jsdoc2betterjs
will automatically extract jsdoc from your code.
Using your jsdoc comments, it will generate another javascript
file which makes sure your jsdoc is respected during execution.
Before, jsdoc comments were not used to test your code. So you will likely find new bugs thanks to it. And it is a good news! You want to find those bugs before your users see them :)
The jsdoc will automatically be extracted from your javascript source. Your jsdoc comments will be used to produce another version of your source, modified to check your jsdoc during execution. It is all done for you.
It is all pure javascript here. jsdoc is the established way to document javascript. No new language! It works in node.js and browser. It can even generate sourcemap.
/** * measure the length of a string * * @param {String} aString - the string to measure * @return {Number} the length of the string */ var stringLength = function(aString){ return aString.length }
JSDOC contains valuable informations on the behavior of your code. It was destined to programmers before. Now we use it with computers to extract more informations on how to test your code.
The tags @param
are analysed to know which type is ok for this arguments
No more 'oops i forgot an argument' bug.
We do the same for @return
, thus we test the function behavior too.
/** * measure the length of a string * * @param {String} aString - the string to measure * @return {Number} the length of the string */ var stringLength = function(aString){ return aString.length }
/** * a cat with its age * * @constructor * @param {Number} age - the age of the cat */ var Cat = function(age){ this._age = age }
All your JSDOC @constructor
tag are detected to know what
your classes are and enable Better.Class privates.
Thus if your classes private are used outside your class, you
will be warned immediatly
Here is our example function.
This is a simple function which measure the length of a string.
There is jsdoc comment which provides details on the function:
The type of arguments
and the type returned
.
/** * measure the length of a string * * @param {String} aString the string to measure * @return {Number} the length of the string */ var stringLength = function(aString){ return aString.length }
# Install jsdoc2betterjs if needed $ npm install -g better.js # Generate the better.js automatically $ jsdoc2betterjs file.js > file.better.js
jsdoc2betterjs
analyses your code and extract jsdoc.
It produces a .better.js file with the additional
code to check if your jsdoc is respected at runtime.
On the right you can see the produced code. The original function is wrapped in a Better.Function with all the types informations properly declared. Thus if your jsdoc isn't respected during execution, you will be warned imediatly!
/** * measure the length of a string * * @param {String} aString the string to measure * @return {Number} the length of the string */ var stringLength = Better.Function(function(aString){ return aString.length }, { arguments: [String], return: Number })
# in node.js var Better = require('better.js'); # in browser < script href='better.js'>< /script>
It runs in node.js and modern browsers. Thus you can test your javascript in various environments you are running on.
better.js is pure 100% javascript. And jsdoc is the established way to document javascript. Not a new language to learn, find documentation for, find tools for! So everything is already well-known so it is painless to integrate. Checkout betterjs cache folder workflow. Heck, it can even generate sourcemap.
.# Javascript is open standard # Javascript is run everywhere # => # You can't beat that!
/** * measure the length of a string * * @param {String} aString - the string to measure * @return {Number} the length of the string */ var stringLength = function(aString){ return aString.length }
With jsdoc2betterjs
, writing jsdoc comments
is like writing tests. Writing docs is good, Testing code is good.
It creates a virtuous circle "The more you documents your code, the safer it becomes."
It introduces jsdoc2betterjs. What is it ? How it can be useful? How you can use it ? I tried to make it as obvious as possible.
It presents the advantages and disavantages of jsdoc2betterjs.


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| Modifier and Type | Method and Description |
|---|---|
GlowEntity |
GlowWorld.spawn(org.bukkit.Location location,
Class<? extends GlowEntity> clazz,
org.bukkit.event.entity.CreatureSpawnEvent.SpawnReason reason)
Spawns an entity.
|
| Modifier and Type | Method and Description |
|---|---|
float |
GlowWorld.rayTrace(org.bukkit.Location location,
GlowEntity entity)
Calculates how much the rays from the location to the entity's bounding box is blocked.
|
| Modifier and Type | Method and Description |
|---|---|
GlowEntity |
GlowWorld.spawn(org.bukkit.Location location,
Class<? extends GlowEntity> clazz,
org.bukkit.event.entity.CreatureSpawnEvent.SpawnReason reason)
Spawns an entity.
