Patriots Sticker: The first sticker I chose to create was a patriots logo sticker. This is because I really like the Pats and because they are the best football team and possibly sports team to ever play. First, I found a logo I liked online, and then I saved it as a .jpg (see files below). I then uploaded it to CorelDraw and saved it as a .cdr.
Wolf Sticker: I chose to create a wolf sticker because they are undoubtedly the most bad-a** animal there is. Just like the patriots sticker, I found a fairly low detail picture of a wolf and converted it to a .cdr in CorelDraw. I then uploaded that file to the vinyl cutter and voila. Another sticker!
Beatles Sticker: The Beatles have to be my favorite band because their music is just all around good, which is why I chose to make a sticker for them. Because I couldn't make a sticker of them as it had to be one color, I chose their logo instead. I found a .jpg online that I liked and converted it to a .cdr. I then cut it on the printer and put it in my notebook.
Reflection: I learned that althought the vinyl cutter can cut extremely detailed stickers, it is best if your image's edges are not super complex, as afterwards these complex edges can curl up or break off very easily, and it makes the sticker harder to stick to something the right way.
Files: Pats (.jpg), Wolf (.jpg), Beatles (.png), Single Color Stickers (.cdr)
Gronk Sticker: I chose to make a Gronkowski sticker because he is an idealic player and possibly the greatest TE of all time.  First, I found a picture of Gronk doing his legendary Gronk Spike. Then, because I only wanted a picture of Gronk and not the background, I uploaded the photo to Adobe Photoshop and removed the background with the lasso tool, and also cropped the image. I copied and pasted the image into CorelDraw and traced it as a detailed bitmap. I then contoured the picture witha 0.1 inch offest and set the contour color to the specific pink so that the printer would realize to cut on that line. I finally saved it as a .eps (the file type the 540i uses), uploaded it to the Roland 540i, changed the print material to the sticker vinyl, and pressed print. This sticker is really cool and turned out better than I thought it would.
Lambo Sticker: I wanted to make a Lambo sticker because the Lambo logo is really cool, and somebody else was already making a Ferrari symbol. I found a .png of the Lambo logo online so it did not have a background, and then I traced the logo's bitmap and contoured it with the specific pink in CorelDraw and exported it as a .eps. Using the Roland 540i, I printed and cut the sticker and it turned out like I had hoped.
Reflection: With the 540i, pretty much any amount of detail is possible, but stickers look better if they are a bit less complex. I learned that when tracing the stickers' bitmaps, the color option should be set to transparent or you will get the black lines on the inside like I did.
Files: Gronk (.jpg), Modified Gronk (.jpg), Lambo (.png), Colored Stickers (.cdr)


--- layout: page title: About header-img: "img/about-bg.png" ---
An analyst with a formal education in food science and beer brewing, who is obsessed with the art of automation, Roshanak decided to crack the books on coding.


Example Applications for the driver gpio_v3_00_a
xttlmembus_intr_tapp_example.c
(source)
xttlmembus_example.c
(source)
xttlmembus_intr_example.c
(source)
xttlmembus_low_level_example.c
(source)
xttlmembus_tapp_example.c
(source)
Copyright © 1995-2011 Xilinx, Inc. All rights reserved.


Create and start local servers and return the associated Server
objects.
tf.compat.v1.test.create_local_cluster
tf.compat.v2.test.create_local_cluster
tf.test.create_local_cluster( num_workers, num_ps, protocol='grpc', worker_config=None, ps_config=None )
"PS" stands for "parameter server": a task responsible for storing and updating the model's parameters. Other tasks send updates to these parameters as they work on optimizing the parameters. This particular division of labor between tasks is not required, but is common for distributed training.
Read more at https://www.tensorflow.org/guide/extend/architecture
Figure illustrates the interaction of these components. "/job:worker/task:0" and "/job:ps/task:0" are both tasks with worker services.
workers, _ = tf.test.create_local_cluster(num_workers=2, num_ps=2) worker_sessions = [tf.compat.v1.Session(w.target) for w in workers] with tf.device("/job:ps/task:0"): ... with tf.device("/job:ps/task:1"): ... with tf.device("/job:worker/task:0"): ... with tf.device("/job:worker/task:1"): ... worker_sessions[0].run(...)
num_workers
: Number of worker servers to start.num_ps
: Number of PS servers to start.protocol
: Communication protocol. Allowed values are documented in the
documentation of tf.distribute.Server
.worker_config
: (optional) tf.ConfigProto
to initialize workers. Can be
used to instantiate multiple devices etc.ps_config
: (optional) tf.ConfigProto
to initialize PS servers.A tuple (worker_servers, ps_servers)
. worker_servers
is a list
of num_workers
objects of type tf.distribute.Server
(all running
locally);
and ps_servers
is a list of num_ps
objects of similar type.
ImportError
: if portpicker module was not found at load time


Hi. I'm Troy McClure. You may remember me from such self-help tapes as "Smoke Yourself Thin" and "Get Some Confidence, Stupid!" He didn't give you gay, did he? Did he?! When will I learn? The answers to life's problems aren't at the bottom of a bottle, they're on TV!
I can't go to juvie. They use guys like me as currency. You don't like your job, you don't strike. You go in every day and do it really half-assed. That's the American way. Homer no function beer well without.
Uh, no, you got the wrong number. This is 9-1…2. Bart, with $10,000 we'd be millionaires! We could buy all kinds of useful things like…love! Uh, no, you got the wrong number. This is 9-1…2.
I hope I didn't brain my damage. Oh, so they have Internet on computers now! I like my beer cold, my TV loud and my homosexuals flaming. Books are useless! I only ever read one book, "To Kill A Mockingbird," and it gave me absolutely no insight on how to kill mockingbirds! Sure it taught me not to judge a man by the color of his skin…but what good does *that* do me?
I hope I didn't brain my damage. I'm going to the back seat of my car, with the woman I love, and I won't be back for ten minutes! Hi. I'm Troy McClure. You may remember me from such self-help tapes as "Smoke Yourself Thin" and "Get Some Confidence, Stupid!"
I didn't get rich by signing checks. Old people don't need companionship. They need to be isolated and studied so it can be determined what nutrients they have that might be extracted for our personal use.
Kids, we need to talk for a moment about Krusty Brand Chew Goo Gum Like Substance. We all knew it contained spider eggs, but the hantavirus? That came out of left field. So if you're experiencing numbness and/or comas, send five dollars to antidote, PO box… Please do not offer my god a peanut.
Old people don't need companionship. They need to be isolated and studied so it can be determined what nutrients they have that might be extracted for our personal use. Remember the time he ate my goldfish? And you lied and said I never had goldfish. Then why did I have the bowl, Bart? *Why did I have the bowl?*
Yes! I am a citizen! Now which way to the welfare office? I'm kidding, I'm kidding. I work, I work. Whoa, slow down there, maestro. There's a *New* Mexico? Beer. Now there's a temporary solution. Oh, so they have Internet on computers now!
Whoa, slow down there, maestro. There's a *New* Mexico? Human contact: the final frontier. We started out like Romeo and Juliet, but it ended up in tragedy. I prefer a vehicle that doesn't hurt Mother Earth. It's a go-cart, powered by my own sense of self-satisfaction.
What good is money if it can't inspire terror in your fellow man? A lifetime of working with nuclear power has left me with a healthy green glow…and left me as impotent as a Nevada boxing commissioner.
I've done everything the Bible says — even the stuff that contradicts the other stuff! What good is money if it can't inspire terror in your fellow man? Oh, so they have Internet on computers now!
How is education supposed to make me feel smarter? Besides, every time I learn something new, it pushes some old stuff out of my brain. Remember when I took that home winemaking course, and I forgot how to drive? Kids, kids.  That only happens to bad people.
Human contact: the final frontier. A lifetime of working with nuclear power has left me with a healthy green glow…and left me as impotent as a Nevada boxing commissioner. I'm normally not a praying man, but if you're up there, please save me, Superman.
Well, he's kind of had it in for me ever since I accidentally ran over his dog. Actually, replace "accidentally" with "repeatedly" and replace "dog" with "son."  They smell good, they look good, you'd step over your own mother just to get one! But you can't stop at one. You wanna drink another woman!


Ether Mart!
Your next door block chain online store
Logo
Home
Products
Deals
Stores
Contact
My Account
Cart
Scrappy
Desc
:
Golden Retriever
Cost
:
3
Seller
:
Warren, MI
Buy
Sell
$


--- layout: default title: Slides permalink: /events/slides/ ---
One day we might get around to doing something about this URL.
That day is not today.


Does she love me? Could she love me? Am I fool to think that I might ever have had the chance...? Uncertainty plagues the lead characters in Mann's short stories, condemned as they are by their physical deformities (Little Herr Friedemann) or by their undesirability among the very people they court (The Blood of the Walsungs). It dogs them and promotes them, turning their inner lives into a roller-coaster of emotions of which the outside world rarely, if ever, has any knowledge.
As is clear from this collection, the world of Thomas Mann is cold and lonely. Relationships between individuals are really distant orbits around each other in otherwise empty space. Where contact is apparently made, it turns out to be unreciprocated, twisted, or otherwise missing the mark (Tobias Mindernickel or The Blood of the Walsungs). Large crowds, on the other hand, offer a safe if banal alternative to painful solitude or the hopelessness of trying to interact with one other human being (The Dilettante and The Infant Prodigy). Crowds have their own lack of meaning, or perhaps lost meaning, but characters can sit in a crowd either with no delusions or utterly delusional; this is at least preferable to the constant neurotic questioning of the couple.
Such tensions and misery can leave Mann's work relentless, were it not for his sympathetic portrayal of the apparently extreme individuals who occupy the borders of society. This people over-analyse their condition obsessively, and pick apart minutiae before tweezering through the remains. But it's this that drives the individuals, and that makes us understand them and even empathise with them. Anyone can recognize the outrage of the main character in The Way to the Churchyard or Gladius Dei: recognize it, pity it, and feel it in their bones. A Weary Hour is the portrait of the artist as a nail-biting lunatic, but we could all be that crazy composer, and many of us would consider the trade worthwhile. Catch a glimpse of your worst faults in these individuals, and you cannot help but love them for it.


--- layout: page title: Tags description: A page with tag cloud and display of articles tag wice theme: red ---


Education ● Tech
A website for a cupcake shop showcasing CSS classes
Languages: HTML, CSS
A website about Iceland making use of Bootstrap grid capacities
Languages: HTML, CSS, Bootstrap
An online lecture which makes use of basic HTML structure
A fan page for Whitney Houston which makes use of divs and floats


Senior Software Engineer
My responsibilities involves writing backend APIs for distributed saas product using
Python, Flask, FastAPI, PostgreSQL.
Senior Software Engineer
My responsibilities involves writing backend APIs for distributed saas product using
Python, Flask, FastAPI, PostgreSQL.
R&D Associate
My responsibilities involves writing Python APIs for Data
processing and data transformation and automating the task,
writing procedures in T-SQL for custom applications, handle data
via Talend. My day to day work involves Coordinate with internal
teams to get requirements, creating workflows in python, craft
solution on Amazon Redshift, Athena, Lambda and Amazon
cloudwatch.
Good experience in developing web applications implementing
using Flask web application frameworks
Proficient in writing SQL Queries, functions, packages, tables
databases like SQL, Oracle and Redshift.
Have been using agile methodologies and effective
development best practices to division to enhance product
development.
I have Redeveloped entire Talend ETL Workflows to Python flask
APIs for process improvement and also developed and modified
data validation and data processing procedures in SQL Server
for continuous improvement of the process. which reduced the
processing time of the system more than 30% and also
eliminated the dependency on additional tomcat software
Application Engineer
It is a big UK based Retail Project where Oracle Retail Suite is being implemented to provide a seamless customer experience for shoppers,
regardless of when, where and how they purchase products. I was working as an application developer. I solely responsible for developing
the BI Publisher reports, Schedule mailing alert, developing Oracle Forms for RMS Application, Customising the RPM using PLSQL code. I have
implemented asynchronous processing in RMS that helped customer to navigate on the screen while processing do another tasks.
INTERN
Excise Supply Chain Information Management System (ESCIMS) that uses high-precision 2D barcodes to uniquely tag and track all stock units across
the supply chain in real-time.I worked as automation script developer using java and selenium.


