DfE enquiries
Central newsdesk 020 7783 8300
General enquiries 0370 000 2288
Press release
100 new scholarships a year will raise standards by attracting top graduates to become physics teachers.
The Government publishes implementation plan for teacher training strategy to train the next generation of outstanding teachers.
Education Secretary Michael Gove today announced a £2m-a-year partnership between the Department for Education and the Institute of Physics (IOP) to attract the best graduates to become physics teachers. It re-affirms the Government’s commitment to recruit the very best graduates into teaching and train them even better, so that standards can rise in schools across the country.
Around 100 scholarships worth £20,000 each will be available every year for graduates with a 2:1 or first class degree who are intending to do a mainstream physics, or physics with maths, Initial Teacher Training (ITT) course.
The IOP will work with experts in teaching practice to award scholarships. They will hand-pick candidates demonstrating exceptional subject knowledge, enthusiasm for the study of physics, and outstanding potential to teach. The IOP’s relationship with the scholars will continue into their teaching careers. This will develop a group of outstanding physics teachers, all part of a community of physicists across schools, universities and industry.
IOP research shows that around 1,000 new specialist physics teachers in England are needed every year for the next 15 years to plug the gap so that the subject is taught by specialist teachers. Last year around 275 fewer trainees were recruited to physics initial teacher training courses than were needed.
The scholarship comes as part of the Government’s implementation plan for its ITT Strategy, Training our next generation of outstanding teachers. The implementation plan is published today.
Education Secretary Michael Gove said:
If we want to have an education system that ranks with the best in the world, we must attract outstanding people into the profession, and we must give them outstanding training.
The scholarship scheme launched with the Institute of Physics will help make sure we have excellent physics teachers in this country with deep subject knowledge. They will help raise the status of the teaching profession and also make a huge difference in the lives of children.
Professor Peter Main, Director of Education and Science at the Institute of Physics, said:
These scholarships will help the Institute realise its aims of welcoming a greater number of physics teachers into the broader community of physicists and of increasing the spread of subject expertise in education. They will help us to develop excellent teachers from excellent graduates. We are saying to people with a love of physics and a good academic record - ‘choose teaching: it is a job that will reward you and exploit your abilities to the full’.
Renowned physicist Professor Jim Al-Khalili said:
Being a research physicist and a well-known physics broadcaster and author is all well and good but the really valuable work needed to inspire future generations of physicists is done by physics teachers in the classroom.
Every day teachers are communicating the beauty of the subject and the satisfaction that an understanding of physics can give you. So becoming a teacher is both a great opportunity for people to share their passion for the subject and means playing a vital role in giving the whole population a good grounding in the subject.
The IOP will begin recruitment for the scholarships from today.
Ministers aim to expand the model physics scholarships to other specialist subjects from 2013/14 onwards. It is hoped other organisations will come forward who are interested in attracting and selecting trainees for the award of outstanding teacher training scholarships.
The Government’s Initial Teacher Training (ITT) Strategy Implementation Plan, published today, re-affirms the Government’s commitment to recruiting the very best into teaching and a greater role for schools in training.
The proposals cover:
From 2012/13, the Government will prioritise the allocation of places to courses with a specialism, rather than to generalist primary courses. This will encourage ITT providers to offer specialist courses. We will also offer schools the opportunity to train their own primary specialist teachers and then employ them as specialist teachers. For 2013/14 we expect to introduce additional financial incentives for trainees who undertake a maths, sciences or languages specialism as part of their primary ITT course, and who have a good A-level in maths, a science or a language.
Trainees will receive a bursary of up to £20,000 in their training year - more than double the current maximum of £9,000.
Candidates who fail either of the skills tests will be limited to two re-sits for each test. Currently they only take the tests after starting their training course and they are allowed unlimited re-sits. New figures show that one in five trainees fail either of the basic tests first time round. The pass mark will also rise from September 2012. And a review of the tests will be carried out and new tests introduced in September 2013.
Around 100 outstanding schools have already been selected to be ‘Teaching Schools’. These schools will lead the way on increasing school involvement in the training and professional development of teachers and headteachers. Outstanding schools will also be able to become accredited providers and be given priority over teacher training places.
Teachers consistently identify two specific weaknesses in the initial training they have received: being able confidently to teach reading effectively, including using systematic synthetic phonics, and how to manage pupil behaviour.
Ofsted is currently consulting on improving the inspections for ITT providers.
Information on the IOP scholarship including details of how to apply, can be found on the Institute of Physics website.
Details on becoming a teacher can be found on the DfE’s Get into teaching website .
The Initial Teacher Training Strategy and implementation plan .
DfE has also today confirmed ITT places for training providers for 2012/13 to the Training and Development Agency for Schools (TDA). Letter from Michael Gove to the Training and Development Agency for Schools.
From April 2012, the Teaching Agency, a new executive agency, will replace amongst other bodies the Training and Development Agency for Schools (TDA). It will be responsible for ensuring the supply of high quality teachers and training, and for teacher regulation. This is subject to getting all necessary approvals, including parliamentary approval of related legislation.
Central newsdesk 020 7783 8300
General enquiries 0370 000 2288
Published: 8 November 2011


--- layout: example categories: example/v1.0.0 version: v1.0.0 title: Query the Geocoder control results in code description: Listen to the found event and display the first queried result from Mapbox Geocoding API. tags: - geocoding - ui ---
found


We exchange dogs!
- productize strategic mindshare
- strategize frictionless users
- syndicate integrated platforms
- exploit innovative web services
- enhance bleeding-edge platforms
- synthesize granular infrastructures
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With the pressure increasing, the magnetic axis usually shifts to the
low-field-side of the device, as is shown in Fig. 32.
Figure 32:
Comparison of two equilibria obtained with
(left) and
(right),
respectively, where is the pressure at the magnetic axis. All the
other parameters are the same for the two equilibria,
,
,
,
,
, and the LCFS is given by miller's formulas (457) and
(458) with , ,
, and
.
|
yj
2018-03-09


Mute button
Posted: Sun Aug 31, 2008 4:39 am
please add a mute button so i can watch movies etc while hunting
The dead bug sound, trans sounds are getting on my nerves.  And for the love of God, dont follow EJ's stupid mistake by only adding the volume dragger without any mute option


Stacks & Queues - 1
CMPT 225, Fall 2021, Lecture 2
Stack
- ADT that stores a collection of objects/values
- Insertions and removals follow last-in-first-out pattern
- Fundamental Operations:
- push: inserts an element on the “top”
- pop: removes + returns the top element
e.g.
| Stack index | Value |
push a
| Stack index | Value |
| 0 | a |
push b
| Stack index | Value |
| 0 | b |
| 1 | a |
push c
| Stack index | Value |
| 0 | c |
| 1 | b |
| 2 | a |
pop
| Stack index | Value |
| 0 | b |
| 1 | a |
- conventient optional operations
- size: return # of elements on stack // encapsulation
- empty: check for emptiness // better than “size=0?”
