Japan. The first and second seasons have been licensed by Sentai Filmworks. A second season aired from July 6, 2014 to September 28, 2014. A third season aired from January 11, 2016 to April 3, 2016. A fourth season premiered in January 2017. A fifth season premiered in July 2017. A sixth season aired on July 6, 2018. Sentai Filmworks will be re-releasing the series with an English dub which was slated to be released in 2019, but has currently delayed. A seventh season aired on July 7, 2019. A spin-off titled "Ninja Collection" aired on July 12, 2020. An eighth season aired on January 10, 2021. A ninth season aired on July 11, 2021 with the theme of the episodes being based on the Chinese Zodiac. A tenth season will air in January 2022.


title: Self Portrait (Bob Dylan album)

text: Self Portrait is the tenth studio album by American singer-songwriter Bob Dylan, released on June 8, 1970, by Columbia Records.


title: Self Portrait (Bob Dylan album)

text: "Self Portrait" was Dylan's second double album (after "Blonde on Blonde"), and features many cover versions of well-known pop and folk songs. Also included are a handful of instrumentals and original compositions. Most of the album is sung in the affected country crooning voice that Dylan had introduced a year earlier on "Nashville Skyline". Seen by some as intentionally surreal and even satirical at times, "Self Portrait" received extremely poor reviews.


title: Self Portrait (Bob Dylan album)

text: Dylan has stated in interviews that "Self Portrait" was something of a joke, far below the standards he set in the 1960s, and was made to end the "spokesman of a generation" label that critics had put on him.


title: Self Portrait (Bob Dylan album)

text: Despite the negative critical reception, the album quickly went gold in the US, where it hit No. 4, and was also a UK No. 1 hit. The album saw a retrospective positive re-evaluation with the release of "" in 2013.


title: Self Portrait (Bob Dylan album)

text: Critic Robert Shelton was under the impression that "Self Portrait" was intended as a serious release. "I told Dylan that "Self Portrait" confused me," Shelton wrote in 1986. "Why had he recorded 'Blue Moon'? He wouldn't be drawn out, although obviously he had been stung by the criticism. 'It was an expression,' he said. He indicated that if the album had come from Presley or the Everly Brothers, who veered toward the middle of the road, it wouldn't have shocked so many."


title: Self Portrait (Bob Dylan album)

text: However, in a "Rolling Stone" interview, in 1984, Dylan gave a different reason for the album's release:


title: Self Portrait (Bob Dylan album)

text: As to why he chose to release a double album, Dylan replied, "Well, it wouldn’t have held up as a single album–then it really would’ve been bad, you know. I mean, if you’re gonna put a lot of crap on it, you might as well load it up!"


title: Self Portrait (Bob Dylan album)

text: Later, Cameron Crowe interviewed Dylan for his liner notes to 1985's "Biograph", a boxed-set retrospective of Dylan's career. When asked about "Self Portrait", Dylan added more details to the story:


title: Self Portrait (Bob Dylan album)

text: Certain tracks have drawn praise over the years. One of them is written by Alfred Frank Beddoe (who was "discovered" by Pete Seeger after applying for work at People’s Songs, Inc. in 1946), "Copper Kettle" captures an idyllic backwoods existence, where moonshine is equated not only with pleasure but with tax resistance. Appalachian farmers who struggled to make their living off the land would routinely siphon off a percentage of their corn in order to distill whiskey. Everything produced would then be hidden from the government in order to avoid the whiskey tax of 1791.


title: Self Portrait (Bob Dylan album)

text: Clinton Heylin writes, "'Copper Kettle'...strike[s] all the right chords...being one of the most affecting performances in Dylan's entire official canon." Music critic Tim Riley called it "an ingenious Appalachian zygote for rock attitudes, the hidden source of "John Wesley Harding"s shadows."


title: Self Portrait (Bob Dylan album)

text: "Copper Kettle" was popularised by Joan Baez and appeared on her best-selling 1962 LP "Joan Baez in Concert".


title: Self Portrait (Bob Dylan album)

text: Among the original songs written for the album, the instrumental "Wigwam" later achieved recognition for its use in the 2001 Wes Anderson film "The Royal Tenenbaums". "Living the Blues" was later covered by Leon Redbone. "Living the Blues" was also covered by the Jamie Saft Trio with Antony Hegarty on the album "Trouble: The Jamie Saft Trio Plays Bob Dylan", in 2006. "All the Tired Horses" only features two lines, and is sung only by a female backing group. The song featured in the 2001 film "Blow".


title: Self Portrait (Bob Dylan album)

text: One of the live songs on the album is the party-friendly romp "The Mighty Quinn (Quinn the Eskimo)," originally recorded at the 1967 "Basement Tapes" sessions and covered to great success by Manfred Mann in 1968. For live venues, the Grateful Dead and Phish made the song an iconic favorite. The version on "Self Portrait", however, is a soundboard-sourced live performance from Dylan and the Band's Isle of Wight Festival concert (as are three other tracks on the album).