For the fig-swirl:Melt butter over medium heat in a saucepan. Add brown sugar and stir to dissolve. Halve all of the figs and toss in the saucepan with water and lemon juice. Cook over medium heat ,stirring frequently, until you have a chunky-jammy mixture. Add salt with one or two stirs, set aside and let cool completely.
Ice cream: In a small pot over medium heat, combine milk, and granulated sugar until sugar is completly dissolved and the milk is just barely lukewarm. Whisk in the egg yolks. Set mixture in the fridge and wait until the fig mixture is cooled.
Using an ice cream machine, pour liquids into the frozen basin and process according to manufacturer instructions, i.e., let spin and thicken for 20 minutes before adding mascarpone, fig jam mixture, and the nuts. Continue to process for +/- 10 minutes. Pour semi-frozen mixture into a pyrex dish or glass tupperware. Freeze for at least two hours before serving.


Iran rocked by 5.9 magnitude earthquake, killing 5 and injuring hundreds
by Thairy LantiguaAt least five people were killed and more than 300 were injured after a 5.9 magnitude earthquake struck Iran on Friday.
According to Iran’s Seismological Center, the convulsion started at 2:17 a.m., in the eastern Azerbaijan province, which is around 250 miles from the country’s capital of Tehran.
More than 40 aftershocks affected the rural area in the Alborz Mountains, and residents rushed out of their homes in fear.
IRAN CLAIMS IT DOWNED 'UNKNOWN' DRONE OVER PERSIAN GULF, PENTAGON SAYS ALL US DEVICES ACCOUNTED FOR
State television reported that many of the injuries were caused while people were leaving their homes in fear--only 13 have been hospitalized.
Aid has been sent to the region, according to officials, who said the temblor destroyed 30 homes at its epicenter.
The U.S. Geological Survey said the quake's epicenter was at a depth of 6.2 miles. Shallow earthquakes tend to cause more damage.
CLICK HERE TO GET THE FOX NEWS APP
Iran is on major seismic faults and experiences one earthquake a day on average.
In 2003, a magnitude 6.6 earthquake flattened the historic city of Bam, killing 26,000 people.
A magnitude 7 earthquake that struck western Iran in 2017 killed more than 600 people and injured more than 9,000.
The Associated Press contributed to this report.


You are stuck in a time loop. Every loop gets smaller and smaller. You are trying to reach the end square before your time runs out. RULES:
- No interactions with your past self.
- Coloured walls can be opend by corresponding coloured button. WASD: to move the dot. Space: to jump. Shift: to speed up time.