- top: return top element, but don’t remove it // better than x = pop(); push(x) then use x
Algorithm Applications
- parasing/evaluation/transformation of expressions
- speech recognition coding/decoding
- shared network access control
- programming languages & execution
- Postscript, Forth, the call stack
- things we do daily with computers
Parenthasies Checking
Parenthasies: (()(((()())()()(()))
A diagram showing: For every left parenthasies, add one to a counter. For every right parthenthasies, remove one from the counter. If the counter is not zero by the end of the sequence, there are too many on one side of the parenthasies.
Can be done by counting unmached left parenthasies:
Successful example:
| Character | Counter |
| 0 | |
| ( | 1 |
| ( | 2 |
| ) | 1 |
| ( | 2 |
| ( | 3 |
| ) | 2 |
| ) | 1 |
| ) | 0 |
| Yay! | 0 |
Failed example:
| Character | Country |
| 0 | |
| ( | 1 |
| ( | 2 |
| ) | 1 |
| ( | 2 |
| ) | 1 |
| Oh no it’s not zero! |
Another fail:
| Character | Counter |
| 0 | |
| ( | 1 |
| ) | 0 |
| ( | 1 |
| ) | 0 |
| ) | -1 |
| Negative 1 this time! |
Do this one yourself:
| Character | Counter |
| ( | |
| ) | |
| ) | |
| ( |
But consider multiple grouping symbols: (\{\{)
, (\{)\{
, (\{[( ... ]
.
Counting is not enough.
Parenthasies Checking
Diagram showing failure on the last character of this sequence: (()((()()))()(())))
Can be done by counting unmatched left parenthasies:
| Character | Counter |
| ( | 1 |
| ( | 2 |
| ) | 1 |
| ( | 2 |
| ( | 3 |
| ) | 2 |
| ) | 1 |
| ) | 0 |
Example 2:
| Character | Counter |
| ( | 1 |
| ( | 2 |
| ) | 1 |
| ( | 2 |
| ) | 1 |
Example 3:
| Character | Counter |
| ( | 1 |
| ) | 0 |
| ( | 1 |
| ) | 0 |
| ) | -1 |
Example 4:
| Character | Counter |
| ( | 1 |
| ) | 0 |
| ) | -1 |
| ( | 0 |
But consider multiple grouping symbols:
- sequence
(\{\})
will and should work - sequence
(\{)\}
will work and should not - sequence
(\{[( ...
???
Counting is not enough.
Stack-based Algorithm for Checking Grouping Symbols
Pseudo-code:
I is an input stream of symbols.
S is a new empty stack.
while there are signals to read from I {
c is next symbol from I
if c is a left grouping signal {
push c on S
} else if c is a right grouping signal{
if s in empty { report error and stop }
d is pop S
if c and d do not match { report error and stop }
endif // if c is not a grouping symbol, ignore it
end while
if S is not empty { report error and exit }
report ok
Diagram showing how each set of parenthasies are matched, innermost first torwards the outermost.
Stack: Partially-Filled Array Implementation
Variables:
- A - an array of stack elements
- capacity - size of array
- top - index in array of top stack element
- -1 if stack is empty
A starts out as:
| Index | 0 | 1 | 2 | … | capacity-1 |
| Value | a | b | c | … |
- Capacity = <size of A>
- top = 2
push e
A now equals
| Index | 0 | 1 | 2 | 3 | 4 | … | capacity-1 |
| Value | a | b | c | d | e | … |
- capacity = <size of A>
- top = 3
The Queue ADT
A container that stores a collection of items with insertion and removal in “first-in-first-out” order.
Stack: a digram showing circled being placed on top of eachother, pushing circles into the tube, then popping them out from the same size (the top). Like a pringles can of elements.
Queue: a diagram showing circles being unqueued in on the left and dequeued on the right. Like waiting in line for food.
Basic operations:
- enqueue: add an item to the back of a list
- dequeue: remove & return the item at the front of the list
Example: Palindrome Checking
Sequence aba
should succeed.
Sequence aab
should not.
In an array: a diagram showing the following pattern with the variable i
set to the leftmost element and j
set to the rightmost element.
| Values | a | b | c | … | s | b | a |
With a stack and queue:
- read symbols, starting each in a stack and a queue
- while the stack, queue are not empty:
- pop and element from the stack + delete an element from the queue
- if different -> not a palindrome
- palindrome
Queue: Array Implementations
Enqueue: a,b,c,d. Front is now a, last is now d.
| Values | a | b | c | d | … |
Dequeue returns and deletes first element. Front is now b, last is now d.
| Values | ? | b | c | d | … |
Many enquques/dequeues later:
| Values | s | … | m | n | o |
Front element is now m
, last element is now s.
| Values | ? | t | u | v | w | … |
A similar slide is here, but I can’t see the differnece.
Variables:
- array A is array of size capacity
- front is 0
- back is 0
- size is 0
- capacity = <size of array>
Pseudo-code:
array A = array of size capacity // holds queue contents
front = 0 // index in A of front element, if queue not empty
back = 0 // index where next unqueued element will go
size = 0 // number of elements in queue
capacity = <size of array> // ???(can't read) queue size supported
enqueue(x) { // adds x to the back of the queue
// requires size<capacity>
A[back] = x
size = size + 1
back = (back + 1) % capacity
}
dequeue() { // removes front element of queue and returns it
// required size > 0
temp = A[front]
front = (front + 1) % capacity
size = size - 1
return temp
}
Is size == front - back
?
Diagram showing only true if front and back haven’t been switched around due to wrapping around back to the beginning o the array.
