blog/My_own_self_balancing_Lego_Segway.html

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   6     <title>Petter Reinholdtsen: My own self balancing Lego Segway</title>
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  14  <h1>
  15      <a href="http://people.skolelinux.org/pere/blog/">Petter Reinholdtsen</a>
  16
  17  </h1>
  18
  19 </div>
  20
  21
  22     <div class="entry">
  23       <div class="title">My own self balancing Lego Segway</div>
  24       <div class="date"> 4th November 2016</div>
  25       <div class="body"><p>A while back I received a Gyro sensor for the NXT
  26 <a href="mindstorms.lego.com">Mindstorms</a> controller as a birthday
  27 present.  It had been on my wishlist for a while, because I wanted to
  28 build a Segway like balancing lego robot.  I had already built
  29 <a href="http://www.nxtprograms.com/NXT2/segway/">a simple balancing
  30 robot</a> with the kids, using the light/color sensor included in the
  31 NXT kit as the balance sensor, but it was not working very well.  It
  32 could balance for a while, but was very sensitive to the light
  33 condition in the room and the reflective properties of the surface and
  34 would fall over after a short while.  I wanted something more robust,
  35 and had
  36 <a href="https://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NGY1044">the
  37 gyro sensor from HiTechnic</a> I believed would solve it on my
  38 wishlist for some years before it suddenly showed up as a gift from my
  39 loved ones. :)</p>
  40
  41 <p>Unfortunately I have not had time to sit down and play with it
  42 since then.  But that changed some days ago, when I was searching for
  43 lego segway information and came across a recipe from HiTechnic for
  44 building
  45 <a href="http://www.hitechnic.com/blog/gyro-sensor/htway/">the
  46 HTWay</a>, a segway like balancing robot.  Build instructions and
  47 <a href="https://www.hitechnic.com/upload/786-HTWayC.nxc">source
  48 code</a> was included, so it was just a question of putting it all
  49 together.  And thanks to the great work of many Debian developers, the
  50 compiler needed to build the source for the NXT is already included in
  51 Debian, so I was read to go in less than an hour.  The resulting robot
  52 do not look very impressive in its simplicity:</p>
  53
  54 <p align="center"><img width="70%" src="http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-robot.jpeg"></p>
  55
  56 <p>Because I lack the infrared sensor used to control the robot in the
  57 design from HiTechnic, I had to comment out the last task
  58 (taskControl).  I simply placed /* and */ around it get the program
  59 working without that sensor present.  Now it balances just fine until
  60 the battery status run low:</p>
  61
  62 <p align="center"><video width="70%" controls="true">
  63    <source src="http://people.skolelinux.org/pere/blog/images/2016-11-04-lego-htway-balancing.ogv" type="video/ogg">
  64 </video></p>
  65
  66 <p>Now we would like to teach it how to follow a line and take remote
  67 control instructions using the included Bluetooth receiver in the NXT.</p>
  68
  69 <p>If you, like me, love LEGO and want to make sure we find the tools
  70 they need to work with LEGO in Debian and all our derivative
  71 distributions like Ubuntu, check out
  72 <a href="http://wiki.debian.org/LegoDesigners">the LEGO designers
  73 project page</a> and join the Debian LEGO team.  Personally I own a
  74 RCX and NXT controller (no EV3), and would like to make sure the
  75 Debian tools needed to program the systems I own work as they
  76 should.</p>
  77 </div>
  78
  79       <div class="tags">Tags: <a href="http://people.skolelinux.org/pere/blog/tags/debian">debian</a>, <a href="http://people.skolelinux.org/pere/blog/tags/english">english</a>, <a href="http://people.skolelinux.org/pere/blog/tags/lego">lego</a>, <a href="http://people.skolelinux.org/pere/blog/tags/robot">robot</a>.</div>
  80
  81
  82     </div>
  83
  84
  85
  86
  87     <div id="sidebar">
  88
  89
  90
  91 <h2>Archive</h2>
  92 <ul>
  93
  94 <li>2020
  95 <ul>
  96
  97 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/02/">February (2)</a></li>
  98
  99 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/03/">March (2)</a></li>
 100
 101 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/04/">April (2)</a></li>
 102
 103 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/05/">May (3)</a></li>
 104
 105 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/06/">June (2)</a></li>
 106
 107 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/07/">July (1)</a></li>
 108
 109 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/09/">September (1)</a></li>
 110
 111 <li><a href="http://people.skolelinux.org/pere/blog/archive/2020/10/">October (1)</a></li>
 112
 113 </ul></li>
 114
 115 <li>2019
 116 <ul>
 117
 118 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/01/">January (4)</a></li>
 119
 120 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/02/">February (3)</a></li>