Models¶
This page describes the models considered in the examples. Each class contains propagation and measurement functions, different choices of retractions and their inverse retractions. You can also obtain in the source code useful functions specifically related to the problem, e.g. Jacobian for EKF, and helper functions.
2D Robot Localization¶
-
class
ukfm.
LOCALIZATION
(T, odo_freq)[source]¶ 2D Robot localization based on odometry and GNSS (robot position) measurements. See a text description in [BB17], Section IV.
- Variables
T – sequence time (s).
odo_freq – odometry frequency (Hz).
-
class
STATE
(Rot, p)[source]¶ State of the system.
It represents the orientation and the position of the robot.
\[ \boldsymbol{\chi} \in \mathcal{M} = \left\{ \begin{matrix} \mathbf{C} \in SO(2), \mathbf{p} \in \mathbb R^2 \end{matrix} \right\}\]- Variables
Rot – rotation matrix \(\mathbf{C}\).
p – position vector \(\mathbf{p}\).
-
class
INPUT
(v, gyro)[source]¶ Input of the propagation model.
The input are the robot velocities that can be obtained from a differential wheel system.
\[\boldsymbol{\omega} \in \mathcal{U} = \left\{ \begin{matrix} \mathbf{v} \in \mathbb R^2, \omega \in \mathbb R \end{matrix} \right\}\]- Variables
v – robot forward and lateral velocities \(\mathbf{v}\).
gyro – robot orientation velocity \(\omega\).
-
classmethod
f
(state, omega, w, dt)[source]¶ Propagation function.
\[\begin{split}\mathbf{C}_{n+1} &= \mathbf{C}_{n} \exp\left(\left(\omega + \mathbf{w}^{(2)} \right) dt\right) \\ \mathbf{p}_{n+1} &= \mathbf{p}_{n} + \left( \mathbf{v}_{n} + \mathbf{w}^{(0:2)} \right) dt\end{split}\]- Variables
state – state \(\boldsymbol{\chi}\).
omega – input \(\boldsymbol{\omega}\).
w – noise \(\mathbf{w}\).
dt – integration step \(dt\) (s).
-
classmethod
h
(state)[source]¶ Observation function.
\[h\left(\boldsymbol{\chi}\right) = \mathbf{p}\]- Variables
state – state \(\boldsymbol{\chi}\).
-
classmethod
phi
(state, xi)[source]¶ Retraction.
\[\begin{split}\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \left( \begin{matrix} \mathbf{C} \exp\left(\boldsymbol{\xi}^{(0)}\right) \\ \mathbf{p} + \boldsymbol{\xi}^{(1:3)} \end{matrix} \right)\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(2) \times \mathbb R^2\).
Its corresponding inverse operation is
phi_inv()
.- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
phi_inv
(state, hat_state)[source]¶ Inverse retraction.
\[\begin{split}\varphi^{-1}_{\boldsymbol{\hat{\chi}}}\left(\boldsymbol{\chi} \right) = \left( \begin{matrix} \log\left(\mathbf{C} \mathbf{\hat{C}}^T\right) \\ \mathbf{p} - \mathbf{\hat{p}} \end{matrix} \right)\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(2) \times \mathbb R^2\).
Its corresponding retraction is
phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
-
classmethod
left_phi
(state, xi)[source]¶ Retraction.
\[\begin{split}\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \left( \begin{matrix} \mathbf{C} \mathbf{C}_\mathbf{T} \\ \mathbf{p} + \mathbf{C} \mathbf{r} \end{matrix} \right)\end{split}\]where
\[\begin{split}\mathbf{T} = \exp\left(\boldsymbol{\xi}\right) = \begin{bmatrix} \mathbf{C}_\mathbf{T} & \mathbf{r} \\ \mathbf{0}^T & 1 \end{bmatrix}\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SE(2)\) with left multiplication.
Its corresponding inverse operation is
left_phi_inv()
.- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
left_phi_inv
(state, hat_state)[source]¶ Inverse retraction.
\[\varphi^{-1}_{\boldsymbol{\hat{\chi}}}\left(\boldsymbol{\chi} \right) = \log\left( \boldsymbol{\chi}^{-1} \boldsymbol{\hat{\chi}} \right)\]The state is viewed as a element \(\boldsymbol{\chi} \in SE(2)\) with left multiplication.
Its corresponding retraction is
left_phi()
.- Parameters
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
-
classmethod
right_phi
(state, xi)[source]¶ Retraction.
\[\begin{split}\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \left( \begin{matrix} \mathbf{C}_\mathbf{T} \mathbf{C} \\ \mathbf{C}_\mathbf{T}\mathbf{p} + \mathbf{r} \end{matrix} \right)\end{split}\]where
\[\begin{split}\mathbf{T} = \exp\left(\boldsymbol{\xi}\right) = \begin{bmatrix} \mathbf{C}_\mathbf{T} &\mathbf{r} \\ \mathbf{0}^T & 1 \end{bmatrix}\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SE(2)\) with right multiplication.
Its corresponding inverse operation is
right_phi_inv()
.- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
right_phi_inv
(state, hat_state)[source]¶ Inverse retraction.
\[\varphi^{-1}_{\boldsymbol{\hat{\chi}}}\left(\boldsymbol{\chi} \right) = \log\left( \boldsymbol{\hat{\chi}}^{-1} \boldsymbol{\chi} \right)\]The state is viewed as a element \(\boldsymbol{\chi} \in SE(2)\) with right multiplication.
Its corresponding retraction is
right_phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
3D Attitude Estimation with an IMU¶
-
class
ukfm.
ATTITUDE
(T, imu_freq)[source]¶ 3D attitude estimation from an IMU equipped with gyro, accelerometer and magnetometer. See text description in [KHSchon17], Section IV.
- Parameters
T – sequence time (s).
imu_freq – IMU frequency (Hz).
-
g
= array([ 0. , 0. , -9.82])¶ gravity vector (m/s^2) \(\mathbf{g}\).
-
b
= array([ 0.33, 0. , -0.95])¶ normed magnetic field in Sweden \(\mathbf{b}\).
-
class
STATE
(Rot)[source]¶ State of the system.
It represents the orientation of the platform.
\[ \boldsymbol{\chi} \in \mathcal{M} = \left\{ \mathbf{C} \in SO(3) \right\}\]- Variables
Rot – rotation matrix \(\mathbf{C}\).
-
class
INPUT
(gyro)[source]¶ Input of the propagation model.
The input is the gyro measurement from an Inertial Measurement Unit (IMU).
\[\boldsymbol{\omega} \in \mathcal{U} = \left\{ \mathbf{u} \in \mathbb R^3 \right\}\]- Variables
gyro – 3D gyro \(\mathbf{u}\).
-
classmethod
f
(state, omega, w, dt)[source]¶ Propagation function.
\[\mathbf{C}_{n+1} = \mathbf{C}_{n} \exp\left(\left(\mathbf{u} + \mathbf{w} \right) dt \right)\]- Variables
state – state \(\boldsymbol{\chi}\).
omega – input \(\boldsymbol{\omega}\).
w – noise \(\mathbf{w}\).
dt – integration step \(dt\) (s).
-
classmethod
h
(state)[source]¶ Observation function.
\[\begin{split}h\left(\boldsymbol{\chi}\right) = \begin{bmatrix} \mathbf{C}^T \mathbf{g} \\ \mathbf{C}^T \mathbf{b} \end{bmatrix}\end{split}\]- Variables
state – state \(\boldsymbol{\chi}\).
-
classmethod
phi
(state, xi)[source]¶ Retraction.
\[\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \mathbf{C} \exp\left(\boldsymbol{\xi}\right)\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(3)\) with left multiplication.
Its corresponding inverse operation is
phi_inv()
.- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
phi_inv
(state, hat_state)[source]¶ Inverse retraction.
\[\varphi^{-1}_{\boldsymbol{\hat{\chi}}}\left(\boldsymbol{\chi} \right) = \log\left( \boldsymbol{\chi}^{-1} \boldsymbol{\hat{\chi}} \right)\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(3)\) with left multiplication.
Its corresponding retraction is
phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
-
classmethod
right_phi
(state, xi)[source]¶ Retraction.
\[\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \exp\left(\boldsymbol{\xi}\right) \mathbf{C} \]The state is viewed as a element \(\boldsymbol{\chi} \in SO(3)\) with right multiplication.
Its corresponding inverse operation is
right_phi_inv()
.- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
right_phi_inv
(state, hat_state)[source]¶ Inverse retraction.
\[\varphi^{-1}_{\boldsymbol{\hat{\chi}}}\left(\boldsymbol{\chi} \right) = \log\left( \boldsymbol{\hat{\chi}}\boldsymbol{\chi}^{-1} \right)\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(3)\) with right multiplication.
Its corresponding retraction is
right_phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
2D Robot SLAM¶
-
class
ukfm.
SLAM2D
(T, odo_freq)[source]¶ 2D SLAM based on robot odometry and unknown landmark position measurements. See a description of the model in the two references [HMR10] , [HMR13].
- Variables
T – sequence time (s).
odo_freq – odometry frequency (Hz).
-
max_range
= 5¶ maximal range of observation (m).
-
min_range
= 1¶ minimal range of observation (m).
-
N_ldk
= 20¶ number of landmarks \(L\).
-
class
STATE
(Rot, p, p_l=array([], shape=(2, 0), dtype=float64))[source]¶ State of the system.
It represents the orientation and the position of the robot along with yet observed landmarks.
\[ \boldsymbol{\chi} \in \mathcal{M} = \left\{ \begin{matrix} \mathbf{C} \in SO(2), \mathbf{p} \in \mathbb R^2, \mathbf{p}^l_1 \in \mathbb R^2, \ldots, \mathbf{p}^l_L \in \mathbb R^2 \end{matrix} \right\}\]- Variables
Rot – rotation matrix \(\mathbf{C}\).
p – position of the robot \(\mathbf{p}\).
p_l – position of the landmark \(\mathbf{p}^l_1, \ldots, \mathbf{p}^l_L\).
-
class
INPUT
(v, gyro)[source]¶ Input of the propagation model.
The input are the robot velocities that can be obtained from a differential wheel system.
\[\boldsymbol{\omega} \in \mathcal{U} = \left\{ \begin{matrix} \mathbf{v} \in \mathbb R, \omega \in \mathbb R \end{matrix} \right\}\]- Variables
v – robot forward velocity \(v\).
gyro – robot orientation velocity \(\omega\).
-
classmethod
f
(state, omega, w, dt)[source]¶ Propagation function.
\[\begin{split}\mathbf{C}_{n+1} &= \mathbf{C}_{n} \exp\left(\left(\omega + \mathbf{w}^{(1)} \right) dt\right) \\ \mathbf{p}_{n+1} &= \mathbf{p}_{n} + \left( \mathbf{v}_{n} + \mathbf{w}^{(0)} \right) dt \\ \mathbf{p}_{1,n+1}^l &= \mathbf{p}_{1,n}^l \\ \vdots \\ \mathbf{p}_{L,n+1}^l &= \mathbf{p}_{L,n}^l\end{split}\]- Variables
state – state \(\boldsymbol{\chi}\).
omega – input \(\boldsymbol{\omega}\).
w – noise \(\mathbf{w}\).
dt – integration step \(dt\) (s).
-
classmethod
h
(state)[source]¶ Observation function for 1 landmark.
\[h\left(\boldsymbol{\chi}\right) = \mathbf{C}^T \left( \mathbf{p} - \mathbf{p}^l\right) \]- Variables
state – state \(\boldsymbol{\chi}\).
-
classmethod
z
(state, y)[source]¶ Augmentation function.
Return a vector of the novel part of the state only.
\[z\left(\boldsymbol{\chi}, \mathbf{y}\right) = \mathbf{C} \mathbf{y} + \mathbf{p}\]- Variables
state – state \(\boldsymbol{\chi}\).
y – measurement \(\mathbf{y}\).
-
classmethod
aug_z
(state, y)[source]¶ Augmentation function. Return the augmented state.
\[\boldsymbol{\chi} \leftarrow \left(\boldsymbol{\chi}, z\left(\boldsymbol{\chi}, \mathbf{y}\right) \right) \]- Variables
state – state \(\boldsymbol{\chi}\).
y – measurement \(\mathbf{y}\).
-
classmethod
phi
(state, xi)[source]¶ Retraction.
\[\begin{split}\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \left( \begin{matrix} \mathbf{C} \exp\left(\boldsymbol{\xi}^{(0)}\right) \\ \mathbf{p} + \boldsymbol{\xi}^{(1:3)} \\ \mathbf{p}_1^l + \boldsymbol{\xi}^{(3:5)} \\ \vdots \\ \mathbf{p}_L^l + \boldsymbol{\xi}^{(3+2L:5+2L)} \end{matrix} \right)\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(2) \times \mathbb R^{2(L+1)}\).
Its corresponding inverse operation (for robot state only) is
red_phi_inv()
.- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
red_phi
(state, xi)[source]¶ Retraction (reduced).
The retraction
phi()
applied on the robot state only.
-
classmethod
red_phi_inv
(state, hat_state)[source]¶ Inverse retraction (reduced).
\[\begin{split}\varphi^{-1}_{\boldsymbol{\hat{\chi}}}\left(\boldsymbol{\chi} \right) = \left( \begin{matrix} \log\left(\mathbf{C} \mathbf{\hat{C}}^T\right) \\ \mathbf{p} - \mathbf{\hat{p}} \end{matrix} \right)\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(2) \times \mathbb R^{2(L+1)}\).
Its corresponding retraction is
red_phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
-
classmethod
aug_phi
(state, xi)[source]¶ Retraction used for augmenting state.
The retraction
phi()
applied on the robot state only.
-
classmethod
aug_phi_inv
(state, aug_state)[source]¶ Retraction used for augmenting state.
The inverse retraction
phi()
applied on the landmark only.
-
classmethod
up_phi
(state, xi)[source]¶ Retraction used for updating state and infering Jacobian.
The retraction
phi()
applied on the robot state and one landmark only.
-
classmethod
left_phi
(state, xi)[source]¶ Retraction.
\[\begin{split}\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \left( \begin{matrix} \mathbf{C} \mathbf{C}_\mathbf{T} \\ \mathbf{p} + \mathbf{C} \mathbf{r}_1 \\ \mathbf{p}_1^l + \mathbf{C} \mathbf{r}_2 \\ \vdots \\ \mathbf{p}_L^l + \mathbf{C} \mathbf{r}_{1+L} \\ \end{matrix} \right)\end{split}\]where
\[\begin{split}\mathbf{T} = \exp\left(\boldsymbol{\xi}\right) = \begin{bmatrix} \mathbf{C}_\mathbf{T} & \mathbf{r}_1 & \cdots & \mathbf{r}_{1+L} \\ \mathbf{0}^T & & \mathbf{I}& \end{bmatrix}\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SE_{1+L}(2)\) with left multiplication.
- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
left_red_phi
(state, xi)[source]¶ Retraction (reduced).
The retraction
left_phi()
applied on the robot state only.
-
classmethod
left_red_phi_inv
(state, hat_state)[source]¶ Inverse retraction (reduced).
\[\varphi^{-1}_{\boldsymbol{\hat{\chi}}} \left(\boldsymbol{\chi}\right) = \log\left(\boldsymbol{\chi} \boldsymbol{\hat{\chi}}^{-1}\right)\]The robot state is viewed as a element \(\boldsymbol{\chi} \in SE(2)\).
Its corresponding retraction is
left_red_phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
-
classmethod
left_aug_phi
(state, xi)[source]¶ Retraction used for augmenting state.
The retraction
left_phi()
applied on the robot state only.
-
classmethod
left_aug_phi_inv
(state, aug_state)[source]¶ Retraction used for augmenting state.
The inverse retraction
left_phi()
applied on the landmark only.
-
classmethod
left_up_phi
(state, xi)[source]¶ Retraction used for updating state and infering Jacobian.
The retraction
left_phi()
applied on the robot state and one landmark only.
-
classmethod
right_phi
(state, xi)[source]¶ Retraction.
\[\begin{split}\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \left( \begin{matrix} \mathbf{C}_\mathbf{T} \mathbf{C} \\ \mathbf{C}_\mathbf{T}\mathbf{p} + \mathbf{r}_1 \\ \mathbf{C}_\mathbf{T} \mathbf{p}_1^l + \mathbf{r}_2 \\ \vdots \\ \mathbf{C}_\mathbf{T} \mathbf{p}_L^l + \mathbf{r}_{1+L} \\ \end{matrix} \right)\end{split}\]where
\[\begin{split}\mathbf{T} = \exp\left(\boldsymbol{\xi}\right) = \begin{bmatrix} \mathbf{C}_\mathbf{T} & \mathbf{r}_1 & \cdots & \mathbf{r}_{1+L} \\ \mathbf{0}^T & & \mathbf{I}& \end{bmatrix}\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SE_{1+L}(2)\) with right multiplication.
- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
right_red_phi
(state, xi)[source]¶ Retraction (reduced).
The retraction
right_phi()
.
-
classmethod
right_red_phi_inv
(state, hat_state)[source]¶ Inverse retraction (reduced).
\[\varphi^{-1}_{\boldsymbol{\hat{\chi}}} \left(\boldsymbol{\chi}\right) = \log\left(\boldsymbol{\hat{\chi}}^{-1} \boldsymbol{\chi}\right)\]The robot state is viewed as a element \(\boldsymbol{\chi} \in SE_{L+1}(2)\).
Its corresponding retraction is
right_red_phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
-
classmethod
right_aug_phi
(state, xi)[source]¶ Retraction used for augmenting state.
The retraction
right_phi()
applied on the robot state only.
-
classmethod
right_aug_phi_inv
(state, aug_state)[source]¶ Retraction used for augmenting state.
The inverse retraction
right_phi()
applied on the landmark only.
-
classmethod
right_up_phi
(state, xi)[source]¶ Retraction used for updating state and infering Jacobian.
The retraction
right_phi()
applied on the robot state and one landmark only.
IMU-GNSS Fusion on the KITTI Dataset¶
-
class
ukfm.
IMUGNSS
[source]¶ IMU-GNSS sensor-fusion on the KITTI dataset. The model is the standard 3D kinematics model based on inertial inputs and kinematics equations.
-
g
= array([ 0. , 0. , -9.82])¶ gravity vector (m/s^2) \(\mathbf{g}\).
-
class
STATE
(Rot, v, p, b_gyro, b_acc)[source]¶ State of the system.
It represents the state of a moving vehicle with IMU biases.
\[ \boldsymbol{\chi} \in \mathcal{M} = \left\{ \begin{matrix} \mathbf{C} \in SO(3), \mathbf{v} \in \mathbb R^3, \mathbf{p} \in \mathbb R^3, \mathbf{b}_g \in \mathbb R^3, \mathbf{b}_a \in \mathbb R^3 \end{matrix} \right\}\]- Variables
Rot – rotation matrix \(\mathbf{C}\).
v – velocity vector \(\mathbf{v}\).
p – position vector \(\mathbf{p}\).
b_gyro – gyro bias \(\mathbf{b}_g\).
b_acc – accelerometer bias \(\mathbf{b}_a\).
-
class
INPUT
(gyro, acc)[source]¶ Input of the propagation model.
The input is a measurement from an Inertial Measurement Unit (IMU).
\[\boldsymbol{\omega} \in \mathcal{U} = \left\{ \begin{matrix} \mathbf{u} \in \mathbb R^3, \mathbf{a}_b \in \mathbb R^3 \end{matrix} \right\}\]- Variables
gyro – 3D gyro \(\mathbf{u}\).
acc – 3D accelerometer (measurement in body frame) \(\mathbf{a}_b\).
-
classmethod
f
(state, omega, w, dt)[source]¶ Propagation function.
\[\begin{split}\mathbf{C}_{n+1} &= \mathbf{C}_{n} \exp\left(\left(\mathbf{u} - \mathbf{b}_g + \mathbf{w}^{(0:3)} \right) dt\right) \\ \mathbf{v}_{n+1} &= \mathbf{v}_{n} + \mathbf{a} dt, \\ \mathbf{p}_{n+1} &= \mathbf{p}_{n} + \mathbf{v}_{n} dt + \mathbf{a} dt^2/2 \\ \mathbf{b}_{g,n+1} &= \mathbf{b}_{g,n} + \mathbf{w}^{(6:9)}dt \\ \mathbf{b}_{a,n+1} &= \mathbf{b}_{a,n} + \mathbf{w}^{(9:12)} dt \end{split}\]where
\[\mathbf{a} = \mathbf{C}_{n} \left( \mathbf{a}_b -\mathbf{b}_a + \mathbf{w}^{(3:6)} \right) + \mathbf{g}\]Ramdom-walk noises on biases are not added as the Jacobian w.r.t. these noise are trivial. This spares some computations of the UKF.
- Variables
state – state \(\boldsymbol{\chi}\).
omega – input \(\boldsymbol{\omega}\).
w – noise \(\mathbf{w}\).
dt – integration step \(dt\) (s).
-
classmethod
h
(state)[source]¶ Observation function.
\[h\left(\boldsymbol{\chi}\right) = \mathbf{p}\]- Variables
state – state \(\boldsymbol{\chi}\).
-
classmethod
phi
(state, xi)[source]¶ Retraction.
\[\begin{split}\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \left( \begin{matrix} \mathbf{C} \exp\left(\boldsymbol{\xi}^{(0:3)}\right) \\ \mathbf{v} + \boldsymbol{\xi}^{(3:6)} \\ \mathbf{p} + \boldsymbol{\xi}^{(6:9)} \\ \mathbf{b}_g + \boldsymbol{\xi}^{(9:12)} \\ \mathbf{b}_a + \boldsymbol{\xi}^{(12:15)} \end{matrix} \right)\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(3) \times \mathbb R^{15}\).
Its corresponding inverse operation is
phi_inv()
.- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
phi_inv
(state, hat_state)[source]¶ Inverse retraction.
\[\begin{split}\varphi^{-1}_{\boldsymbol{\hat{\chi}}} \left(\boldsymbol{\chi}\right) = \left( \begin{matrix} \log\left(\mathbf{C} \mathbf{\hat{C}}^T \right)\\ \mathbf{v} - \mathbf{\hat{v}} \\ \mathbf{p} - \mathbf{\hat{p}} \\ \mathbf{b}_g - \mathbf{\hat{b}}_g \\ \mathbf{b}_a - \mathbf{\hat{b}}_a \end{matrix} \right)\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(3) \times \mathbb R^{15}\).
Its corresponding retraction is
phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
-
classmethod
up_phi
(state, xi)[source]¶ Retraction used for updating state and infering Jacobian.
The retraction
phi()
applied on the position state.
-
classmethod
left_phi
(state, xi)[source]¶ Retraction.
\[\begin{split}\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \left( \begin{matrix} \mathbf{C} \mathbf{C}_\mathbf{T} \\ \mathbf{v} + \mathbf{C} \mathbf{r_1} \\ \mathbf{p} + \mathbf{C} \mathbf{r_2} \\ \mathbf{b}_g + \boldsymbol{\xi}^{(9:12)} \\ \mathbf{b}_a + \boldsymbol{\xi}^{(12:15)} \end{matrix} \right)\end{split}\]where
\[\begin{split}\mathbf{T} = \exp\left(\boldsymbol{\xi}^{(0:9)}\right) = \begin{bmatrix} \mathbf{C}_\mathbf{T} & \mathbf{r_1} &\mathbf{r}_2 \\ \mathbf{0}^T & & \mathbf{I} \end{bmatrix}\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SE_2(3) \times \mathbb{R}^6\) with left multiplication.
Its corresponding inverse operation is
left_phi_inv()
.- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
left_phi_inv
(state, hat_state)[source]¶ Inverse retraction.
\[\begin{split}\varphi^{-1}_{\boldsymbol{\hat{\chi}}} \left(\boldsymbol{\chi}\right) = \left( \begin{matrix} \log\left( \boldsymbol{\chi}^{-1} \boldsymbol{\hat{\chi}} \right) \\ \mathbf{b}_g - \mathbf{\hat{b}}_g \\ \mathbf{b}_a - \mathbf{\hat{b}}_a \end{matrix} \right)\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SE_2(3)\) with left multiplication.
Its corresponding retraction is
left_phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
-
classmethod
right_phi
(state, xi)[source]¶ Retraction.
\[\begin{split}\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \left( \begin{matrix} \mathbf{C}_\mathbf{T} \mathbf{C} \\ \mathbf{C}_\mathbf{T}\mathbf{v} + \mathbf{r_1} \\ \mathbf{C}_\mathbf{T}\mathbf{p} + \mathbf{r_2} \\ \mathbf{b}_g + \boldsymbol{\xi}^{(9:12)} \\ \mathbf{b}_a + \boldsymbol{\xi}^{(12:15)} \end{matrix} \right)\end{split}\]where
\[\begin{split}\mathbf{T} = \exp\left(\boldsymbol{\xi}^{(0:9)}\right) = \begin{bmatrix} \mathbf{C}_\mathbf{T} & \mathbf{r_1} &\mathbf{r}_2 \\ \mathbf{0}^T & & \mathbf{I} \end{bmatrix}\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SE_2(3) \times \mathbb{R}^6\) with right multiplication.
Its corresponding inverse operation is
right_phi_inv()
.- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
right_phi_inv
(state, hat_state)[source]¶ Inverse retraction.
\[\begin{split}\varphi^{-1}_{\boldsymbol{\hat{\chi}}} \left(\boldsymbol{\chi}\right) = \left( \begin{matrix} \log\left( \boldsymbol{\hat{\chi}}^{-1} \boldsymbol{\chi} \right) \\ \mathbf{b}_g - \mathbf{\hat{b}}_g \\ \mathbf{b}_a - \mathbf{\hat{b}}_a \end{matrix} \right)\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SE_2(3) \times \mathbb{R}^6\) with right multiplication.
Its corresponding retraction is
right_phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).
-
classmethod
right_up_phi
(state, xi)[source]¶ Retraction used for updating state and infering Jacobian.
The retraction
right_phi()
applied on the position state.
-
Spherical Pendulum¶
-
class
ukfm.
PENDULUM
(T, model_freq)[source]¶ Pendulum example, where the state lives on the 2-sphere. See a text description of the spherical pendulum dynamics in [SE19], Section 7, and [KS19].
- Parameters
T – sequence time (s).
model_freq – model frequency (Hz).
-
g
= 9.81¶ gravity constant (m/s^2) \(g\).
-
m
= 1.0¶ mass of payload (kg) \(m\).
-
b
= 0.0¶ damping \(b\).
-
L
= 1.3¶ wire length \(L\).
-
e3
= array([ 0, 0, -1])¶ third coordinate vector \(\mathbf{e}^b=-[0,0,1]^T\).
-
H
= array([[0., 1., 0.], [0., 0., 1.]])¶ observability matrix \(\mathbf{H}\).
-
class
STATE
(Rot, u)[source]¶ State of the system.
It represents the orientation of the wire and its angular velocity.
\[ \boldsymbol{\chi} \in \mathcal{M} = \left\{ \begin{matrix} \mathbf{C} \in SO(3), \mathbf{u} \in \mathbb R^3 \end{matrix} \right\}\]- Variables
Rot – rotation matrix \(\mathbf{C}\).
u – angular velocity vector \(\mathbf{u}\).
-
classmethod
f
(state, omega, w, dt)[source]¶ Propagation function.
\[\begin{split}\mathbf{C}_{n+1} &= \mathbf{C}_{n} \exp\left(\left(\mathbf{u} + \mathbf{w}^{(0:3)} \right) dt\right), \\ \mathbf{u}_{n+1} &= \mathbf{u}_{n} + \dot{\mathbf{u}} dt,\end{split}\]where
\[\begin{split}\dot{\mathbf{u}} = \begin{bmatrix} -\omega_y \omega_x\ \\ \omega_x \omega_z \\ 0 \end{bmatrix} + \frac{g}{l} \left(\mathbf{e}^b \right)^\wedge \mathbf{C}^T \mathbf{e}^b + \mathbf{w}^{(3:6)} \end{split}\]- Variables
state – state \(\boldsymbol{\chi}\).
omega – input \(\boldsymbol{\omega}\).
w – noise \(\mathbf{w}\).
dt – integration step \(dt\) (s).
-
classmethod
h
(state)[source]¶ Observation function.
\[h\left(\boldsymbol{\chi}\right) = \mathbf{H} \mathbf{x},\]where
\[\begin{split}\mathbf{H}&= \begin{bmatrix} 0 & 1 & 0 \\ 0 & 0 & 1 \end{bmatrix} \\ \mathbf{x} &= L \mathbf{C} \mathbf{e}^b\end{split}\]with \(\mathbf{x}\) the position of the pendulum.
- Variables
state – state \(\boldsymbol{\chi}\).
-
classmethod
phi
(state, xi)[source]¶ Retraction.
\[\begin{split}\varphi\left(\boldsymbol{\chi}, \boldsymbol{\xi}\right) = \left( \begin{matrix} \exp\left(\boldsymbol{\xi}^{(0:3)}\right) \mathbf{C} \\ \mathbf{u} + \boldsymbol{\xi}^{(3:6)} \end{matrix} \right)\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(3) \times \mathbb R^3\).
Its corresponding inverse operation is
phi_inv()
.- Variables
state – state \(\boldsymbol{\chi}\).
xi – state uncertainty \(\boldsymbol{\xi}\).
-
classmethod
phi_inv
(state, hat_state)[source]¶ Inverse retraction.
\[\begin{split}\varphi^{-1}_{\boldsymbol{\hat{\chi}}}\left(\boldsymbol{\chi} \right) = \left( \begin{matrix} \log\left(\mathbf{\hat{C}}^T \mathbf{C} \right)\\ \mathbf{u} - \mathbf{\hat{u}} \end{matrix} \right)\end{split}\]The state is viewed as a element \(\boldsymbol{\chi} \in SO(3) \times \mathbb R^3\).
Its corresponding retraction is
phi()
.- Variables
state – state \(\boldsymbol{\chi}\).
hat_state – noise-free state \(\boldsymbol{\hat{\chi}}\).