“Circular Array” Queue Example
- size = 0
- front = 0
- back = 0
| Values | empty | empty | empty | empty | empty | empty |
enqueue: a,b,c,d
- front = 0
- back = 4
| Values | a | b | c | d | empty | empty |
dequque 3 times
- front = 3
- back = 4
| Values | empty | empty | empty | d | empty | empty |
enqueue e,f,g,h
- front = 3
- back = 2
| Values | g | h | empty | d | e | f |
unqueue j
- size = 6
- font = 3
- back = 3
| Values | g | h | j | d | e | f |
dequeue 3 times
- back = 3
- front = 0
| Values | g | h | j | empty | empty | empty |
dequeue 3 times
- back = 3
- front = 3
| Values | empty | empty | empty | empty | empty | empty |


{% extends "layout.html" %} {% block title %}{{ this.title }}{% endblock %} {% block body %}
Coastal cluster: Eastern Cape, KwaZulu-Natal, Northern Cape, Western Cape
Inland cluster: Free State, Gauteng, Limpopo, Mpumalanga and North West


Back up UCP
Estimated reading time: 10 minutesUCP backups no longer require pausing the reconciler and deleting UCP containers, and backing up a UCP manager does not disrupt the manager’s activities.
Because UCP stores the same data on all manager nodes, you only need to back up a single UCP manager node.
User resources, such as services, containers, and stacks are not affected by this operation and continue operating as expected.
Limitations
- Backups should not be utilized for restoring clusters on a cluster with a newer version of Docker Enterprise. For example, if backups occur on version N, then a restore on version N+1 is not supported.
- More than one backup at the same time is not supported. If a backup is attempted while another backup is in progress, or if two backups are scheduled at the same time, a message is displayed to indicate that the second backup failed because another backup is running.
- For crashed clusters, backup capability is not guaranteed. Perform regular backups to avoid this situation.
- UCP backup does not include swarm workloads.
UCP backup contents
Backup contents are stored in a .tar
file. Backups contain UCP configuration metadata to re-create configurations such as Administration Settings values such as LDAP and SAML, and RBAC configurations (Collections, Grants, Roles, User, and more):
| Data | Description | Backed up |
|---|---|---|
| Configurations | UCP configurations, including Docker Engine - Enterprise license. Swarm, and client CAs | yes |
| Access control | Permissions for teams to swarm resources, including collections, grants, and roles | yes |
| Certificates and keys | Certificates and public and private keys used for authentication and mutual TLS communication | yes |
| Metrics data | Monitoring data gathered by UCP | yes |
| Organizations | Users, teams, and organizations | yes |
| Volumes | All UCP named volumes, including all UCP component certificates and data. Learn more about UCP named volumes. | yes |
| Overlay Networks | Swarm-mode overlay network definitions, including port information | no |
| Configs, Secrets | Create a Swarm backup to backup these data | no |
| Services | Stacks and services are stored in Swarm-mode or SCM/Config Management | no |
Note: Because kube stores the state of resources on etcd
, a backup of etcd
is sufficient for stateless backups and is described here.
Data not included in the backup
ucp-metrics-data
: holds the metrics server’s data.ucp-node-certs
: holds certs used to lock down UCP system components- Routing mesh settings. Interlock L7 ingress configuration information is not captured in UCP backups. A manual backup and restore process is possible and should be performed.
Kubernetes settings, data, and state
UCP backups include all kubernetes declarative objects (pods, deployments, replicasets, configs...), including secrets.
Note: Kube volumes and kube node labels are not be backed up. Upon restore, kubernetes declarative objects are re-created. Containers are re-created and IPs are resolved.
For more information, see Backing up an etcd cluster.
Specify a backup file
To avoid directly managing backup files, you can specify a file name and host directory on a secure and configured storage backend, such as NFS or another networked file system. The file system location is the backup folder on the manager node file system. This location must be writable by the nobody
user, which is specified by changing the folder ownership to nobody
. This operation requires administrator permissions to the manager node, and must only be run once for a given file system location.
sudo chown nobody:nogroup /path/to/folder
Important:
- Specify a different name for each backup file. Otherwise, the existing backup file with the same name is overwritten. - Specify a location that is mounted on a fault-tolerant file system (such as NFS) rather than the node’s local disk. Otherwise, it is important to regularly move backups from the manager node’s local disk to ensure adequate space for ongoing backups.
UCP backup steps
There are several options for creating a UCP backup:
The backup process runs on one manager node.
Create a UCP backup using the CLI
The following example shows how to create a UCP manager node backup, encrypt it
by using a passphrase, decrypt it, verify its contents, and store it locally on
the node at /tmp/mybackup.tar
:
- Run the
docker/ucp:3.2.4 backup
command on a single UCP manager and include the--file
and--include-logs
options. This creates a tar archive with the contents of all volumes used by UCP and streams it tostdout
.
View log and progress information
To view backup progress and error reporting, view the contents of the stderr streams of the running backup container during the backup. Progress is updated for each backup step, for example, after validation, after volumes are backed up, after etcd
is backed up, and after rethinkDB
. Progress is not preserved after the backup has completed.
Verify a UCP backup
In a valid backup file, 27 or more files are displayed in the list and the ./ucp-controller-server-certs/key.pem
file is present. Ensure the backup is a valid tar file by listing its contents, as shown in the following example:
$ gpg --decrypt /directory1/directory2/backup.tar | tar --list
If decryption is not needed, you can list the contents by removing the --decrypt flag
, as shown in the following example:
$ tar --list -f /directory1/directory2/backup.tar
Create a UCP backup using the UI
- In the UCP UI, navigate to Admin Settings.
- Select Backup Admin.
- Select Backup Now to trigger an immediate backup.
The UI also provides the following options:
- Display the status of a running backup
- Display backup history
- View backup contents
Create, list, and retrieve UCP backups using the API
The UCP API provides three endpoints for managing UCP backups. You must be a UCP administrator to access these API endpoints.
Create a UCP backup using the API
Create a backup with the POST: /api/ucp/backup
endpoint. This is a json endpoint with the following arguments:
| field name | JSON data type* | description |
|---|---|---|
| passphrase | string | Encryption passphrase |
| noPassphrase | bool | Set to true if not using a passphrase |
| fileName | string | Backup file name |
| includeLogs | bool | Specifies whether to include a log file |
| hostPath | string | File system location |
The request returns one of the following HTTP status codes, and, if successful, a backup ID.