|
| Modifier and Type | Method and Description |
|---|---|
Collection<GlowEntity> |
GlowChunk.getRawEntities() |
| Modifier and Type | Class and Description |
|---|---|
class |
CustomEntityDescriptor<T extends GlowEntity> |
| Modifier and Type | Class and Description |
|---|---|
class |
GlowAgeable
Represents a creature that ages, such as a sheep.
|
class |
GlowAmbient |
class |
GlowAnimal
Represents an Animal, such as a Cow.
|
class |
GlowAreaEffectCloud |
class |
GlowCreature
Represents a creature entity such as a pig.
|
class |
GlowExplosive |
class |
GlowHangingEntity |
class |
GlowHumanEntity
Represents a human entity, such as an NPC or a player.
|
class |
GlowLightningStrike
A GlowLightning strike is an entity produced during thunderstorms.
|
class |
GlowLivingEntity
A GlowLivingEntity is a
Player or Monster . |
class |
GlowPlayer
Represents an in-game player.
|
class |
GlowTntPrimed |
class |
GlowVehicle |
class |
GlowWaterMob |
class |
GlowWeather
Represents a Weather related entity, such as a storm.
|
| Modifier and Type | Field and Description |
|---|---|
protected GlowEntity |
GlowEntity.vehicle
The entity this entity is currently riding.
|
| Modifier and Type | Method and Description |
|---|---|
<T extends GlowEntity> |
EntityManager.getAll(Class<T> type)
Returns all entities with the specified type.
|
| Modifier and Type | Method and Description |
|---|---|
GlowEntity |
EntityManager.getEntity(int id)
Gets an entity by its id.
|
GlowEntity |
GlowEntity.getVehicle()
The entity this entity is currently riding.
|
| Modifier and Type | Method and Description |
|---|---|
Collection<GlowEntity> |
EntityManager.getAll()
Gets all entities.
|
static Class<? extends GlowEntity> |
EntityRegistry.getEntity(Class<? extends org.bukkit.entity.Entity> clazz)
Gets the implementation class for the given entity interface class.
|
static Class<? extends GlowEntity> |
EntityRegistry.getEntity(org.bukkit.entity.EntityType type) |
List<GlowEntity> |
GlowEntity.getLeashedEntities()
All entities that currently have this entity as leash holder.
|
Iterator<GlowEntity> |
EntityManager.iterator() |
| Modifier and Type | Method and Description |
|---|---|
boolean |
GlowPlayer.canSeeEntity(GlowEntity entity)
Checks whether the player can see the given entity.
|
List<org.bukkit.entity.Entity> |
EntityManager.getEntitiesInside(BoundingBox searchBox,
GlowEntity except)
Returns all entities that are inside or partly inside the given bounding box, with optionally
one exception.
|
boolean |
GlowEntity.isWithinDistance(GlowEntity other)
Checks if this entity is within the visible radius of another.
|
| Modifier and Type | Method and Description |
|---|---|
static void |
EntityRegistry.registerCustomEntity(CustomEntityDescriptor<? extends GlowEntity> descriptor)
Registers a custom entity type.
|
| Modifier and Type | Class and Description |
|---|---|
class |
GlowBlaze |
class |
GlowBoss
A monster with a boss bar.
|
class |
GlowCaveSpider |
class |
GlowCreeper |
class |
GlowElderGuardian |
class |
GlowEnderman |
class |
GlowEndermite |
class |
GlowEvoker |
class |
GlowGhast |
class |
GlowGiant |
class |
GlowGuardian |
class |
GlowHusk |
class |
GlowIronGolem |
class |
GlowMagmaCube |
class |
GlowMonster |
class |
GlowPigZombie |
class |
GlowShulker |
class |
GlowSilverfish |
class |
GlowSkeleton |
class |
GlowSlime |
class |
GlowSnowman |
class |
GlowSpider |
class |
GlowStray |
class |
GlowVex |
class |
GlowVindicator |
class |
GlowWitch |
class |
GlowWither |
class |
GlowWitherSkeleton |
class |
GlowZombie |
class |
GlowZombieVillager |
| Modifier and Type | Class and Description |
|---|---|
class |
GlowEnderDragon |
class |
GlowEnderDragonPart |
| Modifier and Type | Class and Description |
|---|---|
class |
GlowArmorStand |
class |
GlowBoat |
class |
GlowEnderCrystal |
class |
GlowEvokerFangs |
class |
GlowExperienceOrb |
class |
GlowFallingBlock |
class |
GlowItem
Represents an item that is also an
GlowEntity within the world. |
class |
GlowItemFrame |
class |
GlowLeashHitch |
class |
GlowMinecart |
static class |
GlowMinecart.Command |
static class |
GlowMinecart.Explosive |
static class |
GlowMinecart.Hopper |
static class |
GlowMinecart.Powered |
static class |
GlowMinecart.Rideable |
static class |
GlowMinecart.Spawner |
static class |
GlowMinecart.Storage |
class |
GlowPainting |
| Modifier and Type | Class and Description |
|---|---|
class |
GlowAbstractHorse |
class |
GlowBat |
class |
GlowChestedHorse<InventoryT extends org.bukkit.inventory.AbstractHorseInventory>
A horse or similar mount (donkey, mule, llama...) whose inventory may include a chest.