Before joining the University of Southampton, I studied at Northwestern Polytechnical University (NWPU), Xi’an, China where I received my BSc and MSc degrees. I am fortunate to have the opportunity to study in a multi-cultural research team and to have obtained the financial support from China Scholarship Council (CSC) and Rayleigh studentship of the University of Southampton.
Apart from working full time on the research topic of my PhD, I am collaborating with several colleagues on various other projects. I hope that the technical skills, expertise and capabilities that I am acquiring at the University of Southampton will enable me to perform better in the future career.
During the past two years, I have been involved with demonstration work for several modules within the FEE Faculty. The demonstration work includes both computer and experimental labs. I have trained students to learn how to use CAD and CFD software, and to solve basic engineering problems. I was also involved with the wind tunnel demonstrations of the aeroelasticity module. Furthermore, I have contributed in various roles to the organisation of Summer Schools in the last two years and will continue to do so in the current year.
I participated in the following modules:
The research project investigated the design and analysis of power-law shaped leading edge on hypersonic vehicles. A suite of power law leading edges with different design parameters were chosen as possible candidates for blunting geometries. The aerodynamic and aerothermodynamic properties of these shapes were evaluated, including stagnation heating, shock wave stand-off distance and lift-to-drag ratio. The sensitivity of aforementioned properties to design parameters was investigated. Numerical simulations were carried out for several applications, ranging from two-dimensional hypersonic aerofoils to three-dimensional waveriders.
The topic for my PhD research project is on shape design and optimisation of aerial vehicles. The research work is built around three objectives: a) To investigate the influence that numerical parameters have on the optimisation results for two aerofoil problems in transonic flow and provide guidelines for best practice; b) To develop a robust and rapid framework for wing twist optimisation, which is suitable for industrial use in preliminary phases of the aircraft design; c) To investigate multimodal optimisation problems by employing a strategy that combines gradient-free optimisation with surrogate model and gradient-based optimisation using CFD.
The research project for the Master thesis involved the development of an engineering method for predicting aerodynamic heating on hypersonic vehicles. An improved axisymmetic analog method was proposed and a Fortran code was developed to calculate the shear and pressure forces as well as convective heating rates on the surface of hypersonic flight vehicles. A series of test cases were investigated to verify and validate the robustness and accuracy of the proposed method. You can find more details here.
The individual project of my undergraduate study involved the analysis of numerical iteration methods in hypersonic flow simulation. A family of implicit iterative algorithms in finite volume method were analysed. A comparison was performed with respect to the computational performance of convergence and accuracy. The impact of cell aspect ratio of structured grids on these algorithms was investigated. Numerical simulations were carried out for hypersonic nonequilibrium reacting flows.
On top of the research study, I am keen on doing various outdoor activities and I am a fan of sports, particularly tennis, football and basketball. Living in the UK enables me to watch live matches of Premier League, Champions League and ATP world tour finals. I have developed the hobby of running since I came to Southampton in 2015. To date, I have run for Southampton 10K (April 2016), New Forest Half Marathon (September 2016) and Southampton Half Marathon (April 2017). I also enjoy hiking in the mountains and travelling around to experience different nature, culture and history.


