The Blue Leopard is the place to come for a relaxed pub atmosphere with modern decor. Our drinks list that boasts a large range of European lagers and a superb wine selection. We've been informed that our attic is haunted so in honor of our supernatural guests, we have a Watch Party every Saturday night from 7pm until close. Live music seven nights a week, and never a cover charge for entry.
Always prepared daily from fresh ingredients, you won't be disappointed by our simple but delicious selection of pub fare.
The Blue Leopard is located near the riverfront at 981 Leopard Avenue, across from Fulcher Bridge. Limited parking is available.


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{{ backLink({ "href": "index", "text": "Back", "classes": "nhsuk-u-margin-top-7" }) }}


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Brian Schrader
I'm so full of good food. 😌😴
(Yes I just popped in a new fuze). Thanks internet. http://bit.ly/2aHP19W
I wouldn't have normally noticed until I didn't see the reflection while driving. This stopped me before it could be a problem. 👍
Apparently my car won't go into gear (there's an override) if the brake light fuze goes out. That's actually pretty cool.
"Minor Text Fixes" - Most hated words in 2016
There must be 80 people here sitting in a small plaza, in the shade playing Pokemon. All ages.
"Completely empty flight tonight" - Attendant 👍😊😴
SJC➡SAN✈
Writing up a pre-flight post... ready for home.
Pre-Flight cappuccino
This vacation is 30% Pokemon Go.
OH: "Feet is not a feeling."
Only a little sunburned...
 K thanks.
TIL Davey Crockett rode into town on the backs of crocodiles. http://bit.ly/2aiC3Bh
Feels too much like San Diego here. Not that that's bad, just that I was already in San Diego.
You know San Francisco, without the cold and the fog you lose a lot of the mystique.
The audiophile section of the last episode of @atpfm was longer than my flight. Super cool stuff though.
Traveling with @MuseofAdventure 😆🌅⏳☕🎶😞
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This activity deals with the apps shown when "more" button on the Home Page is pressed.
More...
Inherits Page, Page, IComponentConnector, and Page.
|
| override void | OnNavigatedTo (NavigationEventArgs e) |
| | The methods provided in this section are simply used to allow NavigationHelper to respond to the page's navigation methods. More...
|
| |
| override void | OnNavigatedFrom (NavigationEventArgs e) |
| | The methods provided in this section are simply used to allow NavigationHelper to respond to the page's navigation methods. More...
|
| |
|
| void | NavigationHelper_LoadState (object sender, LoadStateEventArgs e) |
| | Populates the page with content passed during navigation. More...
|
| |
| void | NavigationHelper_SaveState (object sender, SaveStateEventArgs e) |
| | Preserves state associated with this page in case the application is suspended or the page is discarded from the navigation cache. More...
|
| |
| void | GridFeaturedApps_ContentChanging (ListViewBase sender, ContainerContentChangingEventArgs args) |
| | Deals with populating apps in the My-Apps section. More...
|
| |
| void | ShowImage (ListViewBase sender, ContainerContentChangingEventArgs args) |
| | Deals with populating images(app icons) in the AppsPage. More...
|
| |
| void | GridFeaturedApps_SelectionChanged (object sender, SelectionChangedEventArgs e) |
| | Executed when the user taps/selects an app from the Apps Page. More...
|
| |
| void | Search_Click (object sender, RoutedEventArgs e) |
| | Executed when the Search Button is tapped from the Application bar. More...
|
| |
| async void | Settings_Click (object sender, RoutedEventArgs e) |
| | Executed when the Settings Button is tapped from the Application bar. More...
|
| |
| void | MyApps_Click (object sender, RoutedEventArgs e) |
| | Executed when the My Apps Button is tapped from the Application bar. More...
|
| |
| void | Categories_Click (object sender, RoutedEventArgs e) |
| | Executed when the Categories Button is tapped from the Application bar. More...
|
| |
| void | About_Click (object sender, RoutedEventArgs e) |
| | Executed when the About Button is tapped from the Application bar. More...
|
| |
| void | StackPanel_Holding (object sender, HoldingRoutedEventArgs e) |
| | Executed when the app is long tapped. More...