 121
 122 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/03/">March (3)</a></li>
 123
 124 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/05/">May (2)</a></li>
 125
 126 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/06/">June (5)</a></li>
 127
 128 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/07/">July (2)</a></li>
 129
 130 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/08/">August (1)</a></li>
 131
 132 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/09/">September (1)</a></li>
 133
 134 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/11/">November (1)</a></li>
 135
 136 <li><a href="http://people.skolelinux.org/pere/blog/archive/2019/12/">December (4)</a></li>
 137
 138 </ul></li>
 139
 140 <li>2018
 141 <ul>
 142
 143 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/01/">January (1)</a></li>
 144
 145 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/02/">February (5)</a></li>
 146
 147 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/03/">March (5)</a></li>
 148
 149 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/04/">April (3)</a></li>
 150
 151 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/06/">June (2)</a></li>
 152
 153 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/07/">July (5)</a></li>
 154
 155 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/08/">August (3)</a></li>
 156
 157 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/09/">September (3)</a></li>
 158
 159 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/10/">October (5)</a></li>
 160
 161 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/11/">November (2)</a></li>
 162
 163 <li><a href="http://people.skolelinux.org/pere/blog/archive/2018/12/">December (4)</a></li>
 164
 165 </ul></li>
 166
 167 <li>2017
 168 <ul>
 169
 170 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/01/">January (4)</a></li>
 171
 172 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/02/">February (3)</a></li>
 173
 174 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/03/">March (5)</a></li>
 175
 176 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/04/">April (2)</a></li>
 177
 178 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/06/">June (5)</a></li>
 179
 180 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/07/">July (1)</a></li>
 181
 182 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/08/">August (1)</a></li>
 183
 184 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/09/">September (3)</a></li>
 185
 186 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/10/">October (5)</a></li>
 187
 188 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/11/">November (3)</a></li>
 189
 190 <li><a href="http://people.skolelinux.org/pere/blog/archive/2017/12/">December (4)</a></li>
 191
 192 </ul></li>
 193
 194 <li>2016
 195 <ul>
 196
 197 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/01/">January (3)</a></li>
 198
 199 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/02/">February (2)</a></li>
 200
 201 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/03/">March (3)</a></li>
 202
 203 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/04/">April (8)</a></li>
 204
 205 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/05/">May (8)</a></li>
 206
 207 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/06/">June (2)</a></li>
 208
 209 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/07/">July (2)</a></li>
 210
 211 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/08/">August (5)</a></li>
 212
 213 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/09/">September (2)</a></li>
 214
 215 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/10/">October (3)</a></li>
 216
 217 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/11/">November (8)</a></li>
 218
 219 <li><a href="http://people.skolelinux.org/pere/blog/archive/2016/12/">December (5)</a></li>
 220
 221 </ul></li>
 222
 223 <li>2015
 224 <ul>
 225
 226 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/01/">January (7)</a></li>
 227
 228 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/02/">February (6)</a></li>
 229
 230 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/03/">March (1)</a></li>
 231
 232 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/04/">April (4)</a></li>
 233
 234 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/05/">May (3)</a></li>
 235
 236 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/06/">June (4)</a></li>
 237
 238 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/07/">July (6)</a></li>
 239
 240 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/08/">August (2)</a></li>
 241
 242 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/09/">September (2)</a></li>
 243
 244 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/10/">October (9)</a></li>
 245
 246 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/11/">November (6)</a></li>
 247
 248 <li><a href="http://people.skolelinux.org/pere/blog/archive/2015/12/">December (3)</a></li>