--- layout: page title: "About" description: "Hi there, this is Diwakar." header-img: "https://source.unsplash.com/5on8vllhZUM/2000x1000" ---
Debugger and Engineer, and everything in between.
Your work is going to fill a large part of your life, and the only way to be truly satisfied is to do what you believe is great work. And the only way to do great work is to love what you do. If you haven’t found it yet, keep looking. Don’t settle. As with all matters of the heart, you’ll know when you find it.
When something is important enough, you do it even if the odds are not in your favor.
-- Elon Musk
Hi, I am Diwakar, 'magician03' on Github and other networks. I am Information Technology Undergrad studying at Indian Institute of Information Technology Allahabad, class of 2019. I am quick learner and love to code. I coded my first 'Hello World!' program in summer of 2015 and fell in love with programming since then. I love to write algorithms and build web. I am a huge Open-Source enthusiast and contribute actively. In my leisure, I read tech-blogs and spend time surfing on YouTube. When I'm home, I spend most of my leisure time gardening or experimenting with regional cuisines. I am hugely inspired by Steve Jobs, Elon Musk and my Dad.


Zookeepers wear penguin disguises while caring for baby penguins (it's a sex thing)
by John StruanAdventure World in Japan has a program raising emperor penguins. In order to prevent parents from crushing babies, the staff cares for newborn chicks. But to prevent chicks from imprinting on humans as their parents, which would discourage them from mating with other penguins when they mature, staff wear penguin disguises on their heads and one of their hands:
(Via Mulboyne.)


W3C
W3C is the World Wide Web Consortium which is the main organization for the World Wide Web. It was founded in 1994 and it directed by Tim Berners-Lee.
W3C engages in outreach, develops software, and has an open forum that is specific for discussion about the WWW.
HTML
HTML stands for Hypertext Markup Language. This is the standard language for documents that are designed to be seen in a web browser such as Google Chrome, Internet Explorer, etc.
The web browser recieves the HTML code and they render the file into web pages.
CSS
CSS stands for Cascading Style sheets which is a style sheet language that changes the presentation of a document. This is used alongside of HTML and JavaScript.
Photographs by Google Sites.


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| # | Packages | Download / Install |
|---|---|---|
| 1 | WebComponent Demo | swipe-to-refresh | |
|
A WebComponent to pull the window down and refresh.
|
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| 2 | WebComponent Demo | mic-input | |
|
Speech input WebComponent implemented with Web Speech API.
|
||
| 3 | WebComponent Demo | star-input | |
|
Star rating input implemented with WebComponent.
|
||
| 4 | WebComponent Demo | fl-input | |
|
Floating label input implemented with WebComponent.
|
||
| 5 | Demo | scroll-to-element | |
|
An alternative implement of smooth scroll. |
||
| 6 | WebComponent Demo | mac-input | |
|
Mac Address input implemented with WebComponent.
|
||
| 7 | WebComponent Demo | dropdown | |
|
Dropdown menu implemented with WebComponent.
|
||
| 8 | WebComponent Demo | tw-address-input | |
|
Taiwan address input implemented with WebComponent.
|


Dear Friend, I have a profiling amount in an excess of US$18.2M, which I seek your partnership in accommodating for me. You will be rewarded with 40% of the total sum for your partnership. Can you be my partner on this? INTRODUCTION OF MY SELF: I am MR. KIMAEVA LIOUDMILA, a personal secretary to Mikhail Khodorkovsky one of the richest man in Russia and owner of the following companies: Chairman CEO: YUKOS OIL (Russian Most Largest Oil Company) Chairman CEO: Menatep SBP Bank (A well reputable financial institution with its branches all over the world). SOURCE OF FUNDS: The money in question was realised during my period of work with my boss for a peroid spanning 20 years. Already the funds have been deposited some where in the UK (undisclosed for now), where the final crediting is expected to be carried out. While I was on the process, My Boss got arrested for his involvement on politics in financing the leading and opposing political parties (the Union of Right Forces, led by Boris Nemtsov, and Yabloko, a liberal/social democratic party led by Gregor Yavlinsky) which poses treat to President Vladimir Puttin second tenure as Russian president. You can catch more of the story on this http://newsfromrussia.com/main/2003/11/13/51215.html YOUR ROLE: All I need from you is to stand as the beneficiary of the above quoted sum and I will arrange for the documentation which will enable transfer of the sum to you. I have decided to use this sum to relocate to American continent and never to be connected to any of Mikhail Khodorkovsky conglomerates. You can read more about my boss from the following link http://mikhail-khodorkovsky-news.newslib.com/ As soon as I get your willingness to comply through my most private email address<EMAIL_ADDRESS>will give you more details. Thank you very much Regards: MR. KIMAEVA LIOUDMILA. ___________________________________________________________________________ WebMail service @ http://www.pullings.de & http://www.pullingworld.com


About Genetically Modified Organisms (GMO) Unit in Department of Chemistry
Under the 8th Malaysian Plan (2001-2006), GMO Unit was set up to fulfil the needs arising from the proposed amendments to the Food Regulations 1985, which plan to make mandatory labelling of GMOs found in food. Under the implementation of Malaysia’s National Biosafety Framework project, the National GMO Laboratory under the Ministry of Science, Technology and Environment was developed specifically for the analysis of genetic modified organisms and their potential impact on the environment and human health. Since its beginning GMO Unit has been involved with food and feed testing and remains a National GMO laboratory for GMO in Malaysia.
In 2004, this laboratory is designated as the ASEAN Reference Laboratory (ARL) for GMO testing during the ASEAN Workshop and Expert Consultation, which was held on 07-11 June 2004, in Jakarta.


A dataset of favourite numbers, selected from an online poll of over 30,000 people by Alex Bellos (http://pages.bloomsbury.com/favouritenumber).
| Version: | 1.0.0 |
| Depends: | R (≥ 2.10) |
| Published: | 2015-07-22 |
| Author: | Oliver Keyes [aut, cre], Alex Bellos [cph] |
| Maintainer: | Oliver Keyes <ironholds at gmail.com> |
| License: | CC0 |
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| CRAN checks: | favnums results |
| Reference manual: | favnums.pdf |
| Package source: | favnums_1.0.0.tar.gz |
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Please use the canonical form https://CRAN.R-project.org/package=favnums to link to this page.


"MAALEH-ACRABBIM "ascent of the scorpions; i.e., “scorpion-hill”, a pass on the south-eastern border of Palestine (Numbers 34:4; Joshua 15:3). It is identified with the pass of Sufah, entering Palestine from the great Wady el-Fikreh, south of the Dead Sea. (See AKRABBIM.)
"MAALEH-ACRABBIM "ascent of the scorpions; i.e., “scorpion-hill”, a pass on the south-eastern border of Palestine (Numbers 34:4; Joshua 15:3). It is identified with the pass of Sufah, entering Palestine from the great Wady el-Fikreh, south of the Dead Sea. (See AKRABBIM.)


Smell of wet sawdust at the park gave me flashbacks to cleaning guinea pig cages as a kid. Ah nostalgia.
5/3/2010, 6:40:05 PM
Favs: 0
Retweets: 0
link--- layout: tweet ---
Smell of wet sawdust at the park gave me flashbacks to cleaning guinea pig cages as a kid. Ah nostalgia.
5/3/2010, 6:40:05 PM
Favs: 0
Retweets: 0
link


keithbuhler.com
About
Research
CV
Papers
Interests
Teaching
Writing
Books
Articles
Speeches
Sandbox
Know yourself.
This is a banner, man.
Contents
Star Wars
(6)
Politics
(29)
Humor
(10)
Philosophy
(30)
Workflow
(10)
Classical education
(11)
Culture
(12)
Christianity
(1)
Academia
(8)
Relationships
(1)
Star Wars
Abrams Admits that the Rey/Princess Leia Hug Was a Mistake
2017-02-03
Ridiculous Star Wars Things
2017-02-01
Lucas Liked Rogue One
2016-12-11
Force Awakens Wasn't Just a Copycat of New Hope
2016-12-07
A Recommendation to Watch the Episode VII Special Features
2016-09-09
17 Times R2-D2 Saves the Universe (updated for Episode 7)
2015-12-18
Politics
Case-by-Case Consideration of Weird Views
2017-04-07
Raise Minimum Wage, Raise Unemployment
2017-04-06
Self-loathing poster child displays self-loathing posters
2017-03-22
MacIntyre's Criticism of "Human Rights" Talk
2017-03-10
When the Fear of Death is Politicized
2017-03-07
Sowell explains why ObamaCare failed
2017-03-05
This week in hypocrisy
2017-02-11
Is Trump’s Claim About “millions” Of Voters An Unconfirmed Hypothesis Or Provable Falsehood?
2017-01-25
Resisting the results of this election is a threat to our Democracy
2017-01-20
Al-Quaeda Calls ISIS Extreme
2017-01-13
NY Times hiring faith reporter
2017-01-12
Facebook Hires Quasi-Conservative, HuffPo Freaks Out
2017-01-09
Trump tells DHS to get ready to build the wall
2017-01-04
Not Everything is Political (But These 7 Activities Are)
2016-12-21
The FBI Predicted (but Didn't Quite Predict) 9/11
2016-12-19
America is Not Class-less?
2016-12-12
Google (Alphabet) Hiring Ideological Outreach Managers
2016-12-08
Crying Wolf or Sounding the Alarm -- How Scared Should We Be of Trump?
2016-11-22
No one predicted Trump's election. Ha. Helmut Norpath Did.
2016-11-11
Mini Exit Survey -- Student Feelings about Trump
2016-11-09
My Final (November 2nd) Prediction -- Trump Will Win
2016-11-02
Media Fail
2016-09-03
The New Free Speech Fault Line
2016-07-21
Dave Rubin and Larry Elder discuss the conservative/liberal divide
2016-07-18
Why ISIS plans to target Anglo Saxons
2016-06-27
How to read the news - 3 ways to overcome bias
2016-06-23
How ISIS recruits new soldiers
2016-06-05
Hate Speech - Moral Crime or Orwellian Code?
2016-06-01
How We See Your Candidate -- Empathy-Building Chart
2016-05-09
Humor
Socrates is God's Gift to Athens (or a Troll)
2017-02-27
Funny YouTube Error Message
2017-02-24
This week in hypocrisy
2017-02-11
Einstein's Law - Quotation Misattribution
2016-12-13
Why I'm Cutting the Beard
2016-09-24
A Random Polish Fellow Has Beef with my Book
2016-08-17
How to make Iced Coffee
2016-07-13
The First iPhone
2016-07-09
Why we shouldn't worry that 'X will kill us all!''
2016-06-29
How to Grow a Beard in 3 Easy Steps
2016-05-12
Philosophy
Life is Suffering, and Other Jordan Peterson Quotes
2017-04-25
Petitio or Non-Sequitur
2017-04-23
Dissertation Reflections
2017-04-13
Case-by-Case Consideration of Weird Views
2017-04-07
MacIntyre's Criticism of "Human Rights" Talk
2017-03-10
When the Fear of Death is Politicized
2017-03-07
Socrates is God's Gift to Athens (or a Troll)
2017-02-27
Peter Geach says logic is not partisan
2017-02-02
Philosophy Of Forgiveness
2017-01-11
Looking Back to See the Future
2016-12-31
Study Indicates that Disadvantaged Kids Perform Better in School because of Philosophy
2016-12-28
How to Apologize -- A Guide for Business Ethics
2016-12-27
What Philosophy Book to Read Next
2016-12-26
The Glowing Fish Analogy
2016-12-17
Soft Coercion and Two Other Kinds of Influence
2016-12-16
The Rationality of Irrationality -- Why Wisdom Should Reckon on the Unforeseen
2016-12-10
A Brief Dissertation Update
2016-10-31
Philosophy, Psychology, and "Integration"
2016-10-15
100 Great Philosophers -- Peter Kreeft's New Book
2016-10-04
A Puzzle about Tradition and Progress
2016-09-20
The 50 Most Influential Living Philosophers
2016-09-12
Philosophy Portal -- My New Site for Students
2016-08-27
Wealth and Wisdom -- How Wisdom *is* Wealth
2016-07-26
The IN-completeness of Physics
2016-07-19
David Chalmers Discusses the Singularity
2016-07-06
Still In the Shining Sea - An American Myth
2016-07-04
Is Beauty Objective?
2016-07-03
Scientism is a True but Trivial; Can We Move On?
2016-06-07
Get to Philosophy on Wikipedia
2016-05-15
Heraclitus Defragmented - An Interpretation
2016-05-14
Workflow
How Big is a Dissertation?
2017-02-20
Take the Reading Survey
2017-01-03
Try Proton Mail for Secure Email
2016-09-10
How to Empty your Inbox (with Google's Help)
2016-08-18
Demand Excellence From You and Yours
2016-08-11
How to Format a Dissertation in LaTeX and Markdown
2016-07-24
How to Create Slideshows with Markdown (instead of Powerpoint or Google)
2016-07-20
Drive, Scrivener, and Markdown -- Tools for Writing
2016-07-08
Time Budget - How to Take Control of Your 112 Waking Hours
2016-06-20
Dissertation Writing "Boot Camp"
2016-05-16
Classical education
Keith Got a Job in CA
2017-04-27
There is One Learning Style
2017-04-02
King's College Announces Partnership with New Saint Constantine School
2017-02-21
Thomas Aquinas College's Proposal for Liberal Education
2017-01-26
Check out the Torrey Honors Institute before the deadline
2017-01-14
This Classic Text Explains Why Classical Education is Best
2016-12-29
Marketing and the Corruption of Rhetoric
2016-10-03
Andrew Cuneo on Educating the Heart
2016-09-08
A New M.A. Degree in Literature, Specializing in Tolkien Studies
2016-08-03
The Economic Value of Education
2016-07-10
How to teach math in a classical school
2016-07-02
Culture
How Fathers Feel about Their Babies
2017-04-05
You can't learn everything in books
2017-03-20
Divorcing Facebook
2017-03-01
A Sequel to "The Passion of the Christ -- Resurrection
2017-02-13
Abrams Admits that the Rey/Princess Leia Hug Was a Mistake
2017-02-03
10 Reasons to See Bells of St Mary's
2017-01-22
Paglia Tells Madonna to Age Gracefully
2017-01-10
So you want to read "War and Peace" -- here's how and why
2017-01-01
Did that Boy Die in Santa’s Arms? We’ll See…
2016-12-15
A Quick Review of "*Man in the High Castle*"
2016-09-29
Comic Book Girl 19's Take on Ghostbusters (2016)
2016-07-17
C.S. Lewis Influence Survey
2016-07-07
Christianity
A Sequel to "The Passion of the Christ -- Resurrection
2017-02-13
Academia
Keith Got a Job in CA
2017-04-27
Life is Suffering, and Other Jordan Peterson Quotes
2017-04-25
Petitio or Non-Sequitur
2017-04-23
Dissertation Reflections
2017-04-13
A recent chapter on Deification
2017-04-01
Reflections on Philosophy Department Graduate Stipends
2017-02-23
King's College Announces Partnership with New Saint Constantine School
2017-02-21
How Big is a Dissertation?
2017-02-20
Relationships
How Fathers Feel about Their Babies
2017-04-05