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| |
| void | Feedback_Click (object sender, RoutedEventArgs e) |
| | Executed when the Feedback Button is tapped from the Application bar. More...
|
| |
| void | InstallButton_Click (object sender, RoutedEventArgs e) |
| | Executed when the Install Button is tapped from the Context menu which appears when the app is long tapped. More...
|
| |
| void | ShareButton_Click (object sender, RoutedEventArgs e) |
| | Executed when the Share Button is tapped from the Application bar. More...
|
| |
This activity deals with the apps shown when "more" button on the Home Page is pressed.
| AppStore.AppsPage.AppsPage |
( |
| ) |
|
Public constructor to the Apps Page.
| void AppStore.AppsPage.About_Click |
( |
object |
sender, |
|
|
RoutedEventArgs |
e |
|
) |
| |
|
private |
Executed when the About Button is tapped from the Application bar.
The app navigates to the About page.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| e | RoutedEventArgs e is a parameter called e that contains the event data, see the RoutedEventArgs MSDN page for more information. |
| void AppStore.AppsPage.Categories_Click |
( |
object |
sender, |
|
|
RoutedEventArgs |
e |
|
) |
| |
|
private |
Executed when the Categories Button is tapped from the Application bar.
The app navigates to the Categories page.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| e | RoutedEventArgs e is a parameter called e that contains the event data, see the RoutedEventArgs MSDN page for more information. |
| void AppStore.AppsPage.Connect |
( |
int |
connectionId, |
|
|
object |
target |
|
) |
| |
| void AppStore.AppsPage.Feedback_Click |
( |
object |
sender, |
|
|
RoutedEventArgs |
e |
|
) |
| |
|
private |
Executed when the Feedback Button is tapped from the Application bar.
The app prepares the content and uses the default mail apps to give feedback.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| e | RoutedEventArgs e is a parameter called e that contains the event data, see the RoutedEventArgs MSDN page for more information. |
| void AppStore.AppsPage.GridFeaturedApps_ContentChanging |
( |
ListViewBase |
sender, |
|
|
ContainerContentChangingEventArgs |
args |
|
) |
| |
|
private |
Deals with populating apps in the My-Apps section.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| args | ContainerContentChangingEventArgs args is a parameter called e that contains the event data, see the ContainerContentChangingEventArgs MSDN page for more information. |
| void AppStore.AppsPage.GridFeaturedApps_SelectionChanged |
( |
object |
sender, |
|
|
SelectionChangedEventArgs |
e |
|
) |
| |
|
private |
Executed when the user taps/selects an app from the Apps Page.
The app navigates to the Details page of the app.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| e | SelectionChangedEventArgs e an instance of SelectionChangedEventArgs including, in many cases, an object which inherits from SelectionChangedEventArgs. Contains additional information about the event, and sometimes provides ability for code handling the event to alter the event somehow. |
| void AppStore.AppsPage.InitializeComponent |
( |
| ) |
|
| void AppStore.AppsPage.InstallButton_Click |
( |
object |
sender, |
|
|
RoutedEventArgs |
e |
|
) |
| |
|
private |
Executed when the Install Button is tapped from the Context menu which appears when the app is long tapped.
It installs the installed app.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| e | RoutedEventArgs e is a parameter called e that contains the event data, see the RoutedEventArgs MSDN page for more information. |
| void AppStore.AppsPage.MyApps_Click |
( |
object |
sender, |
|
|
RoutedEventArgs |
e |
|
) |
| |
|
private |
Executed when the My Apps Button is tapped from the Application bar.
The app navigates to the My-Apps page.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| e | RoutedEventArgs e is a parameter called e that contains the event data, see the RoutedEventArgs MSDN page for more information. |
Populates the page with content passed during navigation.
Any saved state is also provided when recreating a page from a prior session.
- Parameters
-
| sender | The source of the event; typically NavigationHelper |
| e | Event data that provides both the navigation parameter passed to Frame.Navigate(Type, Object) when this page was initially requested and a dictionary of state preserved by this page during an earlier session. The state will be null the first time a page is visited. |
Preserves state associated with this page in case the application is suspended or the page is discarded from the navigation cache.
Values must conform to the serialization requirements of SuspensionManager.SessionState.