 249
 250 </ul></li>
 251
 252 <li>2014
 253 <ul>
 254
 255 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/01/">January (2)</a></li>
 256
 257 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/02/">February (3)</a></li>
 258
 259 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/03/">March (8)</a></li>
 260
 261 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/04/">April (7)</a></li>
 262
 263 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/05/">May (1)</a></li>
 264
 265 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/06/">June (2)</a></li>
 266
 267 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/07/">July (2)</a></li>
 268
 269 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/08/">August (2)</a></li>
 270
 271 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/09/">September (5)</a></li>
 272
 273 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/10/">October (6)</a></li>
 274
 275 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/11/">November (3)</a></li>
 276
 277 <li><a href="http://people.skolelinux.org/pere/blog/archive/2014/12/">December (5)</a></li>
 278
 279 </ul></li>
 280
 281 <li>2013
 282 <ul>
 283
 284 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/01/">January (11)</a></li>
 285
 286 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/02/">February (9)</a></li>
 287
 288 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/03/">March (9)</a></li>
 289
 290 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/04/">April (6)</a></li>
 291
 292 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/05/">May (9)</a></li>
 293
 294 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/06/">June (10)</a></li>
 295
 296 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/07/">July (7)</a></li>
 297
 298 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/08/">August (3)</a></li>
 299
 300 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/09/">September (5)</a></li>
 301
 302 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/10/">October (7)</a></li>
 303
 304 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/11/">November (9)</a></li>
 305
 306 <li><a href="http://people.skolelinux.org/pere/blog/archive/2013/12/">December (3)</a></li>
 307
 308 </ul></li>
 309
 310 <li>2012
 311 <ul>
 312
 313 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/01/">January (7)</a></li>
 314
 315 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/02/">February (10)</a></li>
 316
 317 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/03/">March (17)</a></li>
 318
 319 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/04/">April (12)</a></li>
 320
 321 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/05/">May (12)</a></li>
 322
 323 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/06/">June (20)</a></li>
 324
 325 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/07/">July (17)</a></li>
 326
 327 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/08/">August (6)</a></li>
 328
 329 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/09/">September (9)</a></li>
 330
 331 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/10/">October (17)</a></li>
 332
 333 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/11/">November (10)</a></li>
 334
 335 <li><a href="http://people.skolelinux.org/pere/blog/archive/2012/12/">December (7)</a></li>
 336
 337 </ul></li>
 338
 339 <li>2011
 340 <ul>
 341
 342 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/01/">January (16)</a></li>
 343
 344 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/02/">February (6)</a></li>
 345
 346 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/03/">March (6)</a></li>
 347
 348 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/04/">April (7)</a></li>
 349
 350 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/05/">May (3)</a></li>
 351
 352 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/06/">June (2)</a></li>
 353
 354 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/07/">July (7)</a></li>
 355
 356 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/08/">August (6)</a></li>
 357
 358 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/09/">September (4)</a></li>
 359
 360 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/10/">October (2)</a></li>
 361
 362 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/11/">November (3)</a></li>
 363
 364 <li><a href="http://people.skolelinux.org/pere/blog/archive/2011/12/">December (1)</a></li>
 365
 366 </ul></li>
 367
 368 <li>2010
 369 <ul>
 370
 371 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/01/">January (2)</a></li>
 372
 373 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/02/">February (1)</a></li>
 374
 375 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/03/">March (3)</a></li>
 376
 377 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/04/">April (3)</a></li>
 378
 379 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/05/">May (9)</a></li>
 380