- 200: Success
- 500: Internal server error
- 400: Malformed request (payload fails validation)
Example
$ curl -sk -H 'Authorization: Bearer $AUTHTOKEN' https://$UCP_HOSTNAME/api/ucp/backup \
-X POST \
-H "Content-Type: application/json" \
--data '{"encrypted": true, "includeLogs": true, "fileName": "backup1.tar", "logFileName": "backup1.log", "hostPath": "/secure-location"}'
200 OK
where:
$AUTHTOKEN
is your authentication bearer token if using auth token identification.$UCP_HOSTNAME
is your UCP hostname.
List all backups using the API
List existing backups with the GET: /api/ucp/backups
endpoint. This request does not expect a payload and returns a list of backups, each as a JSON object following the schema found in the Backup schema section.
The request returns one of the following HTTP status codes and, if successful, a list of existing backups:
- 200: Success
- 500: Internal server error
Example
curl -sk -H 'Authorization: Bearer $AUTHTOKEN' https://$UCP_HOSTNAME/api/ucp/backups
[
{
"id": "0d0525dd-948a-41b4-9f25-c6b4cd6d9fe4",
"encrypted": true,
"fileName": "backup2.tar",
"logFileName": "backup2.log",
"backupPath": "/secure-location",
"backupState": "SUCCESS",
"nodeLocation": "ucp-node-ubuntu-0",
"shortError": "",
"created_at": "2019-04-10T21:55:53.775Z",
"completed_at": "2019-04-10T21:56:01.184Z"
},
{
"id": "2cf210df-d641-44ca-bc21-bda757c08d18",
"encrypted": true,
"fileName": "backup1.tar",
"logFileName": "backup1.log",
"backupPath": "/secure-location",
"backupState": "IN_PROGRESS",
"nodeLocation": "ucp-node-ubuntu-0",
"shortError": "",
"created_at": "2019-04-10T01:23:59.404Z",
"completed_at": "0001-01-01T00:00:00Z"
}
]
Retrieve backup details using the API
Retrieve details for a specific backup using the GET: /api/ucp/backup/{backup_id}
endpoint, where {backup_id}
is the ID of an existing backup. This request returns the backup, if it exists, for the specified ID, as a JSON object following the schema found in the Backup schema section.
The request returns one of the following HTTP status codes, and if successful, the backup for the specified ID:
- 200: Success
- 404: Backup not found for the given
{backup_id}
- 500: Internal server error
Backup schema
The following table describes the backup schema returned by the GET
and LIST
APIs:
| field name | JSON data type* | description |
|---|---|---|
| id | string | Unique ID |
| encrypted | boolean | Set to true if encrypted with a passphrase |
| fileName | string | Backup file name if backing up to a file, empty otherwise |
| logFileName | string | Backup log file name if saving backup logs, empty otherwise |
| backupPath | string | Host path where backup resides |
| backupState | string | Current state of the backup (IN_PROGRESS , SUCCESS , FAILED ) |
| nodeLocation | string | Node on which the backup was taken |
| shortError | string | Short error. Empty unless backupState is set to FAILED |
| created_at | string | Time of backup creation |
| completed_at | string | Time of backup completion |
*: JSON data type as defined per JSON RFC 7159.


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FacDesign.Rd
R6Class representing a factorial design.
fac_design <- FacDesign$new(name, k)
new(name, k, rep = 1, center = 0, fac_names = LETTERS[seq_len(k)],
response_name = "response", index_name = "index", response = NULL)
Initialize the factorial design.
name | Character . The factorial
design's name |
k | Integer . Number of variable
factors. |
center | Integer . Number of
center points. |
fac_names | Character vector
containing the names of the variable factors. |
response_name | Character . Name
of the response variable. |
index_name | Character . Name of
the index variable. |
response | Numeric vector
containing the values of the response variable for the standardised
factorial design. If response = NULL , you have to add a response
later via this$add_response() . |
add_response(response)
Add or update the response of the factorial design.
response | Numeric vector
containing the values of the response variable for the standardised
factorial design. |
get_name()
Get the factorial design's name.
get_names()
Get a list with the following entries:
| fac | The variable factors' names. |
| index | The index' name. |
| name | The factorial design's name. |
| response | The factorial design response's name. |
get_table(randomized = TRUE, index = TRUE, factors = TRUE,
response = TRUE, center = FALSE)
Get a tibble
representing the factorial design.
randomized | If TRUE , the rows are
ordered in run order and not in standardised order. |
index | If TRUE , the index column
is included in the output. |
factors | If TRUE , the factor
columns are included in the output. |
response | If TRUE , the response
column is included in the output. |
center | If TRUE , the rows
containing observations for the center points are included in the output. |
has_response()
Returns a logical
indicating whether the factorial design has a response or not.
nrow()
Get the number of rows of the factorial design.
rename_fac_names(new_names, old_names = NULL)
Set the factors'
names. If old_names = NULL
the length of new_names
must be
equal to the number of factors, otherwise the length of new_names
and old_names
has to be equal.
new_names | Character
vector. |
old_names | Character
vector or NULL . |
rename_index_name(new_name)
Rename the index with the
character
new_name
.
rename_name(new_name)
Rename the factorial design with the
character
new_name
.
rename_response_name(new_name)
Rename the response with the
character
new_name
.


#include <CSpace.hpp>
|
| struct | Obstacle |
| | Struct for defining obstacles where pts[i] is a vector representing the ith vertex of the polygon representing the obstacle. More...
|
| |
|
| | CSpace () |
| | Default constructor. Does nothing. More...
|
| |
| | CSpace (const std::vector< double > &minimums, const std::vector< double > &maximums) |
| | Default constructor. Init configuration space without obstacles. More...
|
| |
| const std::vector< double > | getMinimums () const |
| | Return minimum of each dimension in the configuration space. More...
|
| |
| const std::vector< double > | getMaximums () const |
| | Return maximum of each dimension in the configuration space. More...
|
| |
| const std::vector< Obstacle > | getObstacles () const |
| | Return vectors of obstacles. More...
|
| |
| bool | loadConfigurationSpace (std::string filepath) |
| | Load minimum and maximum values for each dimension of configuration space from specified file. More...
|
| |
| bool | loadObstacles (std::string filepath) |
| | Load vertices defining polygon obstacles from specified file. More...
|
| |
| bool | isFree (std::vector< std::vector< double > > pts) const |
| | Returns true if all configurations in pts belongs to the free configuration space and false if any configuration in pts is in the interior of an obstacle. More...
|
| |
| bool | isFree (std::vector< double > pt) const |
| | Returns true if configuration config belongs to the free configuration space and false if configuration config is in the interior of an obstacle. More...
|
| |
◆ CSpace() [1/2]
Default constructor. Does nothing.