- Parameters
-
| sender | The source of the event; typically NavigationHelper |
| e | Event data that provides an empty dictionary to be populated with serializable state. |
| override void AppStore.AppsPage.OnNavigatedFrom |
( |
NavigationEventArgs |
e | ) |
|
|
protected |
The methods provided in this section are simply used to allow NavigationHelper to respond to the page's navigation methods.
Page specific logic should be placed in event handlers for the NavigationHelper.LoadState and NavigationHelper.SaveState. The navigation parameter is available in the SaveState method in addition to page state preserved during an earlier session.
- Parameters
-
| e | Provides data for navigation methods and event handlers that cannot cancel the navigation request. |
| override void AppStore.AppsPage.OnNavigatedTo |
( |
NavigationEventArgs |
e | ) |
|
|
protected |
The methods provided in this section are simply used to allow NavigationHelper to respond to the page's navigation methods.
Page specific logic should be placed in event handlers for the NavigationHelper.LoadState and NavigationHelper.SaveState. The navigation parameter is available in the LoadState method in addition to page state preserved during an earlier session.
- Parameters
-
| e | Provides data for navigation methods and event handlers that cannot cancel the navigation request. |
| void AppStore.AppsPage.Search_Click |
( |
object |
sender, |
|
|
RoutedEventArgs |
e |
|
) |
| |
|
private |
Executed when the Search Button is tapped from the Application bar.
The app navigates to the Search Results page.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| e | RoutedEventArgs e is a parameter called e that contains the event data, see the RoutedEventArgs MSDN page for more information. |
| async void AppStore.AppsPage.Settings_Click |
( |
object |
sender, |
|
|
RoutedEventArgs |
e |
|
) |
| |
|
private |
Executed when the Settings Button is tapped from the Application bar.
The app navigates to the Settings page.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| e | RoutedEventArgs e is a parameter called e that contains the event data, see the RoutedEventArgs MSDN page for more information. |
| void AppStore.AppsPage.ShareButton_Click |
( |
object |
sender, |
|
|
RoutedEventArgs |
e |
|
) |
| |
|
private |
Executed when the Share Button is tapped from the Application bar.
The app prepares content form the app to be shared using default installed apps on the phone.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| e | RoutedEventArgs e is a parameter called e that contains the event data, see the RoutedEventArgs MSDN page for more information. |
| void AppStore.AppsPage.ShowImage |
( |
ListViewBase |
sender, |
|
|
ContainerContentChangingEventArgs |
args |
|
) |
| |
|
private |
Deals with populating images(app icons) in the AppsPage.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| args | ContainerContentChangingEventArgs args is a parameter called e that contains the event data, see the ContainerContentChangingEventArgs MSDN page for more information. |
| void AppStore.AppsPage.StackPanel_Holding |
( |
object |
sender, |
|
|
HoldingRoutedEventArgs |
e |
|
) |
| |
|
private |
Executed when the app is long tapped.
Context menu appears now.
- Parameters
-
| sender | Object Sender is a parameter called Sender that contains a reference to the control/object that raised the event. |
| e | RoutedEventArgs e is a parameter called e that contains the event data, see the RoutedEventArgs MSDN page for more information. |
| bool AppStore.AppsPage._contentLoaded |
|
private |
| Apps AppStore.AppsPage.appHolding |
|
private |
| global.Windows.UI.Xaml.Controls.AppBarButton AppStore.AppsPage.btnMyApps |
|
private |
| global.Windows.UI.Xaml.Controls.Grid AppStore.AppsPage.ContentRoot |
|
private |
| global.Windows.UI.Xaml.Controls.GridView AppStore.AppsPage.GridFeaturedApps |
|
private |
| global.Windows.UI.Xaml.Controls.Grid AppStore.AppsPage.LayoutRoot |
|
private |
| bool AppStore.AppsPage.selectionGridApps = false |
|
private |
| bool AppStore.AppsPage.selectionGridCategories = false |
|
private |
Gets the view model for this Page.
This can be changed to a strongly typed view model.