|
class |
GlowChicken |
class |
GlowCow |
class |
GlowDonkey |
class |
GlowFirework |
class |
GlowFishingHook |
class |
GlowHorse |
class |
GlowLlama
Represents a llama.
|
class |
GlowMooshroom |
class |
GlowMule |
class |
GlowOcelot |
class |
GlowParrot |
class |
GlowPig |
class |
GlowPolarBear |
class |
GlowRabbit |
class |
GlowSheep |
class |
GlowSkeletonHorse |
class |
GlowSquid |
class |
GlowTameable |
class |
GlowUndeadHorse |
class |
GlowVillager |
class |
GlowWolf |
class |
GlowZombieHorse |
| Modifier and Type | Class and Description |
|---|---|
class |
GlowArrow |
class |
GlowEgg |
class |
GlowEnderPearl |
class |
GlowFireball |
class |
GlowLingeringPotion |
class |
GlowProjectile
A projectile.
|
class |
GlowSnowball |
class |
GlowSpectralArrow |
class |
GlowSplashPotion |
class |
GlowThrownExpBottle |
class |
GlowTippedArrow |
class |
GlowWitherSkull |
| Modifier and Type | Class and Description |
|---|---|
class |
EntityStore<T extends GlowEntity>
The base for entity store classes.
|
| Modifier and Type | Method and Description |
|---|---|
static <T extends GlowEntity> |
EntityStorage.bind(EntityStore<T> store)
Binds a store by adding entries for it to the tables.
|
static <T extends GlowEntity> |
EntityStorage.create(Class<T> clazz,
org.bukkit.Location location)
Creates an entity of the given Glowstone class, by deserializing an empty tag.
|
| Modifier and Type | Method and Description |
|---|---|
static GlowEntity |
EntityStorage.loadEntity(GlowWorld world,
CompoundTag compound)
Load a new entity in the given world from the given data tag.
|
| Modifier and Type | Method and Description |
|---|---|
static void |
EntityStorage.load(GlowEntity entity,
CompoundTag compound)
Load an entity's data from the given compound tag.
|
static void |
EntityStorage.save(GlowEntity entity,
CompoundTag compound)
Save an entity's data to the given compound tag.
|
Copyright © 2021. All rights reserved.


{% extends 'admin_base.html' %} {% block content %}
Something went wrong. The administrators have been notified.
Go to AppEngine Admin Home.


Request Nameservers
Code&Push Support
name
Email address
Domain
Note: Code&Push is currently in Alpha. We will service requests on a case by case basis.
Submit Nameserver Request


- \addtogroup apps
@{
\defgroup resolv DNS resolver
- @{
*
- The uIP DNS resolver functions are used to lookup a hostname and
- map it to a numerical IP address. It maintains a list of resolved
- hostnames that can be queried with the resolv_lookup()
- function. New hostnames can be resolved using the resolv_query()
- function.
*
- When a hostname has been resolved (or found to be non-existant),
- the resolver code calls a callback function called resolv_found()
that must be implemented by the module that uses the resolver.
\file
- DNS host name to IP address resolver.
- \author Adam Dunkels<EMAIL_ADDRESS>*
This file implements a DNS host name to IP address resolver.
\internal The maximum number of retries when asking for a name.
\internal The DNS message header.
\internal The DNS answer message structure.
\internal
- Walk through a compact encoded DNS name and return the end of it.
*
\return The end of the name.
\internal
- Runs through the list of names to see if there are any that have
not yet been queried and, if so, sends out a query.
\internal
Called when new UDP data arrives.
\internal
The main UDP function.
Queues a name so that a question for the name will be sent out.
*
\param name The hostname that is to be queried.