How old is Caitlyn Jenner’s girlfriend Sophia Hutchins and how did they meet?
Caitlyn Jenner is currently winning an army of new fans on I’m a Celebrity.
From a comical pratfall out of a window, knuckling down and bossing the Bushtucker trials to letting some tidbits out about the Kardashians, she’s more than earned her alleged astronomical fee.
But who is Sophia Hutchins, Caitlyn’s rumoured girlfriend, who’s running her social media while she’s in the jungle and how did the two meet?
How old is Sophia Hutchins?
Advertisement Advertisement
Sophia is 23 years old.
She is a budding businesswoman, having recently come up with an odourless SPF 50+ sunscreen mist that can be applied after make-up.
When did Caitlyn and Sophia meet?
The pair first met in 2015 through their make-up artist and hairstylist.
Sophia – who is also a transgendered woman – was just starting her transition at the time.
She revealed her decision to transition in her school newspaper in 2016, and, according to reports in The Mirror, said Caitlyn had inspired her to do it.
Speaking with podcast The Hidden Truth in October 2018, Sophia opened up about her relationship with Caitlyn, saying she ‘wouldn’t describe it as a romantic relationship.’
But she did elaborate to say: ‘We’re partners in everything we do, we’re inseparable, we’re business partners, we live together, we share a dog, we share family, we share a life together.’
Sounds pretty close, and she’s close enough to be in charge of Caitlyn’s social media.
Sharing a sweet snap of them together on Instagram, Sophia posted: ‘Hey guys it’s @hutchins_sophia While @caitlynjenner is in the jungle for @imacelebrity we are all rooting her on here in the USA!! Go CAITLYN!!’
Advertisement Advertisement
She is struggling with watching Caitlyn in the jungle, recently calling it ‘gut-wrenching.’
I’m a Celebrity… Get me out of Here! continues on ITV tonight at 9pm.


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--- layout: post title: "My Week in Review" date: 2017-02-12 05:05:00 +0000 tags: image: https://s3.amazonaws.com/audreywatters/2017-02-12-clown.jpg imagecredits: https://www.flickr.com/photos/kkanouse/15197953876 ---
The Senators who voted for DeVos whose terms are up in 2018
— Audrey Watters (@audreywatters) February 7, 2017
Flake AZ
Wicker MS
Fischer NE
Heller NV
Corker TN
Cruz TX
Hatch UT
Barrasso WY
I’ll take “the racist history of poll tests” for $200, Alex https://t.co/b33XtuMyzD
— Audrey Watters (@audreywatters) February 9, 2017
It should also teach how to spell "Du Bois," I reckon https://t.co/M1kVz9Khmx
— Audrey Watters (@audreywatters) February 12, 2017
(FWIW, having tweets “go viral” makes Twitter utterly unusable.)
Icon credits: The Noun Project


Submit a file for timestamping
When a file is dropped in the box:
its hash value is calculated locally inside
the browser without disclosing the document
to third parties,
not even the OpenTimestamps servers,
preserving privacy;
the hash is then submitted to multiple
redundant public OpenTimestamps servers
to obtain an attestation proof
of its existence (timestamp);
a submission receipt is
downloaded (as .ots filetype);
this is not the attestation proof yet:
it is incomplete and cannot be verified
immediately, as it can take up to one hour
(or even more in some circumstances)
for the transaction to be included in the
blockchain.
In time, the hash value will be attested in a
block: then, the servers it has been submitted to
will be able to upgrade the submission receipt to
attestation proof. As long as at least one server
is properly functioning, the timestamp is ensured.
Upgrade a submission receipt to attestation proof
If the file dropped in the box is a
submission receipt (filetype *.ots):
an upgrade to proof attestation is
downloaded from the calendar servers
if available;
the proof, if any, is verified
using public Bitcoin block-explorers.
Verify an attestation proof
If the file dropped in the box is an
attestation proof (filetype *.ots):
an updated proof is downloaded
from the calendar servers if available;
the most recent proof available is verified
using public Bitcoin block-explorers.
Drop here a file to timestamp it
or a receipt/proof (*.ots) to verify it.


Perf Report:
Test (Frame #3)
Worker Thread 0
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CUMULATIVE
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On Emotional Intelligence
Sprint 2 • blog 1
Back to my main page!
What learnings did you take from the chapter?

-Ralph Waldo Emerson
It's so true that we are only as compassionate and strong as we push ourselves to be, and this is a learned ability.
I think the concept that we can teach ourselves to be more emotionally intelligence, and treat it like a 'practice' is great, as it gives us all something to work toward, rather than lament we wern't born a certain way.
I also liked how the author links to the real benefits of EQ:
- Stellar work performance
- Outstanding leadership
- The ability to create the conditions for happiness
Can't argue with that!
How did you find the two minutes of mindfulness?
Not new information for me: I'm not the greatest meditator. Lol. I just sat there and thought about lots of stuff...plans this weekend, whats for dinner... (typical). But the concept is totally not lost on me, I would love to properly get into it.
Practice makes perfect I guess!


Meghan and Harry to 'skip Christmas with the Queen and spend it with Duchess's mum'
The Duke and Duchess of Sussex are heading to California to spend time with Doria Ragland, with Remembrance Sunday thought to be their last joint public engagement
by Russell Myers, https://www.mirror.co.uk/authors/russell-myers/Prince Harry and Meghan may not come back to the UK for Christmas - deciding instead to spend it in America with Meghan’s mum instead.
The Duke and Duchess of Sussex are heading to California to spend time with Doria Ragland, with Remembrance Sunday thought to be their last joint public engagement.
The trip will come as part of a six-week break away from royal duties to allow the couple and their six month old son Archie to spend some “much-needed” family time together.
Prince William, the Duchess of Cambridge and their three children are expected at Sandringham after spending 1st Christmas with Kate's family.
If Harry and Meghan were to stay away it would suggest the rift with his brother he confirmed last month in a TV documentary is no further to being healed.
Harry on Sunday will attend the inaugural OnSide Awards at the Royal Albert Hall on Sunday 17th November 2019.
The OnSide Awards will bring together the whole of the OnSide community to recognise the achievements of young people, volunteers and staff.
Awards will be presented to young people who have made a real difference in their community, have breakthrough talent, or have overcome the most challenging of circumstances.
The family had been expected to return to the UK, where they will spend the remainder of the holiday season with the Queen at Sandringham in Norfolk, as is tradition.
However, a senior palace source had told how the couple haven’t yet decided when they will come back and may yet stay and spend the Christmas holidays in the States.
ex attend the 91st Field of Remembrance at Westminster Abbey
The source said: “It’s too early to tell exactly what they will end up doing, they haven’t decided.”
This will be their first Christmas as a family-of-three following the birth of Archie in May.
They decided to take some time out after appearing in an ITV documentary while on tour in Africa visitng some of the world’s poorest communities.
In the documentary Harry, 35, told how he had drifted apart from his brother William while Meghan, 38, revealed how she was struggling with life in the public eye, even suggesting “no one has asked if I’m okay”.
Meghan took around four months maternity leave and has lept busy with a series of projects since returning.
The former actress collaborated on series of designs or ‘Smart Set collection with retailers John Lewis and Marks & Spencer.
She also guest edited Vogue where she famously refused to be on the cover, suggesting it would be “boastful” to appear on the cover.


{% for crumb in crumbs: %}
{{ crumb[0] }}
{% endfor %}
{% for workbookName in workbooks: %}
{{ workbookName }}
{% endfor %}
{{ contents | safe }}


Before Change
def decode(self, segms, bboxes, labels, sizes):
// CPU is used because cv2.resize only accepts numpy arrays.
segms = [chainer.backends.cuda.to_cpu(segm) for segm in segms]
bboxes = [chainer.backends.cuda.to_cpu(bbox) for bbox in bboxes]
labels = [chainer.backends.cuda.to_cpu(label) for label in labels]
masks = []
// To work around an issue with cv2.resize (it seems to automatically
After Change
xp = chainer.backends.cuda.get_array_module(*segms)
if xp != np:
raise ValueError(
"MaskHead.decode only supports numpy inputs for now.")
masks = []
// To work around an issue with cv2.resize (it seems to automatically
// pad with repeated border values), we manually zero-pad the masks by 1
// pixel prior to resizing back to the original image resolution.


Genesis 21:1
And the LORD visited Sarah as he had said, and the LORD did unto Sarah as he had spoken.