The documentation for this class was generated from the following files:
- C:/Users/Srujan/Documents/Visual Studio 2015/Projects/BuildmLearnStore/AppStore/AppStore/AppsPage.xaml.cs
- C:/Users/Srujan/Documents/Visual Studio 2015/Projects/BuildmLearnStore/AppStore/AppStore/obj/Debug/AppsPage.g.i.cs
- C:/Users/Srujan/Documents/Visual Studio 2015/Projects/BuildmLearnStore/AppStore/AppStore/obj/Debug/AppsPage.g.cs


Speech
Lord Hill celebrates the launch of the first two studio schools and welcomes their contribution in breaking the divide between academic and vocational qualifications
Good morning everyone and thank you Geoff for that warm welcome.
The more observant among you will by now have realised that I’m not Michael Gove, who unfortunately has been called away at the last minute. He has asked me to apologise on his behalf and to say how sorry he is not to be here. I know that he is a big fan of studio schools, a great admirer of the pioneering work done by the Young Foundation, and a keen supporter of the Studio Schools Trust, which he recently described as ‘superb’.
But I am delighted to be here in his place because it gives me the chance - less eloquently than Michael no doubt - to put on the record my own support for the work of the Studio Schools Trust and my appreciation for what you do.
I have been lucky enough to go to Barnfield College in Luton, shortly after it opened one of the first two studio schools in September. And last Friday I was at Futures Community College in Southend-on-Sea - not a studio school but doing something similar around practical training.

Switched-on, positive children working hard and learning practical skills.
Switched-on, positive employers telling me how brilliant it was for them.
Academic and vocational teaching being offered side by side; learning tailored to pupils’ individual needs; aspirations raised, so that going to university or getting a good job becomes a realistic prospect for children in families where aspiration and expectation has been very low.
So I want to thank them, as well as everyone at the Netherhall Learning Campus in Kirklees, the Studio Schools Trust and the Young Foundation for the enormous amount of work they’ve done to push the boundaries forward and make the argument for why we need to offer young people the chance of acquiring high-quality practical and technical skills, as well as high-quality academic qualifications.
I came to this new job not having worked in education. For the last 12 years, I ran my own business. It has meant I have had - and still have - a steep learning curve, but coming to something fresh is not without advantages.
It means you have to approach things from first principles and you have to ask lots of questions.
Questions like: are enough of our children leaving primary school able to read and write properly?
Are we equipping young people with the skills, knowledge and aspirations employers and universities are demanding?
Have we got an exam and qualification system to which we have confidence? Have league tables and equivalents led to gaming of the system?
Are we motivating and enthusing the workforce of tomorrow - so they fulfil their potential and have the confidence to succeed? Or, at the very least, know how to turn up on time, work in a team, or take direction from a manager?
Is vocational and practical training strong enough so we can compete internationally - or even be able to fill jobs at home without having to recruit from overseas?
How do we measure up against best practice internationally?
To which, my answers are: no, up to a point, not really, yes, not well enough, no and it’s a very mixed picture.
The truth is that too many young people still don’t get the right skills and qualifications for work and further study.
Too many young people are turned off learning at an early age, fall behind and then get left behind.
And it’s not good enough for more young people to be staying on in education if the qualifications they’re working towards aren’t valued by future employers.
I also can’t help feeling that out of a well-intended desire to give vocational and academic skills parity of esteem - which is right - we have ended up undervaluing both.
We’ve forced vocational and academic qualifications to have some kind of uneasy equivalence, when actually we should just be making sure that they are all high quality and do what universities and employers need. And above all that they should be tailored to what individual children need.
So, what are we doing about it?
The top line is that we are trying to get out of the hair of professions to allow them to get on with what they do best. To come up with ideas of their own - like studio schools - as to how they can best cater for their children.
We also want to stop directing and prescribing quite so much, I hope leaving more space for professionals to learn from each other, forming partnerships, spreading good practice and raising standards through collaboration and the sharing of experience.
More specifically, we have a number of clear aims.
First, to strengthen qualifications so they are more robust, rigorous and teach the economically valuable skills that employers demand to keep pace with the rest of the world.
We will also give universities and employers more say over developing A levels. It’s right that those with the strongest interest in making sure young people have the right skills have a louder voice.
Second, we’ve asked Professor Alison Wolf to lead an independent review of vocational qualifications. Alison’s review isn’t about creating yet another set of Whitehall-designed, top-down qualifications - it’s about giving colleges and schools the flexibility to offer qualifications that meet the labour market’s constantly shifting demands and higher expectations.