◆ CSpace() [2/2]
| mpl::CSpace::CSpace |
( |
const std::vector< double > & |
minimums, |
|
|
const std::vector< double > & |
maximums |
|
) |
| |
|
inline |
Default constructor. Init configuration space without obstacles.
◆ getMaximums()
| const std::vector<double> mpl::CSpace::getMaximums |
( |
| ) |
const |
|
inline |
Return maximum of each dimension in the configuration space.
◆ getMinimums()
| const std::vector<double> mpl::CSpace::getMinimums |
( |
| ) |
const |
|
inline |
Return minimum of each dimension in the configuration space.
◆ getObstacles()
| const std::vector<Obstacle> mpl::CSpace::getObstacles |
( |
| ) |
const |
|
inline |
Return vectors of obstacles.
◆ isFree() [1/2]
| bool mpl::CSpace::isFree |
( |
std::vector< double > |
pt | ) |
const |
Returns true if configuration config belongs to the free configuration space and false if configuration config is in the interior of an obstacle.
◆ isFree() [2/2]
| bool mpl::CSpace::isFree |
( |
std::vector< std::vector< double > > |
pts | ) |
const |
Returns true if all configurations in pts belongs to the free configuration space and false if any configuration in pts is in the interior of an obstacle.
◆ loadConfigurationSpace()
| bool mpl::CSpace::loadConfigurationSpace |
( |
std::string |
filepath | ) |
|
Load minimum and maximum values for each dimension of configuration space from specified file.
◆ loadObstacles()
| bool mpl::CSpace::loadObstacles |
( |
std::string |
filepath | ) |
|
Load vertices defining polygon obstacles from specified file.
The documentation for this class was generated from the following files:
- /home/jared/development/mpl-new/include/CSpace.hpp
- /home/jared/development/mpl-new/include/CSpace.cpp


-
OPEN
int OPEN
OPEN state
-
CLOSED
int CLOSED
CLOSED state
-
LOCKED
int LOCKED
LOCKED state
-
title
java.lang.String title
The door/container's name
-
stateOpen
java.lang.String stateOpen
The door/container's response when open
-
stateClosed
java.lang.String stateClosed
The door/container's response when closed
-
stateLocked
java.lang.String stateLocked
The door/container's response when locked
-
exit
Exit exit
The Exit behind the door
-
key
Item key
The key if locked
-
items
java.util.Vector<E> items
The containing items if container
-
open
boolean open
The door's open/closed state
-
locked
boolean locked
The door's locked/unlocked state
-
container
boolean container
Whether a door or container


Assignment 3: Trees
The Trump Family
Note: Links do not seem to work in safari, for some reason. For best viewing experience, use chrome.
1)
The layout turned out as it did because we didn't have time to implement it as we would have liked to;
Preferably, all partners would be horizontal and on same level as the Trump descendant,
with bracket-style lines connecting them, and then a line coming down fra the bracket-line to the child/children.
This would have been the typical style of a family tree, but we would probably have to implement most of it ourselves,
without much help from the d3 tree library.
So, we have made some workarounds in order to illustrate which nodes are Trump-descendant, and which ones are married into the family.
First of all, the nodes without filling, are the married in husbands/wives (even if later divorced). Secondly, the lines connecting the Trump descendant with his/her partner(s) is a dashed line, in order to indicate a relationship that is not child / parent.
Conveniently, rows alternate between partners and children. Alternating colors could have been used to further illustrate the non-child relationships, but it would not add additional data, and might just end up confusing the viewer.
So, we have made some workarounds in order to illustrate which nodes are Trump-descendant, and which ones are married into the family.
First of all, the nodes without filling, are the married in husbands/wives (even if later divorced). Secondly, the lines connecting the Trump descendant with his/her partner(s) is a dashed line, in order to indicate a relationship that is not child / parent.
Conveniently, rows alternate between partners and children. Alternating colors could have been used to further illustrate the non-child relationships, but it would not add additional data, and might just end up confusing the viewer.
2)
We see at least one very attractive interactive feature that could be implemented;
If the data-set was larger, i.e. containing information about the partners families,
and also data about Donald Trump's ancestors, then being able to toggle parts of the tree would be great.
This way the user could go exploring in the ancestry without having to see the entire data-set in one view,
while not being constrained to only parts of the data.
We have seen examples of this kind of functionality, when looking for inspiration, but it seems that none of them allowed to completely "wander around" in the tree; Most were sort of based in one node, and then with toggleable branches.
We have seen examples of this kind of functionality, when looking for inspiration, but it seems that none of them allowed to completely "wander around" in the tree; Most were sort of based in one node, and then with toggleable branches.


I’ve spent a considerable amount of time developing ARM Templates and have been working to put together a series of posts to help you master ARM Templates, whether you’re just getting started with Azure or have been developing ARM Templates since their inception. Beyond simplifying your deployments, you can learn so much about Azure’s inner workings and more complex features through ARM Template development.
ARM Templates are Azure’s built-in infrastructure-as-code (IAC) toolset. This means that I can create or modify resources within Azure (Virtual Machines, Virtual Networks, etc.) by creating a configuration file and letting Azure handle the provisioning. ARM Templates enable you to create consistent and repeatable deployments within your Azure environment.
ARM Templates Basics
ARM Templates are defined using JSON (JavaScript Object Notation), a structured language that consists of data referenced as name/value pairs, stored as objects. Let’s take a look at some of the components that make up an ARM Template (click image to enlarge).
The Azure team has provided a public GitHub repository with a number of reference ARM Templates to get you started. This is where I always start when developing a new template.
VS Code is a light-weight editor that’s perfect for developing ARM Templates. VS Code has built-in integrations with This is my recommended tool for a large majority of your ARM Templating needs, and one of my favorite features is the ability to auto-format JSON!
Visual Studio has built-in auto-formatting and some other great features for helping develop and deploy complex ARM Templates. Using Visual Studio can be overwhelming for getting started but I will provide plenty of information and resources about Visual Studio in the coming weeks.
Armviz is a browser-based ARM Template development tool. Armviz has a fairly decent feature that allows you to generate a design view of the Azure resources inside your template. Big catch for this tool, its a Public project hosted on GitHub that hasn’t been updated in a couple years. I’ll use this tool for quick and simple templates sometimes, but don’t recommend it for every day use.