Look up a hostname in the array of known hostnames.
*
- \note This function only looks in the internal array of known
- hostnames, it does not send out a query for the hostname if none
- was found. The function resolv_query() can be used to send a query
- for a hostname.
*
- \return A pointer to a 4-byte representation of the hostname's IP
- address, or NULL if the hostname was not found in the array of
hostnames.
Obtain the currently configured DNS server.
*
- \return A pointer to a 4-byte representation of the IP address of
- the currently configured DNS server or NULL if no DNS server has
been configured.
Configure which DNS server to use for queries.
*
- \param dnsserver A pointer to a 4-byte representation of the IP
address of the DNS server to be configured.
Initalize the resolver.
@}
@}


{% extends "wt_articles/articles_base.html" %} {% load i18n %} {% load theme_tags %} {% block head_title %}{% blocktrans %}Fix Article{% endblocktrans %}{% endblock %} {% block subbody %}
Sometimes the Wikipedia articles have leftover junk when they are extracted from Wikipedia. Please use the form below to fix the sentences.


| Path: | README |
| Last Update: | Thu Apr 27 15:51:17 +0200 2006 |
This plugin allows html validation of templates and the response body of functional tests.
WARNING: there is a bug in tidy for ruby.
The line separator is hard-encoded instead of using the $/ magic variable, so it breaks on unix platforms. Apply the tidy.patch patch file to your tidy installation to work arround the bug.
To apply the patch, go into your tidy for ruby installation directory (mine is /usr/lib/ruby/gems/1.8/gems/tidy-1.1.2) and run
$ patch -p 2 < /path/to/tidy.patch
You maybe need to su as root for the patch to apply.
Unpack into the vendor/plugin and that should be it. Ruby bindings for libtidy need to know the path to the file dynamic library file for tidy. It is assumed to be found at /usr/lib/libtidy.so for Linux, /usr/lib/libtidy.dylib for Darwin and /usr/bin/cygtidy-0-99-0.dll for cygwin. If this is not the case add
RailsTidy.tidy_path = "/path/to/your/libtidy.so"
to your environment file.
If the file config/tidy.rc exists, it will use it to configure Tidy. If you want to use another file, put
RailsTidy.tidy_configuration = "/path/to/a/tidy/configuration/file"
to your environment file. See tidy.sourceforge.net/docs/quickref.html for tidy available configuration options.
Simply use
$ rake test:templates
By default, the plugin will parse all *.rhtml files in your app/views directory. For each files that does not validate, it will create a .errors file which will contain the error messages from tidy for that file.
If you want to validate only one file, use
$ rake test:templates FILE="path/to/the/file"
If $FILE is a directory, it will search for all *.rhtml file in it and try to validates them. If $FILE is a regular file it will be validated. If $FILE does not exists it will try with:
The plugin adds a new assert_tidy method to the Test::Unit::TestCase class. You can use it in your class by simply call it with no arguments. It will validate the last response returned by a test. For example:
get :index assert_sucess assert_tidy
The plugin allows you to clean the html produced by rails. To enable it, use an after filter in your app/controller/application.rb file
class ApplicationController < ActionController::Base after_filter :tidy def tidy RailsTidy.filter(response) end end
To configure tidy output, see "3.  I‘m not interrested in this feature so I didn‘t benchmarked it but at first sight rendering is at least 2 times slower with the filter enabled.
This plugin is licensed under the MIT license. Complete license text is included in the MIT-LICENSE file.
This plugin was created by Damien Merenne<EMAIL_ADDRESS>and is located at blog.cosinux.org/pages/rails-tidy.


Name: Jean-Charles
Location: Boston
Special talent: Interpretive Dance
Get it? Hah
Name: Jean-Charles
Location: Boston
Special talent: Interpretive Dance
First, here's some stuff you already know.
Git is a decentralized version control system.
By default, when you clone, you'll have the complete repository history.
Git leverages an intermediate index.
You add into and commit from your index.
gitconfig, aliases, and git- executables
git notes or
how to avoid "wtf was I thinking?!"
git stash to avoid WIP
Stash objects can be treated like other git objects
hub - it brings the 'hub to git
duh
tig, pushing to multiple remotes at once, git reflog, instaweb …
First, here's more stuff you already know.
GitHub is a GUI web frontend to Git.
By default, when you clone, you'll have the complete repository history.