Third, we want to raise the quality of careers guidance.
Fourth, we are expanding the number of Apprenticeships.
It’s sobering that only eight per cent of employers in England offer Apprenticeships - compared with 24 per cent in Germany. And of businesses with at least 500 employees, it’s just 30 per cent here compared with more than 90 per cent across in Germany.
Fifth, we are trying to put the right structures in place through our wider reform programme.
People sometimes say to me: why are you making these structural changes? Surely its teachers who make the difference? Stop messing around and concentrate on the teachers.
I agree totally that it always comes down to people - and we will be saying more about that in our white paper to be published shortly. But the point of the structural changes is to give those people more space and it provides the opportunity for new ideas to bubble up from below.
So we’re expanding the Academies programme and we’re ensuring that new providers including parents, community groups and businesses can come together and open new Free Schools where there’s demand - bringing outside expertise and experience into the state sector.
That’s why we back Lord Baker, who through the Baker-Dearing Trust that he set up with the late Lord Dearing, is doing a fantastic job in pioneering a new generation of University Technical Colleges.
They will offer high-quality technical qualifications - all as autonomous institutions, sponsored by leading local businesses and a local university.
The JCB Academy in Staffordshire is already open - offering hard practical learning alongside academic GCSEs.
The new UTC in Birmingham will specialise in engineering and manufacturing when it opens in 2012 - with students working with Aston University engineering staff and students, as well as local business and colleges.
And Ken has ambitious plans to open many more in cities across the country.
And it’s in that same spirit that we are right behind the studio schools movement and keen to see it grow, and we hope that the wider education system sits up and takes note of your distinctive philosophy and ethos.
We think that studio schools have huge potential, and it’s not just us who think so. I gather that there is a great deal of interest from overseas.
Studio schools have a fresh and new culture for young people at risk of dropping out elsewhere. They are all ability, have high aspirations for all pupils and make sure young people get the strong qualifications they need to get into employment or university, whether that’s GCSEs, A levels, Diplomas, BTECs or NVQs.
But they also give them the practical skills employers demand in trades like construction, hospitality, plumbing and engineering, as well as softer skills like team working, communication, initiative and punctuality - exactly the kind of intangibles that businesses want but often can’t find in school leavers.
Studio schools show us how to go beyond so-called ‘traditional’ teaching by using some of the most innovative teaching methods like personal mentoring and coaching, project-based learning which cuts across subjects, and rooting lessons in practical, real-life situations. And they use smaller classes to back up high-quality staff, allowing them to focus more attention on pupils who might have been at risk of falling behind or switching off.
And one vital point: this doesn’t mean dumbing down - it’s about making sure young people are inspired and excited to invest the time and effort in their own futures.
They mustn’t be seen as some kind of halfway house between mainstream provision and PRUs, as some sort of sticking plaster. This is exactly the kind of false label, often attached to vocational education, which we need to squash. It doesn’t do justice to the teachers teaching or the pupils learning in them. And it misses the point about the enormous potential that studio schools have.
By bringing employers into the classroom, it’s a win-win for them and the children.
Young people are doing real work in real business environments - the over-16s are paid a proper wage, but above all they are getting the chance to work alongside professionals on real commercial projects.
I like the fact that employers involved in studio schools recognise that there is not much value in making noises-off about the quality of skills, while not actually working in schools directly. So it is absolutely right they are reaching out to young people directly and taking them under their wing.
By working together, I know we can spread the word about the studio school approach. And I would urge everyone here who thinks they might be interested to talk to the Studio Schools Trust.
Today is a celebration of the launch of the first two studio schools, but I hope it also heralds more to come.
It is extremely important that the pioneers do well, not just for the children you are teaching, but because of the role models you can be.
Showing that it is possible to break down the long-standing divide between academic and vocational qualifications that has existed in our country for too long. Showing that it is possible to re-engage young people and get them to set their targets higher.
And showing that we can give more young people real choice in their lives.
I believe that studio schools can help achieve all of that.
And I hope this is just the start of things to come.
Thank you.