Using a version control service is the recommended method of storing ARM Template code. If you don’t have much of a development background these tools can take some getting used to, so I wouldn’t worry about them too much when getting started.
Deployment Options
Azure Portal resource deployment - within Azure you’re able to perform a one-time deployment of an ARM Template by creating a new resource “Template deployment”.
PowerShell - the AzureRM PowerShell modules have a “New-AzureRMResourceGroupDeployment” command to deploy templates.
Templates Blade - the Azure Portal has a “Templates” blade that allows you to store your templates within Azure and easily deploy.
Visual Studio - one of the value propositions for using Visual Studio to develop ARM Templates is the ability to deploy your template directly to Azure.
Deploy to Azure - azuredeploy.net is a great tool to easily deploy ARM Templates from a public GitHub repository to your Azure environment. Azuredeploy.net cannot be used for Private GH repositories.
First ARM Template
We’ll start with an ARM Template that creates a new VNet with 2 Subnets.
To start, log into Azure and then browse to the following link:
Click the Blue “Deploy to Azure button” provided in the GitHub link.
Configure Settings
Directory and Subscription should refer to your Azure account information. This will be auto-populated since you're already logged in.
Resource Group - you may choose to use an existing Resource Group, or "Create New" and provide a "Resource Group Name" if you don't already have one in your subscription.
Virtual Network name - this is auto-populated using then "Default Value" in our template, seen here:
After filling out the settings, click “Next”
Click Deploy
Deployment Complete
After the deployment has completed, click the “Manage” link or open your Azure Portal.
Review Deployment in Azure Portal
Our Virtual Network has successfully been deployed to Azure. It contains the two subnets that our template defined, along with the proper network address spaces.
I received a “virtual assistant” as a gift this year and while I enjoy listening to music and quickly checking the weather forecast (spoiler: its always cold in Chicago), I love the idea of bringing the virtual assistant into the workplace. This week I decided to build learn more about building custom “Skills” and decided to put this to the test with Cortana and Azure administration.
I quickly came across the Cortana Dev Center, which provides an easy to use language and tool-set to develop Cortana skills. Rather than using C# or other programming language, Cortana Dev Center Skills are programmed using Semantic Composition Language (SCL). This is a great introductory programming language because its easy to read and understand.
Here’s a quick high-level architecture of what we’ll be deploying:
The Scenario
As someone who spends most of my days living inside the Azure portal, I thought it would be great if I could delegate some of my tasks to Cortana. I figured it would be cool if I could just ask Cortana to “fix this error”, but decided to set my sights a little lower…
So I imagined myself in the middle of lunch and receiving an email that I need to restart a VM ASAP. I pictured myself running to my computer, logging into Azure, finding the VM, performing a restart, confirming the machine comes back up, and then moving on, fairly simple process that takes maybe 5-10 minutes out of my lunch? But what if I could do it in 10 seconds…..
Create a Cortana Skill to Restart an Azure VM
Create a new Cortana Botlet
Start by signing into the Cortana Dev Center and create a new Cortana Skill. Follow the steps provided and fill out the information requested.
Add the Botlet code
Add the Code that will control the Skill. The code I created can be found here:
From within the Runbook, navigate to the Webhook and Create a New webhook. Give your webhook a name, and expiration. The URL will be autogenerated.
Add a new botlet service
Add a new service to the botlet solution
Add a description to the service and an image if desired
Choose the “I have a web service” option, and paste the Runbook Webhook URL. You’ll need to remove the “?token=asdf….” portion, but make sure you save that portion for the next step.
Update the Webhook URL to include the “?token=asdf1234…..”
Add an action to the Service.
Add the Action Parameters, in this case, VM name.
Test the solution by chatting with Cortana.
Sorry something went wrong? I spent about 20 minutes chasing this error before I realized that the Runbook was in fact executing and I seemed to be receiving a false positive. I believe the error was due to the Webhook not sending a result back.
Here we see the output of our Runbook
Success!
Next Steps
Azure Bot Services resources are available to deploy more robust chat bots as an Azure Web App or Azure Function.
Azure Hybrid Runbook Workers enable Azure Automation Runbooks to run in a local context (OS/Server level). The Hybrid Runbook Worker’s functionality is achieved through a combination of Azure Log Analytics, Microsoft Monitoring Agent, and Azure Automation Runbooks.
Why Are Hybrid Runbook Workers Awesome?
Central Management of Scripts - store all automation scripts needed across the environment, in one location.
Hybrid Architecture - Hybrid Runbook Workers are achieved with a mix of serverless / server architectures.
OS Agnostic - works on Windows or Linux with Python / PowerShell Runbooks.
Runbook Execution - execute local scripts via Runbook Schedules, Webhooks, or Logic Apps.
Scalable - a Hybrid Worker Group can contain one or more VM, and an Automation Account can contain one or more Worker Group.
Cost Effective - smaller VM sizes can be utilized to keep costs low, I generally use a Standard_DS2_v2. Depending on your needs, the VM can be auto-shutdown to around scheduled Runbook tasks.
Watcher Tasks - create custom scripts to monitor services, files, tasks, etc.
Test Scenario
Now we’ll put this to the test. For the test scenario, we’ll configure the Hybrid Worker to restart a Windows service, Print Spooler.
Create a Virtual Machine
First we’ll need to create a Virtual Machine to be configured as our Hybrid Runbook Worker. My personal recommendation is to use a dedicated Windows / Linux VM to run the Hybrid Worker. For this test I created a “Standard_B1s” VM.
Configure Log Analytics OMS Workspace
If you don’t have an existing Log Analytics OMS Workspace, we’ll need to start by creating one.
Navigate to “Log Analytics” in the Azure portal and add a new Workspace.
We need to add the “Automation and Control” solution to our OMS Workspace. Navigate to the OMS Portal and open the Solutions Gallery.
Within the OMS Solutions Gallery, select “Automation & Control”.
The solution will provide a warning that the Workspace needs to be configured.
Specify the Azure Automation Account you will be using to run your Hybrid Worker. If you don’t already have an Automation Account, you can create a new one from here.
Configure the Hybrid Runbook Worker Server
Login to your server and open up PowerShell as administrator.
Run the following install script to add the New-OnPremiseHybridWorker script.
Note if you are not using Windows Server 2016, you may need to install Windows Management Framework 5.0 to utilize necessary PowerShell scripts.
Next, run the script you just installed and reference the Workspace you created earlier. You’ll be asked for a few additional parameters, which are referenced below.