URL modifiers (?w=1, .patch, .diff)
Mentioning issues, closing automatically, etc
Checkboxes in PRs
keyboard shortcuts ("y"!), pasting images,


Test Set Home
This is the Test Page for Scraping Helper, It should not be seen by client, but if you accidently find it. Feel free to break my code! Have Fun!
Default Doom
Vestibulum at eros
#
Test Name
Test Status
Note
1
Test Name
Test Status
Note
2
Test Name
Test Status
Note
fjoaijf
fjoaijf
asjbritjb


--- layout: default title: Site Index ---
This age is for odd essays, collections of links, lessons learned and ages that have yet to gain their own section.


Ubuntu released the newest Long Term Support (LTS) version of its operating system in April 2016. The update brings Ubuntu to version 16.04 and its latest code name is "Xenial Xerus". 16.04 is the first Ubuntu release to include Python 3 as the default Python installation.
Let's use this newest Ubuntu release along with Python version 3.5 to start a new Django web application project and run it with Green Unicorn (Gunicorn).
We will need a few tools to complete our project. Don't worry about installing these just yet as we'll get to them as we progress through the tutorial. The tools and their current versions as of May 9, 2016 are:
If you are running Mac OS X or Windows, use virtualization software such as Parallels (this is what I use, but it's Mac OS X-only) or VirtualBox with the Ubuntu .iso file. Either the amd64 or i386 version of 16.04 is fine, but I use amd64 for development and testing in this blog post.
When we boot up for the first time, we should see a desktop screen like this one.
Open up terminal to proceed with the setup.
We can see the python3 version Ubuntu comes with, as well as where its executable is stored.
python3 --version
which python3
Our Ubuntu installation first needs system packages for Python development. You'll be prompted for your superuser password because restricted system access is required to install packages through apt.
sudo apt-get install virtualenv python-pip python3-dev
Enter y
and let the system package installation process run.
The basic system packages we need are now installed so we can proceed to our Python-specific dependencies.
Virtualenv and pip for isolating and handling application dependencies were just installed via system packages so we can now use them to obtain Django and Gunicorn.
Create a directory to store virtualenvs then put a new virtualenv in it.
# the tilde "~" specifies the user's home directory, like /home/matt
cd ~
mkdir venvs
# specify the system python3 installation
virtualenv --python=/usr/bin/python3 venvs/djproject
Activate the virtualenv.
source ~/venvs/djproject/bin/activate
We should see our prompt change so that we know the virtualenv is properly activated.
Our virtualenv with Python 3 is activated so we can install whatever dependencies we want, such as Django and Gunicorn.
Time to install Django and Green Unicorn into our virtualenv.
pip install django gunicorn
No errors is a good sign everything worked for us.
Create a new Django project named djproject
, or whatever you want to name
your project. Then change into the directory for the new project.
django-admin startproject djproject
cd djproject
We could run Django with the development server using the
python manage.py runserver
command. However, start Django up with
Gunicorn instead.
gunicorn djproject.wsgi
Awesome, now we can bring up our shell project in the web browser at
the localhost:8000
or <IP_ADDRESS>:8000
address.
Ready for development!
Those are the basics for starting development with Django and Gunicorn on Ubuntu 16.04. If you need an even more in-depth step-by-step tutorial to deploy your Python web application to a production environment, check out the Full Stack Python Guide to Deployments book.
To figure out what to do next for your Python project, read the topics found on the table of contents page.
Questions? Contact me via Twitter @fullstackpython or @mattmakai. I'm also on GitHub with the username mattmakai.
See something wrong in this post? Fork this page's source on GitHub and submit a pull request.


Perception, Planning, and Control
© Russ Tedrake, 2020-2021
Last modified .
How to cite these notes, use annotations, and give feedback.
Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Fall 2021 semester.
| Previous Chapter | Table of contents | Next Chapter |
Over the last few chapters, we've developed a great initial toolkit for perceiving objects (or piles of objects) in a scene, planning grasps, and moving the arm to grasp. But there is a lot more to manipulation than grasping!
In fact, the signs have already been there if you were paying close
attention. I'm sure that you noticed image number 9954 in my clutter
segmentation dataset. Good old 09954.png
. Just in case you
happened to miss it, here it is again.
I don't know how many of the other 9999 random scenes that we generated are going to have this problem, but 9954 makes it nice and clear. How in the world are we going to pick up that "Cheez-it" cracker box with our two-fingered gripper? (I know there are a few of you out there thinking about how easy that scene is for your suction gripper, but suction alone isn't going to solve all of our problems either.)