Published: 29 September 2011


Energy, Control Engineering, Optimization, and ML - I
For the first blog on my personal website, I want to share some of my thoughts on the connections between the various topics that I have experienced with. I am a mechanical engineer by undergraduate training, then specialized in control theory applied to robotic arms during my master’s program where I started my journey with AI/ML.
There are many unifying theories between these different disciplines, and I often times reflect upon myself trying to identify these areas to better understand each topic. This might be helpful to, say, a control engineer who wants to dip his/her toes into machine learning or vice versa, or people who just wanted to get a glimpse of other fields.
Disclaimer first: This post only intends to share some of my intuitions in the fields and is hence not written with much academic rigor. There are plenty of books of one wants to dig deeper. I personally am a huge fan of A Mathematical Introduction to Robotic Manipulation by Murray et al. Chapter 4 gives a great overview of robot dynamics as well as control theory related to Lyapunov functions.
Energy
We know that the world tends to evolve to a lower-energy state: water flows downward, heat is transferred from hot objects to cold ones, etc.  Generally speaking, the ball will eventually stop at the bottom of the bowl, and the pendulum will stop swinging at the downward-pointing position - this is because our conventional wisdom tells us that these are the states with low energy.
But what about conservation of energy? Weren’t we told that energy will be preserved? In our examples, yes there will be conversions between potential energy and kinetic energy when the ball or the pendulum is oscillating, but the total energy (kinetic + potential) will decrease due to friction. We know that they will eventually stop - which means that the kinetic energy will become zero in the end - so in this case the state with the lowest potential energy will be favoured.
Control Engineering
Control engineering is a vast field with many advanced topics. In this blog I am coming from a Lyapunov based control perspective. For those who do not know what Lyapunov is - do not worry, we will be soon talking about this.
Let’s take the pendulum example. Say if we have a motor available at the pivot of the pendulum and can control the torque, how can we use the motor such that the pendulum can be stabilized at any angle that we desire? (This is a different problem from the classic inverted pendulum problem in which the goal is to only make the pendulum stay upright - a simple linear PID control will do the trick given reasonable initial conditions.)
There are different ways to approach this, and I propose an energy-based thinking. We know that without the control input, the pendulum will end up pointing downward as a result of it being lowest energy state, or more specifically, the effect of potential (or gravitational) energy. Let’s take a closer look at the gravity then. At the pivot of the pendulum, gravity exhibits itself as a moment/torque of $\frac{1}{2} m g L \sin \theta$ that is acting clockwise.
Think about this - what if we use the motor to counteract this moment, i.e. applying a $\frac{1}{2} m g L \sin \theta$ torque counter-clockwise? It will be as if there is no gravity! The pendulum will behave as if it is placed on a horizontal surface.  This is called “gravity compensation” and is widely used in robot arm controls.
We are half way there - how do we make it converge to any desired orientation $\theta_d$? We’ve so far figured out how to cancel out with the gravitational effect, but can we do more? Consider this: on top of gravity compensation, what if we add $\frac{1}{2} m g L \sin (\theta_d-\theta)$ clockwise? Note that, in the absence of control, the gravitational effect is a torque of $\frac{1}{2} m g L \sin \theta$ which causes $\theta$ to converge to $0$ (downward pointing). We essentially replaced the $\theta$ with $\theta_d-\theta$, meaning this input torque will make $\theta_d-\theta$ converge to 0! The pendulum will act like $\theta = \theta_d$ is the downward configuration.
To recap: we know that the system naturally goes to the state with lowest potential energy. To exploit this behavior, we used the motor to (1) cancel out the gravitational effect, and (2) replace it with our own version of “potential energy” that has a minimum at $\theta=\theta_d$. This approach has a very fitting name, “energy shaping control”, or in this case it is “potential energy shaping control.”
In this example, this artificial energy that we created can be taken as our Lyapunov function. In a nutshell (and loosely speaking), for a given control law, if you can find a smooth function that is lowest at the desired configuration and increases when you get further away, and prove that the value of this function decreases with respect to time for the closed-loop system, then this desired configuration is guaranteed to be a stable equilibrium, and the function you used is Lyapunov function. Euclidean distance from the goal is a common form of Lyapunov function, and for physical systems like the pendulum, often times it is convenient to use energy as the Lyapunov function.