The script will ask you to input the additional parameters needed:
And that’s that, the server configuration is complete!
Create the Runbook
Create a new Runbook within your Azure Automation Account.
Now we’ll add our PowerShell script that will run locally (i.e. not AzureRM modules).
Note: if using non-standard modules, the modules must be installed on the Hybrid Worker VM before executing.
Test the Solution
Stop Print Spooler on the Virtual Machine.
Start your Runbook and specify that it will be run on the Hybrid Worker.
Success!
After the Runbook task has completed, Print Spooler is running on the server.
Azure Automation Watcher Tasks
Now we’ll use Azure Automation Watcher Tasks to monitor the Spooler service and automatically execute the “Restart-Service” script if the service is not in a “running” state.
Add a Watcher and Action Runbook
Start by adding the following Runbooks to your Automation Account:
For this section, the scripts provided are meant to be more robust and account for the ability to run scripts against other servers in the environment. However, to fully utilize the script, we’ll need credentials with the ability to open a remote PowerShell session.
Side Note:
Here are some other great Watcher examples provided by Microsoft to watch a folder for new files:
Navigate to the “Shared Resources” section of the Automation Account and add a new credential. For testing purposes, I’m just adding the local admin account.
Configure the Watcher Task
Navigate to the “Watcher tasks” section within your Automation Account, and click “Add a watcher task”.
Specify a name for the task and the frequency to run (1-59 in minutes). Then select the “Watch-Service” Runbook as the “Watcher” and input the service name parameter (in this case, “Spooler”) and computer name parameter (in this case, “localhost”).
For the “Action”, select the “Process-Service” Runbook, the parameter should be left blank as the value will be passed from the Watcher task.
Once again, we manually stop the Spooler service and wait for our watcher task to execute.
I wanted to provide a basic demo of Azure Automation, Azure Storage Explorer, and the use of Storage Account Tables, because I think all three are extremely valuable to any Azure Administrator or Developer. Personally, I think its more fun to provide a working solution that fully utilizes the features rather than regurgitate information that’s already available, so I came up with this.
The Problem
Managing, planning, and organizing address spaces within Azure can get quite cumbersome and is something that I believe could be improved upon in the portal. I find myself clicking in and out of VNets, their subnets, checking outdated spreadsheets, and trying to keep everything updated once there are too many cooks in the kitchen. I chose to build this solution in Azure Automation and store my data in a Storage Account Table. Here’s the final product:
Storage Account Tables provide simple storage of structured datasets. The Table is made up of “entities” which each contain a “Partion” and “Row” Key. The “ParitionKey” serves as a group of “entities”, while the “RowKey” serves as the unique identifier for the “entity”. The “RowKey” must not be a repeated more than once in a “Partition”.
Tables can not be viewed in the Azure portal, but Microsoft has provided a free tool “Azure Storage Explorer”, which allows for an Azure administrator to view their tables, blobs, file shares, and queues. Azure Storage Explorer also allows you to modify, add, and delete data stored in a Storage Account.
I like to think of them as a mix between a database table and a spreadsheet.
The Script
I wrote this script in a local PowerShell instance and then converted it to Azure Automation, my preferred method because its generally a little bit easier to troubleshoot and allows me to run portions of code rather than troubleshooting the entire script in the Azure Automation Test Pane.
I started by defining the resources I wanted to display in this solution:
Virtual Networks
Subnets
Public IPs
Reserved Address Spaces - something that Azure does not provide a solution for, but I think would be a nice to have. I think of this as a placeholder for a planned space, or defining my on premises address range.
From here I was able to come up with a script that would loop through all of the Public IPs, Virtual Networks, their Subnets, and then added a test output for the Reserved Spaces.
I decided I also wanted to add functionality that would calculate my hosts, host IP, broadcast IP, and separate out the address length. This was accomplished utilizing the PSipcalc script created by Svedsen Tech, which I added in as a Function.  His script also provides some features that I’d love to implement at a later version, specifically around calculating and displaying any address overlap.
Outputting the data was tricky and something I had to try out a few times. I wanted to be able to quickly organize my output table by the “RowKey” in a fashion that would first show the VNet, then its Subnets immediately following. I accomplished this by iterating through the Vnets and assigning them a “RowKey” of “Vnet###”, and then iterating through each Subnet and assigning them a “RowKey” of “VNet###” + “Subnet###”. Now I’m able to view the data in a more understandable way by sorting by “RowKey” descending.
Here’s a small subset of the code to display some the data retrieval, “RowKey” iteration, PSipcalc function calls, and output:
Azure Automation and Storage Account Table Walk Through
Creating the Storage Account
I generally like to recommend that an organization establish a general purpose Storage Account to be used for shared resources that Azure uses to integrate some of their services, like Azure Cloud Shell, Azure ARM Templates archives, or other resources that Azure admins regularly use. In this case we will establish a general purpose Storage Account that will store our Table Storage output.
I choose LRS for these general purpose Storage Accounts because I’m not too concerned about losing the data or not being able to access it during an Azure outage.
That’s it! Our Storage Account is ready to be used.
Configuring the Azure Automation Account
Start by searching for the Automation Account blade in Azure.
Click to add a new automation account.
Add Automation Account
Create Azure Run As account - I choose “Yes” to this feature as my automation account deployment will generate an AzureAD account that will have Contributor access to my Azure resources. You can navigate to the “Run as accounts” under your Automation Account’s “Account Settings” to view its generated display name, Application ID, and Roles, and other relevant information. It is possible to modify the level of access this account has after it is generated.
Updating Modules
Start by viewing the default PowerShell Modules added to the Automation Account. The default modules are very early versions, so we want to update these to latest. The “Update Azure Modules” button at the top will quickly update all Modules to latest.
Adding Modules
Once our modules are updated, we need to add a few from the gallery for the runbook we are about to deploy. Navigate to the gallery and search for the needed modules
AzureRmStorageTable
AzureRM.Network
Click OK to add the module to your Automation Account.
Handling Module Dependency Issues
Upon imporing the “AzureRM.Network” module, I’ve ran into a dependency issue with “AzureRM.Profile”. Although I updated all of my Azure modules, I ended up with 4.2.0. I’ve found the best way to combat this is with the following method:
From the Modules blade, click on the “AzureRM.Profile” module, and then choose to delete it.
Once deleted, the module version will default back to the lowest version.
Navigate to the online PowerShell Gallery, search for the needed module, and select it.