The term nonprehensile manipulation means "manipulation without grasping", and humans do it often. It is easy to appreciate this fact when we think about pushing an object that is too big to grasp (e.g. an office chair). But if you pay close attention, you will see that humans make use of strategies like sliding and environmental contact often, even when they are grasping. These strategies just come to the forefront in non-grasping manipulation.
As we build up our toolkit for prehensile and nonprehensile manipulation, one of the things that is missing from our discussion so far, which has been predominantly kinematic, has been thinking about forces. This chapter aims to begin that discussion. By the end, I hope you'll agree that we have a pretty satisfying way to flip up that box!
As always in our battle against complexity, I want to find a setup that
is as simple as possible (but no simpler)! Here is my proposal for the
box-flipping example. First, I will restrict all motion to a 2D plane; this
allows me to chop off two sides of the bin (for you to easily see inside),
but also drops the number of degrees of freedom we have to consider. In
particular, we can avoid the quaternion floating base coordinates, by adding
a PlanarJoint
to the box. Instead of using a complete gripper,
let's start even simpler and just use a "point finger". I've visualized it
as a small sphere, and modeled two control inputs as providing force
directly on the $x$ and $z$ coordinates of the point mass.
Even in this simple model, and throughout the discussions in this chapter, we will have two dynamic models that we care about. The first is the full dynamic model used for simulation: it contains the finger, the box, and the bin, and has a total of 5 degrees of freedom ($x, z, \theta$ for the box and $x, z$ for the finger). The second is the robot model used for designing the controllers: this model has just the two degrees of freedom of the finger, and experiences unmodelled contact forces. By design, the equations of this second model are particularly simple: $$\begin{bmatrix}m & 0 \\ 0 & m \end{bmatrix} \dot{v} = m \begin{bmatrix}\ddot{x} \\ \ddot{z} \end{bmatrix} = mg + \begin{bmatrix} u_x \\ u_z \end{bmatrix} + f^c,$$ where $m$ is the mass, $g = [0, -9.81]^T$ is the gravity vector, $u$ is the control input vector, and $f^c$ is the contact force (from the world to the finger). Notably absent is the contact Jacobian which normally pre-multiplies the contact forces, $\sum_i J_i^T f^{c_i};$ in the case of a point finger this Jacobian is always the identity matrix, and there is only one point at which contact can be made, so there is no meaningful reason to distinguish between multiple forces.
Almost always, we implement a low-level controller that converts some more intuitive command interface down into the generalized force inputs on the robot. In the case of direct force control, the abstraction that we want is to be able to directly "control" the contact forces. (In the general case, we must specify the contact location to provide this interface; again the point finger allows us to ignore that detail for the moment).
Let us assume that the robot is already in contact. What information do we need to regulate the contact forces? Certainly we need the desired contact force, $f^{c_d}$. In general, we will need the robot's state (though in the immediate example, the dynamics of our point mass are not state dependent). But we also need to either (1) measure the robot accelerations (which we've repeatedly tried to avoid), (2) assume the robot accelerations are zero, or (3) provide a measurement of the contact force so that we can regulate it with feedback.
Let's consider the case where the robot is already in contact with the box. Let's also assume for a moment that the accelerations are (nearly) zero. This is actually not a horrible assumption for most manipulation tasks, where the movements are relatively slow. In this case, our equations of motion reduce to $$f^c = - mg - u.$$ Our force controller implementation can be as simple as $u = -mg - f^{c_d}.$ Note that we only need to know the mass of the robot to implement this controller.
What happens when the robot is not in contact? In this case, we cannot reasonably ignore the accelerations, and applying the same control results in $m\dot{v} = - f^{c_d}.$ That's not all bad. In fact, it's one of the defining features of force control that makes it very appealing. When you specify a desired force and don't get it, the result is accelerating the contact point in the (opposite) direction of the desired force. In practice, this (locally) tends to bring you into contact when you are not in contact.
Let's see what happens when we run a full simulation which includes not only the non-contact case and the contact case, but also the transition between the two (which involves collision dynamics). I'll start the point finger next to the box, and apply a constant force command requesting to get a horizontal contact force from the box. I've drawn the $x$ trajectory of the finger for different (constant) contact force commands.