title: Self Portrait (Bob Dylan album)

text: "Self Portrait" received negative reviews by critics and consumers alike. Critical disdain seemed universal. At best, a number of journalists, including Robert Christgau, felt there was a concept behind "Self Portrait" that had some merit.


title: Self Portrait (Bob Dylan album)

text: "Conceptually, this is a brilliant album," wrote Christgau, "which is organized, I think, by two central ideas. First, that 'self' is most accurately defined (and depicted) in terms of the artifacts—in this case, pop tunes and folk songs claimed as personal property and semispontaneous renderings of past creations frozen for posterity on a piece of tape and (perhaps) even a couple of songs one has written oneself—to which one responds. Second, that the people's music is the music people like, Mantovani strings and all."


title: Self Portrait (Bob Dylan album)

text: However, few critics expressed any interest in the music itself. "[I]n order for a concept to work it has to be supported musically—that is, you have to listen," Christgau admitted. "I don't know anyone, even vociferous supporters of this album, who plays more than one side at a time. I don't listen to it at all. The singing is not consistently good, though it has its moments, and the production—for which I blame Bob Johnston, though Dylan has to be listed as a coconspirator—ranges from indifferent to awful. It is possible to use strings and soprano choruses well, but Johnston has never demonstrated the knack. Other points: it's overpriced, the cover art is lousy, and it sounds good on WMCA."


title: Self Portrait (Bob Dylan album)

text: In his "Rolling Stone" review (with its memorably vitriolic opening line, "What is this shit?"), Greil Marcus warned, "Unless [Dylan] returns to the marketplace, with a sense of vocation and the ambition to keep up with his own gifts, the music of [the mid-sixties] will continue to dominate his records, whether he releases them or not." He also commented, "I once said I'd buy an album of Dylan breathing heavily. I still would. But not an album of Dylan breathing softly." In a 1971 telephone interview with journalist A.J. Weberman, Dylan can be heard responding angrily to the Marcus review, while attempting to defend larger accusations of perceived non-committal politics.


title: Self Portrait (Bob Dylan album)

text: A rare dissenting positive voice about the album was Marc Bolan, soon to become a star as lead singer/guitarist of English glam rock band T.Rex, at this point in its earlier incarnation as hippy acoustic duo Tyrannosaurus Rex. Appalled at the negative reviews directed at the album, Bolan wrote a letter in its defence to the 11 July 1970 edition of "Melody Maker":


title: Self Portrait (Bob Dylan album)

text: Rock critics Jimmy Guterman and Owen O'Donnell, in their 1991 book "The Worst Rock and Roll Records of All Time," listed "Self-Portrait" as the third worst rock album ever, with only Lou Reed's experimental "Metal Machine Music" and Elvis Presley's concert byplay album "Having Fun with Elvis on Stage" faring worse. "The breakup of the Beatles shortly before this album's release," they wrote, "signaled the end of the sixties; "Self-Portrait" suggested the end of Bob Dylan."


title: Self Portrait (Bob Dylan album)

text: In 1973, Knopf published Dylan's song lyrics, sketches, and album notes as "Writings and Drawings", with updated versions called "Lyrics" appearing in 1985 and 2000. In all three editions, the original lyrics from "Self Portrait" are never acknowledged, suggesting Dylan's disavowal of the whole album to that time. However, the lyrics to "Living the Blues" and "Minstrel Boy" are included, listed as extra songs from the "Nashville Skyline" sessions; the 2004 edition includes them under their own entry and Dylan's current website includes the release together with lyrics and download links.


title: New Democrat Coalition

text: The New Democrat Coalition is a caucus in the House of Representatives of the United States Congress made up of Democrats, primarily centrists, who take a pro-business stance and a moderate-to-conservative approach to fiscal matters.


title: New Democrat Coalition

text: As of September 2022, the New Democrat Coalition is composed of 99 members, the second largest House Democrat ideological caucus (after Congressional Progressive Caucus).


title: New Democrat Coalition

text: The New Democrat Coalition is a caucus within the House of Representatives founded in 1997 by Representatives Cal Dooley, Jim Moran, and Tim Roemer.


title: New Democrat Coalition

text: The Coalition supported the "Third Way" policies of then-President Bill Clinton. The Coalition consists of moderate, centrist Democrats and center-left Democrats.


title: New Democrat Coalition

text: The group is known as fiscally moderate and pro-business. The New Democrat Coalition supports free trade and a high-tech sector; ideologically, it is positioned between the House Progressive Caucus and the Blue Dog Coalition.


title: New Democrat Coalition

text: As of December 1, 2022, the New Democrat Coalition has 96 members. Those members include 95 U.S. Representatives and one non-voting delegate of the House of Representatives.