Context
I redesigned part of the Car and Home Insurance sales flows to allow customers to opt in for receiving their policy documents by email. However, what seemed to be a simple project involved a range of architectural, systems and customer problems that needed to be addressed to achieve a seamless customer experience.
My Role
I was responsible for the yellow sections above, encompassing:
- Designing the opt in experience within the sales flows
- Designing the settings in NetBank, allowing customers to switch between post and email
- Ensuring that customers comprehended how to securely receive their policy documents
- Handling edge cases for missing or out of date contact details
Experience Flow
Customers would opt in to receive their documents digitally. Then a third-party provider would email customers a link to a download portal and send a security code to the customer's mobile number.
My Process
1. Research
To understand the current state, I mapped out the existing sales flows which consisted of 4 variations with additional edge cases. I also analysed current traffic and drop-off rates to ensure I didn't contribute friciton to an already lengthy sales flow.
2. Understand project constraints
I socialised initial designs to tease out architectural and system constraints. That information impacted how I designed. My goal was to create a simple and easy experience that didn't burden customers with unnecessary complexity.
3. Iteration and testing
Through rounds of iteration and testing, I was able to refine the design to ensure that customers were able to comprehend how the digital download experience would work. Through this I was also able to refine the interactions in my designs to ensure they made sense to customers.
4. Support scrum team delivery
I worked alongside my engineers to tweak designs; making accomodations for technical limitations, legacy design patterns and delivery timelines. The focus was to aid delivery of the changes without compromising the customer experience.
Process: Bushfires and wildfires are often unpredictable, fast moving and poorly understood. People underestimate how long a fire takes to reach them and once it does, it is difficult to tell which direction it's spreading in. This is life threatening and has lead to people's deaths.
Process: Bushfires and wildfires are often unpredictable, fast moving and poorly understood. People underestimate how long a fire takes to reach them and once it does, it is difficult to tell which direction it's spreading in. This is life threatening and has lead to people's deaths.
My Process
Challenges & Insights- talk to designs
Archtectural and system constraints
The reality of limited project funding, working across different databases and legacy systems meant there were unavoidable constraints. This meant a great deal of time was spent understanding the limitations and going back and forth between my team and the system architect to reach a consensus.
Translating complexity
Due to a number of technical and business reasons, the experience of opting in to receive documents digitally was more complicated than it had to be. Some of the complexity was unavoidable, so I made sure that as litle as possible was experienced by customers. At the end of the day, customers just want the sense of security of an insurance policy and to receive their documents by email. This shouldn't be difficult.
'Default' nudge design
The first question in the experience was designed intentionally, defaulting customers to receiving their documents by email to increase the likelihood of proceeding with that option. This was a direct application of robust findings relating to the Default effect. The email option is a better option for both the customer (it's more reliable and easy to manage) and the business (it costs less than paper documents). Customers are able to opt-out by clicking the secondary link which was also intentionally phrased as "post" instead of "mail" to avoid confusion.
Regrets & Blue Sky Designs
There were a lot of unavoidable aspects of this project that detracted from an 'ideal experience'. If funded, I would propose the next stage of the project to:
- Allow customers to change their contact details without having to navigate elsewhere first. Removing this constraint would make the experience truly simple and easy. 👍🏼
- Remove the middle-man third party in the document delivery process so that the experience is shorter and visually consistent. It would reduce any confusion that might be felt by customers who are downloading sensitive documents from a site that is visually inconsistent to the entry point. 👍🏼


Which timebox and habits techniques did you try? The growth mindset and what did you find interesting? I found the growth mindset interesting as it drew links to someone going to the gym / working out. I enjoy expercise and sports and have clearly seen how your abilities can change and grow if you work hard at it. I think if you view your brain as being like just another muscle in your body that you can excercise and grow by exposing it to new learnings and practicising and reflecting on these learnings it can be easy to have the growth mindset.
what worked for you? It worked for me to think of confidence as displayed ability. By mastering many small tasks, and letting my confidence grow.Which will you experiment further with? The pomodoro technique - 25 minute blocks - seeing how many pomodoro's tasks will take. Being more efficient and improving the quality of my work will be some of my focuses to experiment with. I also like that the pomodoro technique eliminates pushing yourself too hard, and enabling better work/life balance so you know you've been productive in the day and can actually enjoy your free time.


NYPD officers locate possibly suicidal mother trying to buy gun
by Eyewitness NewsCANARSIE, Brooklyn (WABC) -- It is an amazing story of police work, combined with gut instinct and luck, possibly saving the lives of a mother and her infant.
A grandmother in Canarsie called the police, worried about her 27-year-old daughter, who was sending texts indicating she wanted to harm herself and her 6-month-old baby.
The young mother then told officer Michelle Shack and her partner over the phone that she was heading up to the Poconos and planned to buy a gun.
The officers looked up gun shops along the route and started calling them with a description of the woman.
The baby is now safe and in the care of a relative.


So I got a kitten a couple of weeks ago and I wanted to show her off. She was a rescue kitten, and the second cat of the family. She's only 4 months old and loves to yell at everything.
She's currently getting along quite well with the older cat June. They were introduced to each other the first day we got Sylvie and there was hardly any fighting or hiding at all. They even started playing with some of the same toys after only 2 days together. June is very much a cat mom and loves to baby the kitten so hopefully they will become great friends as they both age.
Unfortunately, she got pink-eye (apparently this is quite common in kittens) so she had to get the cone of shame. She is currently recovering and continuing to squeak as loudly and often as possible.


Pirate (ARRR) is a cryptocurrency that solves the issue of financial privacy on the blockchain through forced anonymous transactions. Protect your wallet and transactions with Pirate’s completely anonymous network. With forced private transactions, your privacy cannot be compromised by another users’ activity on the network. If you wish to learn more, please join the official Pirate Discord at https://pirate.black/discord/ or message FishyGuts#5085, who will be happy to help out.
100 messages
Before 05-Dec-19 12:00 AM
FishyGuts15-Oct-18 05:58 PM
Hehe.
It's a task. JL is helping the Dev for their exchange with it now.
Flexatron15-Oct-18 05:59 PM
CryptoNinjaa15-Oct-18 06:00 PM
Will they be the 1st to take z deposits / withdraws ever?
This ship is sure sailing fast cant keep up
Flexatron15-Oct-18 06:07 PM
Newsworthy in of itself already.
grewalsatinder15-Oct-18 06:09 PM
First cryptocurrency exchange to accept z deposit/withdraw is significant news.
snowdamn15-Oct-18 06:10 PM
does this exchange have limits?
grewalsatinder15-Oct-18 06:10 PM
If that news don’t make crypto media a buzz they are the biggest fools
ComputerGenie 👴👴👴15-Oct-18 06:11 PM
does this exchange have limits?
9 KMD per day for any account you have (edited)
In another simple analogy comparing Any other privacy coin to pirate is like looking for a person in a city where ppl can be seen but very hard to identify since they are all clones (run attack of clones scene here from star wars). And hard to find a pirate who are all invisible in the wide ocean .
Far superior technology to beat with 99.99% of pirates being invisible
@jl777c you being hunted for fixing z deposit/withdraws?
FishyGuts15-Oct-18 06:26 PM
We have the target in our sights @Flexatron
mato12115-Oct-18 06:32 PM
is crypto lama here?
can i post his comparison
with piratechainslo
FishyGuts15-Oct-18 06:33 PM
Yes. he will be fine with it I am sure. @Llama
mato12115-Oct-18 06:33 PM
Oki doki
FishyGuts15-Oct-18 06:34 PM
Coming up...
- A Discord invite contest.
- A weekly ambassador spiff, top 3 pirate shills on Twitter/Reddit/BTT will get booty each week.
- Another mining rig time giveaway.
- Tipbot soon and we will have a "Day of squalls" when vosk drops his video. Plan to rain thousands of pirate on discord members.
@xmarghhhpirate Privacy need not be nefarious lad...
These syphilitic sea rats ne'er be understnadin' the code and the reason for privacy.
$XMR and $ARRR value yer' privacy ya eyepatchin' wearing pig faces.
These other privacy coins be about as useless as a glass eye patc...
grewalsatinder15-Oct-18 06:53 PM
@c2k nice article mate
FishyGuts15-Oct-18 06:53 PM
It's being translated into many languages today.
c2k15-Oct-18 06:55 PM
thanks @grewalsatinder ...too many of the details are beyond my expertise but its a start
NedBGQ15-Oct-18 07:24 PM
here and there I have problems understanding this "pirate communique"
1
Flexatron15-Oct-18 07:24 PM
You are not alone lmao
Flexatron15-Oct-18 07:41 PM
sends thoughts and prayers towards @jl777c and DP(edited)
FishyGuts15-Oct-18 07:48 PM
I'm going with DigPri for short.
Flexatron15-Oct-18 07:49 PM
Dipri?
Digip
Hmm
FishyGuts15-Oct-18 07:49 PM
Cuz you don't want to search "DP exchange" and try to find our coin. It will be at the bottom of those search results, I am certain.(edited)
Flexatron15-Oct-18 07:49 PM
Pornhub?
FishyGuts15-Oct-18 07:49 PM
New ad partner. Follow in Berge's footsteps.
Privatoshi15-Oct-18 07:51 PM
I walk the walk, while my peg leg knocks...
I even beat a Soldier... Arrrghhh
I love to show my KMD ecosystem support on Twitter..
Get em Pirate(edited)
2
Privatoshi15-Oct-18 08:27 PM
Lol
ghost.in.the.dao15-Oct-18 08:36 PM
@c2k great article ... showing it love!
Privatoshi15-Oct-18 09:17 PM
@c2k Nice article!!
c2k15-Oct-18 09:41 PM
thanks you scalawags @ghost.in.the.dao@Privatoshi
Hermes15-Oct-18 09:44 PM
kmdtip @c2k 1.00
!kmdtip @c2k 1.00
KMD TipBotBOT15-Oct-18 09:45 PM
TipBot
@Hermes (Hermes#6934)
You tipped @c2k1 KMD
ghost.in.the.dao15-Oct-18 09:59 PM
ComputerGenie 👴👴👴15-Oct-18 10:03 PM
when schooner?
c2k15-Oct-18 10:07 PM
Thanks @Hermes ...appreciate it
1
actionslacks15-Oct-18 10:07 PM
When Polly?
Hermes15-Oct-18 10:08 PM
hehe for he to start mining?
ComputerGenie 👴👴👴15-Oct-18 10:11 PM
actionslacks Today at 5:07 PM
When Polly?
Polly is an annoying little bird; so, given @Zach's sell prices, Polly was last week
Zach15-Oct-18 10:12 PM
Why am I being brought into this?
ComputerGenie 👴👴👴15-Oct-18 10:12 PM
Because I'm me
Zach15-Oct-18 10:12 PM
Fair enough haha
Privatoshi15-Oct-18 10:26 PM
@c2k@Deleted User
I was only kidding... It was the only quote, that he could've got scalawag from... It was Dave Chappelle Player Hater's Ball.... not meant to be disrespectful(edited)
1
Privatoshi15-Oct-18 10:34 PM
I've been on Twitter & even sent out a tweet, about Pirate, to a College Football head coach, with 100k+ followers that loves Pirates.. I hope you responds...
But I think the project is cool & I'm just trying to support where I can... Great project guys!!
Llama15-Oct-18 10:35 PM
awesome!
Privatoshi15-Oct-18 10:41 PM
The PirateChain response was great!!!
Well if he is interested, we can send him a mighty fine short sword crafted somewhere in the southern European isles.
It's is more a decoration and a trophy, but will serve it's purpose if needed!
He's the Washington State Football head coach, Mike Leach, if anyone watches football.(edited)


object sybase_fetch_object ( resource $result [, mixed $object ] )
sybase_fetch_object() is similar to sybase_fetch_assoc(), with one difference - an object is returned, instead of an array. Speed-wise, the function is identical to sybase_fetch_array(), and almost as quick as sybase_fetch_row() (the difference is insignificant).
Returns an object with properties that correspond to the fetched row, or FALSE if there are no more rows.