Click the “Deploy to Azure Automation” button.
Select your Automation Account and click OK.
Once the import has completed, return to the Automation Account and check the “Modules” blade, the AzureRM.Profile version should now show as 4.3.0.
Now we can return to the gallery and attempt to import the AzureRM.Network Module. This time we are not met with any dependency warning. Click OK to import the modules.
Navigate back to your Azure Automation Account and select “Runbooks”. We see that the “Generate-AzureIPAMTable” runbook has been added. Select the runbook.
From here we can make edits to the code, delete the runbook, add a schedule to automatically run our script, or review past executions. First we will click “Edit” and then choose “Publish” to make the Runbook available for execution.
After publishing, we can run the script for the first time. Click “Start” to execute the script.
Enter the resource group of the storage account, and the storage account name, then click OK.
We can click on the “Output” to view the running details of the script.
Once completed we will move on to viewing our Table’s data.
I ran into an extremely common issue with a Point-to-Site configuration with a not so common resolution. The Point-to-Site configuration guide provided by Microsoft is pretty easy to follow. Microsoft provides specific instructions and recommendations and I’ve followed this guide on numerous occasions.
In this particular instance, I needed to configure a Point-to-Site connections between two separate VPN Gateways, all existing in the same subscription/region.
I created a Root and Client certificate using PowerShell and uploaded the Base-64 .cer from my Root certificate to both of my test VPN Gateways. Copy and pasting directly from Notepad as most of us generally do:
The certificate uploaded to both of my “test” gateways and I was able to configure the Point-to-Site connections from both of these gateways.
The Problem
Production deployment was the next step. Everything was going just fine until it came to testing the connections. I had already uploaded the certificate, set my address space, and downloaded the client for both gateways. I was able to connect to “Gateway01” just fine, but I received an error when trying to connect to “Gateway02”.
This issue usually results from not creating your certificates correctly or not having them installed to the correct certificate store (they need to be located in the Personal store as opposed to the Computer). I was a little unsure about this instance because “Gateway01” was using the same exact Root and Client certificate, and I already had my connection in place. Either way, I went ahead and recreated my Root and Client certificates, uploaded them to both of my gateways, and re-downloaded the VPN client. Tried connecting to my gateways and…..
Ok, well this was frustrating. So based on the error I received I was confident that the Root certificate had to be the issue. I wondered if it was something about the way the certificate was pasted within the Point-to-Site configuration. What if that “Enter” character that copied over from the Base-64 .cer file was pasting incorrectly into my P2S certificate line. I tested this theory out by reformatting my certificate to look a little something like this, making sure not to include the “BEGIN” and “END” sections of course:
So essentially I was uploading the certificate without any spaces or strange “Enter” characters that could have been copied over from the generic certificate format. I went to re-upload the certificate to my “Gateway02” P2S configuration and sure enough I was met with an error:
How strange that Azure hadn’t caught this based off the way I had been copy/pasting the certificate previously. And what about my test gateways that successfully used the same Root certificate? Possibly just a fluke? Maybe my copy/paste skills are lacking? Whatever the case may be, I was excited that I found an error and decided to just create separate Root certificates for each VPN Gateway. Both connections fired right up.
Key Takeaway:
Always create separate root certificates when creating more than one Point-to-Site Gateway.


Ambient Camera
keywords
: 311, radiation, geigercounter, camera, timelapse movie
Ambient Camera is a compilation of short videos made of photographs that were taken with a camera controlled by a geiger counter.
In this work, the camera releases the shutter whenever the geiger counter detects radiation.
Thus, these photographs are taken not by a person´s will but by an environmental factor.
I have made several short movies by arranging these photographs at a consistent frame rate, similar to a slideshow.
The more frequent radiation is detected, the smoother the movie will be.
From these movies we can compare how often radiation is detected among different locations.
more videos here
---------------
Mentor: Dr. Yasuaki Kakehi
Year: 2012


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About Me
Accomplished and experienced full stack developer with a proven track record of success in the creation of impactful applications and software.
Skilled in custom coding, working on projects for clients ranging from individual creators to Fortune 500 corporations.
Knowledgeable in the development of projects using javascript, html, and CSS, able to leverage skills in each discipline to offer innovative services and create transformational applications.
Projects
Color Theory
An application that allows users to design color palettes to inspire individual creators.
Utlized React, Redux, GraphQL and Node.js to build the application.
GitHub
Actively Distanced
An application that allows the user
create an account and post COVID safe
activities. You can group by Outdoor and
Virtual Activities and other users can
add comments to your activities.
Built
with HTML, CSS, JavaScript, Semantic UI,
Node.js and MySQL.
GitHub
City Explorer
An application that allows the user to
search for a city, state along with
different filters for restaurants and
events. Allows the user to save off
previously searched cities to local
storage.
Built with Google Geocoding
API, Trip Advisor API, Google Maps API,
JavaScript, HTML, and Foundation.
GitHub
Testimonials
Kyle Reynolds went above and beyond to help us
create a custom experience for our users using
FormStack. Not only did he create this unique
user experience, he also took time and care to
empower our Marketing team, who have no
experience with code, how to update and adjust
for future functionality with easy to follow
instructions. Kyle’s work created a custom
product that functioned the way we need and
enables us to use it in many instances to come.
- Robin Glaubman |
Marketing Manager | Jewish Federation of Greater
Atlanta
At Bon Accord Care, we have a specific
requirement for input validation in certain
fields in a number of our forms. Although this
is not a standard feature in the Formstack for
Salesforce App, the Pro Service team, namely
Kyle Reynolds, assisted us in creating a piece
of JS code to meet our requirement. This has
helped our teams gather required information
from our customers at form submission leading to
reduced call backs and admin errors.
- Jan Cervenka |
Management Information Systems Manager | Bon
Accord
The team at Formstack always offers great
support and respond in a timely manner. We had a
request on one of the forms we implemented for a
client that required a SortOrder requirement
build in JavaScript. Kyle and Professional
Services team were able to build this for us and
exceed our expectations! They will forever be a
recommended partner to us.
- Gita Kulkarni |
President | Avinta Services


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Adopted by GOA in the late 90’s, pantiestheclown has been antagonizing trance floors for over 20 years.  Pushing boundaries, testing limits and operating without rules are the core foundation of his madness. When the chaos engine ignites, the portal opens and you find yourself wondering “should I dance or throw up?”, just remember………..