 381 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/06/">June (14)</a></li>
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 383 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/07/">July (12)</a></li>
 384
 385 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/08/">August (13)</a></li>
 386
 387 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/09/">September (7)</a></li>
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 391 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/11/">November (13)</a></li>
 392
 393 <li><a href="http://people.skolelinux.org/pere/blog/archive/2010/12/">December (12)</a></li>
 394
 395 </ul></li>
 396
 397 <li>2009
 398 <ul>
 399
 400 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/01/">January (8)</a></li>
 401
 402 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/02/">February (8)</a></li>
 403
 404 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/03/">March (12)</a></li>
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 406 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/04/">April (10)</a></li>
 407
 408 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/05/">May (9)</a></li>
 409
 410 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/06/">June (3)</a></li>
 411
 412 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/07/">July (4)</a></li>
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 414 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/08/">August (3)</a></li>
 415
 416 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/09/">September (1)</a></li>
 417
 418 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/10/">October (2)</a></li>
 419
 420 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/11/">November (3)</a></li>
 421
 422 <li><a href="http://people.skolelinux.org/pere/blog/archive/2009/12/">December (3)</a></li>
 423
 424 </ul></li>
 425
 426 <li>2008
 427 <ul>
 428
 429 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/11/">November (5)</a></li>
 430
 431 <li><a href="http://people.skolelinux.org/pere/blog/archive/2008/12/">December (7)</a></li>
 432
 433 </ul></li>
 434
 435 </ul>
 436
 437
 438
 439 <h2>Tags</h2>
 440 <ul>
 441
 442  <li><a href="http://people.skolelinux.org/pere/blog/tags/3d-printer">3d-printer (16)</a></li>
 443
 444  <li><a href="http://people.skolelinux.org/pere/blog/tags/amiga">amiga (1)</a></li>
 445
 446  <li><a href="http://people.skolelinux.org/pere/blog/tags/aros">aros (1)</a></li>
 447
 448  <li><a href="http://people.skolelinux.org/pere/blog/tags/bankid">bankid (4)</a></li>
 449
 450  <li><a href="http://people.skolelinux.org/pere/blog/tags/betalkontant">betalkontant (9)</a></li>
 451
 452  <li><a href="http://people.skolelinux.org/pere/blog/tags/bitcoin">bitcoin (11)</a></li>
 453
 454  <li><a href="http://people.skolelinux.org/pere/blog/tags/bootsystem">bootsystem (17)</a></li>
 455
 456  <li><a href="http://people.skolelinux.org/pere/blog/tags/bsa">bsa (2)</a></li>
 457
 458  <li><a href="http://people.skolelinux.org/pere/blog/tags/chrpath">chrpath (2)</a></li>
 459
 460  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian">debian (174)</a></li>
 461
 462  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian edu">debian edu (159)</a></li>
 463
 464  <li><a href="http://people.skolelinux.org/pere/blog/tags/debian-handbook">debian-handbook (7)</a></li>
 465
 466  <li><a href="http://people.skolelinux.org/pere/blog/tags/digistan">digistan (11)</a></li>
 467
 468  <li><a href="http://people.skolelinux.org/pere/blog/tags/dld">dld (17)</a></li>
 469
 470  <li><a href="http://people.skolelinux.org/pere/blog/tags/docbook">docbook (26)</a></li>
 471
 472  <li><a href="http://people.skolelinux.org/pere/blog/tags/drivstoffpriser">drivstoffpriser (4)</a></li>
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 474  <li><a href="http://people.skolelinux.org/pere/blog/tags/english">english (421)</a></li>
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 494  <li><a href="http://people.skolelinux.org/pere/blog/tags/kodi">kodi (4)</a></li>
 495
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 535
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 537
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 556  <li><a href="http://people.skolelinux.org/pere/blog/tags/sysadmin">sysadmin (5)</a></li>
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 558  <li><a href="http://people.skolelinux.org/pere/blog/tags/usenix">usenix (2)</a></li>
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 561
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 563
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 566  <li><a href="http://people.skolelinux.org/pere/blog/tags/vitenskap">vitenskap (4)</a></li>
 567
 568  <li><a href="http://people.skolelinux.org/pere/blog/tags/web">web (42)</a></li>
 569
 570 </ul>
 571
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 573     </div>
 574     <p style="text-align: right">
 575  Created by <a href="http://steve.org.uk/Software/chronicle">Chronicle v4.6</a>
 576 </p>
 577
 578   </body>
 579 </html>