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Back To HomeThe page you were looking for does not exist. You may have mistyped the address or the page may be moved
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Alcoholic thanks judge for giving him a chance - then is arrested being drunk four days later
by Jane HuntAn alcoholic who thanked a judge for sparing him prison and giving him a chance to get help for his drink problem has apologised after he was arrested for being drunk just four days later.
Daniel Palmer was given a 24-month prison sentence suspended for two years, a 12-month alcohol treatment order and a criminal behaviour order at Ipswich Crown Court on October 17.
On that occasion Judge Emma Peters said that repeated prison sentences had not stopped him drinking and reoffending and it was time to try something else.
She warned Palmer, who has 140 previous convictions, that he would be brought back to court and re-sentenced if he breached the suspended sentence order.
Following his arrest four days later on October 21 Palmer, 37, of Fleming Road, Bury St Edmunds, admitted breaching the suspended sentence order and a criminal behaviour order banning him from being drunk in public.
Jailing him for two years Judge Peters said she had given him a chance against the weight of his previous convictions.
"I wanted to give you a chance but you didn't take it."
"You didn't have the internal motivation to last four days," added the judge.
The court heard that on October 21 police were call to the Guildhall surgery in Lower Baxter Street, Bury St Edmunds at around 1pm.
Palmer was lying on the floor near near the reception and had his hand in his mouth and appeared to be trying to make himself sick.
When the officer approached him Palmer vomited on the floor and was taken outside.
"He smelled strongly of alcohol and he had an empty bottle of cider and a half empty bottle of vodka," said Simon Gladwell, prosecuting.
Oliver Haswell, for Palmer, said his client was grateful for the chance he had been given by Judge Peters and apologised for letting her down.
He said Palmer had attended an appointment with the probation service the day after he was given the suspended sentence order but had reverted to drinking and had gone to the surgery on October 21 because he felt genuinely ill.


Replica of da Vinci’s Mona Lisa sells for €552,500
PARIS, Nov 20 — A 17th-century copy of Leonardo da Vinci’s “Mona Lisa” was sold yesterday at Sotheby’s auction house in Paris for €552,500 (RM2.5 million), much more than the initial valuation of €70,000-€90,000.
The Mona Lisa itself, on which da Vinci began work in 1503, has hung at the Louvre Museum in Paris for more than 200 years. It is thought to depict Lisa Gherardini, the wife of a Florentine silk merchant, Francesco Giocondo.
“This amazing result testifies to the power of the lasting fascination of this iconic painting,” Baukje Coenen, a director at Sotheby’s, said in a statement about yesterday’s sale. — Reuters


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are you sure you want to delete the weight on date {{ weight.date }} with old weight {{ weight.old_weight }} and new weight {{ object.new_weight }}?


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The measurements taken in the experiments might all be measured on
different scales. In order to make these comparable, they are
transformed to a uniform scale using transformation functions.


src/keyboard.module.ts
import { CommonModule } from '@angular/common';
import { NgModule } from '@angular/core';
import { LIVE_ANNOUNCER_PROVIDER, MdButtonModule, MdCommonModule, MdIconModule, OverlayModule, PortalModule } from '@angular/material';
import { MdKeyboardContainerComponent } from './components/keyboard-container/keyboard-container.component';
import { MdKeyboardKeyComponent } from './components/keyboard-key/keyboard-key.component';
import { MdKeyboardComponent } from './components/keyboard/keyboard.component';
import { keyboardDeadkeys, MD_KEYBOARD_DEADKEYS } from './configs/keyboard-deadkey.config';
import { keyboardIcons, MD_KEYBOARD_ICONS } from './configs/keyboard-icons.config';
import { keyboardLayouts, MD_KEYBOARD_LAYOUTS } from './configs/keyboard-layouts.config';
import { MdKeyboardDirective } from './directives/keyboard.directive';
import { KebabCasePipe } from './pipes/kebab-case.pipe';
import { MdKeyboardService } from './services/keyboard.service';
@NgModule({
imports: [
OverlayModule,
PortalModule,
CommonModule,
MdButtonModule,
MdCommonModule,
MdIconModule
],
exports: [
MdCommonModule,
MdKeyboardComponent,
MdKeyboardContainerComponent,
MdKeyboardKeyComponent,
MdKeyboardDirective
],
declarations: [
KebabCasePipe,
MdKeyboardComponent,
MdKeyboardContainerComponent,
MdKeyboardKeyComponent,
MdKeyboardDirective
],
entryComponents: [
MdKeyboardComponent,
MdKeyboardContainerComponent,
MdKeyboardKeyComponent
],
providers: [
MdKeyboardService,
LIVE_ANNOUNCER_PROVIDER,
{ provide: MD_KEYBOARD_DEADKEYS, useValue: keyboardDeadkeys },
{ provide: MD_KEYBOARD_ICONS, useValue: keyboardIcons },
{ provide: MD_KEYBOARD_LAYOUTS, useValue: keyboardLayouts }
]
})
export class MdKeyboardModule {
}


The Quick Filter tool allows you to quickly search across all rows. Just type your query into the "Quick search" box above the grid and press the button or the Enter key to start searching.
Starting from the version <IP_ADDRESS> you can select columns to search as well as specify the search condition (Contains, Begins with, etc). To access advanced settings, click the arrow on the right of the edit box.


--- layout: page title: "About" description: "Hey, this is zapp." header-img: "img/about-bg.jpg" ---
有趣的灵魂终将相遇。


Common Utility Headers - LUFA/Drivers/Common/Common.h
Detailed Description
Common utility headers containing macros, functions, enums and types which are common to all aspects of the library.
Define Documentation
Macro for encasing other multi-statement macros. This should be used along with a preceding closing brace at the end of any multi-statement macro, so that the macros contents as a whole are treated as a discrete block and not as a list of separate statements which may cause problems when used as a block (such as inline IF statements).
Macro for encasing other multi-statement macros. This should be used along with an opening brace before the start of any multi-statement macro, so that the macros contents as a whole are treated as a discrete block and not as a list of separate statements which may cause problems when used as a block (such as inline IF statements).
| #define pgm_read_ptr |
( |
Addr |
|
) |
(void*)pgm_read_word(Addr) |
Reads a pointer out of PROGMEM space. This is currently a wrapper for the avr-libc pgm_read_ptr() macro with a void* cast, so that its value can be assigned directly to a pointer variable or used in pointer arithmetic without further casting in C. In a future avr-libc distribution this will be part of the standard API and will be implemented in a more formal manner.
- Parameters:
-
| [in] | Addr | Address of the pointer to read. |
- Returns:
- Pointer retrieved from PROGMEM space.
| #define SWAPENDIAN_16 |
( |
x |
|
) |
((((x) & 0xFF00) >> 8) | (((x) & 0x00FF) << 8)) |
Swaps the byte ordering of a 16-bit value at compile time. Do not use this macro for swapping byte orderings of dynamic values computed at runtime, use SwapEndian_16() instead. The result of this macro can be used inside struct or other variable initializers outside of a function, something that is not possible with the inline function variant.
- Parameters:
-
| [in] | x | 16-bit value whose byte ordering is to be swapped. |
- Returns:
- Input value with the byte ordering reversed.
| #define SWAPENDIAN_32 |
( |
x |
|
) |
|
Value:((((x) & 0xFF000000UL) >> 24UL) | (((x) & 0x00FF0000UL) >> 8UL) | \
(((x) & 0x0000FF00UL) << 8UL) | (((x) & 0x000000FFUL) << 24UL))
Swaps the byte ordering of a 32-bit value at compile time. Do not use this macro for swapping byte orderings of dynamic values computed at runtime- use SwapEndian_32() instead. The result of this macro can be used inside struct or other variable initializers outside of a function, something that is not possible with the inline function variant.
- Parameters:
-
| [in] | x | 32-bit value whose byte ordering is to be swapped. |
- Returns:
- Input value with the byte ordering reversed.


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Thank you for choosing RooJet Pricing Optimization.
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RooJet automatically attaches to each one of your products and analyzes where your prices should be. In order to update your prices and see the suggested optimized pries, {% trans "CLICK HERE" %}.


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The Year of Responsive Design.
2013 was marked as the year of Responsive Web Design (RWD). The Web is filled with big brands, galleries and magical examples that media queries demonstrate the glory of responsive design."Mobile first" and "unobtrusive JavaScript" (AKA: "progressive enhancement") are strategies for when a new site design is being considered. These are related concepts that predated RWD: browsers of basic mobile phones do not understand JavaScript or media queries, so the recommended practice is to create a basic web site then enhance it for smart phones and PCs—rather than try "graceful degradation" to make a complex, image-heavy site work on the most basic mobile phones.
Media Queries is a CSS3 module allowing content rendering to adapt to conditions such as screen resolution (e.g. smartphone vs. high definition screen). It became a W3C recommended standard in June 2012.[1] and is a cornerstone technology of Responsive Web Design.
Centered Text
This was a 2.x challenge that seems a little easier in 3.CSS3
To understand the RWD approach, you must first understand CSS - the basis of responsive design. CSS enables the developer to use percentage-based (AKA fluid or proportion-based) grids, CSS3 media queries. The web site then adapts to multiple devices (desktop, laptop, tablet, smartphone) and display conditions such as browser size and screen resolution.There is still a lot to be said about the Responsive Web.
 One way to handle this is to ensure the text content wraps inside the container. But the more "responsive" way is to scale font-sizes accordingly as the size of the viewing area (viewport) changes. Creators of FitText have mastered this in the form of a plugin.Responsive Images
The sizing "grid" is not the only aspect of responsive design. Making images and media object scale correctly is another consideration for responsive developers. Go ahead and shrink your browser's width to see how the HTML elements and images respond as the width of the viewport changes.Bootstrap 3 is the latest "Mobile-first" release of the Bootstrap framework that offers a starter foundation for Web designers and developers. Bootstrap consists of a CSS and JavaScript library. To use Bootstrap, you simply include (reference) in the HTML of your Web page. There is also a CDN for Bootstrap that serves pages faster.
This theme was made at Bootply. Bootply is a HTML, JavaScript and CSS editor app built just for Bootstrap. Bootply enables developers to easily apply the Bootstrap Framework to their projects using a beautiful hand-coding interface. The browser-based Bootply editor lets developers select and paste Bootstrap friendly code snippets. Bootply can be used to test, manage and share any Bootstrap code, from small snippets to entire Bootstrap-ready themes. Find it at http://bootply.com


Known mostly for his time as founding guitarist of The Dropkick Murphys, Boston based rocker Rick Barton has spent the last five years fronting his current band and labor of love "Continental." Continental's sound is soulful Rock n Roll, plain and simple. While often compared to a variety of different bands, they like to summarize their style as "Paul Westerberg writing songs for The Rolling Stones," a compliment they received and have remembered for years. "I wear my heart on my sleeve and prefer to sing about what's inside, rather than fast cars and shaking booty" says Rick.


--- layout: default title: DDraceNetwork Tune Zones Tutorial ---
Welcome to the tune zone tutorial!
In this tutorial I will explain you how to use the new and awesome feature for DDNet. It is simpler that you might think, just read the following steps:
Load up client, open editor and right click Game Group
You will see that there is a new kind of layer that has been added, the Tune layer. Create a new one.
By clicking the Tune button at the top of screen , you will be able to select different Zone numbers.
To put the zone wherever you want, press space and select the light blue square, and treat it as if it were a normal tile. The player will be in the specific zone as long as it touches the respective tile.
Now that you have put your zones, it should look like this:
Now that you have specified the different zones, you have to attribute special physics for each of them. You will need to create a new file in the folder data/maps, ight where your DDNet-Server binary is, called "(yourmapname).cfg". If the .cfg file isn't named the same as the map or if it isnt in your map folder, it wont work.
Open up the file , and try the following. Zone 0 is the default zone, and zone 1 and 2 are the zones that I have put. There are 3 types of commands for zones:
tune_zone_enter "zone num." "text on enter" tune_zone_leave "zone num." "text when leaving" tune_zone "zone num." "tune setting" "value"
It is possible to change more than one setting by zones, for example gravity and ground friction , like shown in the picture above. If you want to find all the settings you can change, look them up in the official list.
There you go!