A digital recording medium or a downloadable file is disclosed which comprises two differently encoded pieces of music. The first is in suitable format for playback through a domestic audio player. The second is a re-mixable version which can be manipulated using a sequencer implemented on a computer or games console and comprises a set of riffs, each of which corresponds to an interval (eg. one bar) of a component signal of the music, such that the music can be played back by playing the riffs in appropriate combination and order. The invention provides a format for publication of musical or other recordings which is highly flexible and interactive. The medium or file may further comprise sequencer software.

A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

A telepresence robot may include a drive system, a control system, an imaging system, and a mapping module. The mapping module may access a plan view map of an area and tags associated with the area. In various embodiments, each tag may include tag coordinates and tag information, which may include a tag annotation. A tag identification system may identify tags within a predetermined range of the current position and the control system may execute an action based on an identified tag whose tag information comprises a telepresence robot action modifier. The telepresence robot may rotate an upper portion independent from a lower portion. A remote terminal may allow an operator to control the telepresence robot using any combination of control methods, including by selecting a destination in a live video feed, by selecting a destination on a plan view map, or by using a joystick or other peripheral device.

We use Synthetic Aperture Radar interferometry (InSAR) to map the displacement field of the 17 August 1999 Izmit earthquake, which largely conforms to that predicted for an elastic upper crust. We determine the earthquake source parameters and show that slip continues farther west than the mapped fault ruptures. We also show that additional sub-surface displacements occurred on parallel strands of the North Anatolian Fault Zone. We argue that this was caused by changes in static stress accompanying the mainshock, or by the dynamic release of regional stresses.

In recent years, interseismic crustal velocities and strains have been determined for a number of tectonically active areas through repeated measurements using the Global Positioning System. The terrain in such areas is often remote and difficult. and the density of GPS measurements relatively sparse. In principle, satellite radar interferometry can be used to make millimetric-precision measurements of surface displacement over large surface areas. In practice, the small crustal deformation signal is dominated over short time intervals by errors due to atmospheric, topographic and orbital effects. Here we show that these effects can be overcome by stacking multiple interferograms, after screening for atmospheric anomalies, effectively creating a new interferogram that covers a longer time interval. In this way, we have isolated a 70 km wide region of crustal deformation across the eastern end of the North Anatolian Fault, Turkey. The distribution of deformation is consistent with slip of 17-32 mm/yr below 5-33 km on the extension of the surface fault at depth. If the GPS determined slip rate of 24 +/-1 mm/yr is accepted, the locking depth is constrained to 18 +/-6 km.

A building management system controller is provided. The building management system controller may be configured to detect electro-magnetic interference on a plurality of frequency channels of a narrow band frequency, and select one of the plurality of frequency channels having a detected electro-magnetic interference which less than a predetermined electro-magnetic interference threshold as a communication channel for communicating with at least one device. The building management system controller may also be configured to communicate wirelessly with at least one device, to determine a communication reliability for communications between the controller and the at least one device, and to determine a communication route between the controller and the at least one device in dependence on the determined communication reliabilities.