In the example figure above, the Lyapunov function is the bowl-shaped surface, and the curve below is a projection of the system’s trajectory. You may think of this as a ball rolling towards the bottom of the bowl with some initial horizontal speed. The vertical axis can be understood as the height, or somewhat equivalently, the potential energy.
Aside from the system dynamics, closed loop systems, etc., it is obvious that Lyapunov function is closely related to optimization - in a way it is a loss function that you want to minimize. The perspective is different though, because sometimes control engineers spend most of their time identifying a suitable Lyapunov function where as the cost/loss/objective function is usually well-defined for optimization problems. I will discuss more in my next post.


Emily:
Oh, wonderful! You brought the spice! You're my hero! But, you see, I've got a problem... There's just one more thing...
"OK, I'll help you again."


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50ra4-library
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"types"
"utils/index"
Externals
"external/index"
"external/lodash"
"external/nanoid"
"external/ramda"
"utils/condition"
"utils/date"
"utils/enum"
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ledger / net.corda.v5.ledger.contracts / TransactionVerificationException / NotaryChangeInWrongTransactionType / txNotary
txNotary
val txNotary: Party
the Party specified by the transaction header.
Property
txNotary
- the Party specified by the transaction header.


A button’s visual weight should correspond to the importance of the button’s action. The more important the action, the heavier the button’s visual weight.
{% header "h3", "Primary" %}A visual style used to highlight the most important actions. To avoid confusing users, don’t use more than one primary button within an email section.
A visual style used to highlight the most important actions on a dark background. To avoid confusing users, don’t use more than one white button within an email.
All buttons, by default, are secondary buttons.
s-btn
class with s-btn__primary
, s-btn__white
or s-btn__outlined
applies :hover
progressive enhancements defined in the <style>
tag. Only email clients that support <style>
in <head>
will render the :hover
.
{% endtip %}
The default size for email buttons is appropriate for most emails. Useful for emails with one or two main calls-to-action.
{% header "h3", "Small" %}A slightly smaller button size is appropriate for emails with multiple calls-to-action, like a newsletter or an email hero with multiple calls-to-action.


Solving the linear SVM problem with coordinate descent is very efficient and is implemented in one of the most often used packages, 'LIBLINEAR' (available at http://www.csie.ntu.edu.tw/~cjlin/liblinear). It has been shown that the uniform selection of coordinates can be accelerated by using an online adaptation of coordinate frequencies (ACF). This package implements ACF and is based on 'LIBLINEAR' as well as the 'LiblineaR' package (<https://cran.r-project.org/package=LiblineaR>). It currently supports L2-regularized L1-loss as well as L2-loss linear SVM. Similar to 'LIBLINEAR' multi-class classification (one-vs-the rest, and Crammer & Singer method) and cross validation for model selection is supported. The training of the models based on ACF is much faster than standard 'LIBLINEAR' on many problems.
| Version: | 1.94-2 |
| Suggests: | SparseM, testthat |
| Published: | 2016-01-04 |
| Author: | Aydin Demircioglu; Tobias Glasmachers; Urun Dogan |
| Maintainer: | Aydin Demircioglu <aydin.demircioglu at ini.rub.de> |
| License: | GPL-2 |
| Copyright: | The LIBLINEAR Project; Thibault Helleputte<EMAIL_ADDRESS>Pierre Gramme<EMAIL_ADDRESS>|
| URL: | http://github.com/aydindemircioglu/liblineaR.ACF/ |
| NeedsCompilation: | yes |
| Citation: | LiblineaR.ACF citation info |
| CRAN checks: | LiblineaR.ACF results |
| Reference manual: | LiblineaR.ACF.pdf |
| Package source: | LiblineaR.ACF_1.94-2.tar.gz |
| Windows binaries: | r-devel: LiblineaR.ACF_1.94-2.zip, r-release: LiblineaR.ACF_1.94-2.zip, r-oldrel: LiblineaR.ACF_1.94-2.zip |
| OS X binaries: | r-release: LiblineaR.ACF_1.94-2.tgz, r-oldrel: LiblineaR.ACF_1.94-2.tgz |
Please use the canonical form https://CRAN.R-project.org/package=LiblineaR.ACF to link to this page.


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