For all strictly positive desired force commands, the finger will accelerate at a constant rate until it collides with the box (at $x=0.089$). For small $f^{c_d}$, the box barely moves. For an intermediate range of $f^{c_d}$, the collision with the box is enough to start it moving, but friction eventually brings the box and therefore also the finger to rest. For large values, the finger will keep pushing the box until it runs into the far wall.
Consider the consequences of this behavior. By commanding force, we can write a controller that will come into a nice contact with the box with essentially no information about the geometry of the box (we just need enough perception to start our finger in a location for which a straight-line approach will reach the box).
This is one of the reasons that researchers working on legged robots also like force control. On a force-capable walking robot, we might mimic position control during the "swing phase", to get our foot approximately where we are hoping to step. But then we switch to a force control mode to actually set the foot down on the ground. This can significantly reduce the requirements for accurate sensing of the terrain.
Here is my proposal for a simple strategy for flipping up the box. Once in contact, we will use the contact force from the finger to apply a moment around the bottom left corner of the box to generate the rotation. But we'll add constraints to the forces that we apply so that the bottom corner does not slip.
These conditions are very natural to express in terms of forces. And once again, we can implement this strategy with very little information about the box. The position of the finger will evolve naturally as we apply the contact forces. It's harder for me to imagine how to write an equally robust strategy using a (high-gain) position-controller finger; it would likely require many more assumptions about the geometry (and possibly the mass) of the box.
Let's encode the textual description above. I'll use $C$ for the contact frame between the finger and the box, and $A$ for the contact frame for the lower left corner of the box contacting the bin. The friction cone provides (linear inequality) constraints on the forces we want to apply. Within those constraints, we would like to rotate up the box. Constrained least-squares is as natural a formulation for this as any! Here is one version: \begin{align*}\min_{f^C_W} \quad& \left| f^{C}_{C_x} - \text{PID}(\theta_d, \theta) \right|^2,\\ \subjto \quad & |f^C_{W_x}| \le \hat\mu_A (\hat{m}g - f^C_{W_z}), \\ & f^C_{C_z} \ge 0, \qquad |f^C_{C_x}| \le \hat\mu_C f^C_{C_z}, \\ \text{with} \quad & {}^WR^C(\theta) = \begin{bmatrix} -\sin\theta & -\cos\theta \\ \cos\theta & -\sin\theta \end{bmatrix}.\end{align*} I've used $\text{PID}$ here as shorthand for a simple proportional-integral-derivative term. Implementing this strategy assumes:
To understand this controller, let's break down the dynamics of the task.
Once the box has rotated up off the bin bottom, the only forces on the box are the gravitational force, the force that the bin applies on the box corner, call it $f^A$, and the contact force, $f^C$, that the finger applies on the box. By convention, the contact frames $A$ and $C$ have the $z$ axis aligned with the contact normal (pointing into the box). Remember the contact geometry we use for the cracker box has small spheres in the corners; so both of these contacts are "sphere on box", with the box normals defining the contact normals (e.g. the $x$ axis is aligned with the wall of the box), and ${}^WR^A = I$. The friction cone constraints are: \begin{gather*}f^A_{W_z} \ge 0, \qquad |f^A_{W_x}| \le \mu_A f^A_{W_z}, \\ f^C_{C_z} \ge 0, \qquad |f^C_{C_x}| \le \mu_C f^C_{C_z}.\end{gather*} The orientation of frame $C$ is a function of the box orientation, ${}^WR^C(\theta)$, and is written above.
The dynamics of the box can be written as \begin{gather*} m\ddot{x} = f^A_{W_x} + f^C_{W_x} \\ m \ddot{z} = f^A_{W_z} + f^C_{W_z} - mg \\ I\ddot\theta = ^Ap^{CM}_W \times \begin{bmatrix} 0 \\ -mg\end{bmatrix} + {}^Ap^C_W \times f^C_W, \end{gather*} where $I$ is the moment of inertia of the box taken around the top corner, and $p^{CM}$ is the position of the center of mass. We don't want our controller to depend on most of these parameters, but it helps to understand them! If we move slowly (the velocities and accelerations are nearly zero), then we can write $$f^A_{W_x} = -f^C_{W_x}, \qquad f^A_{W_z} = mg - f^C_{W_z}.$$ Taken together, the friction cone constraints on the bin imply the following constraints on our finger contact: $$|f^C_{W_x}| \le \mu_A (mg - f^C_{W_z}).$$ Note that the full dynamic derivation is not too much harder; I did it on paper by writing ${}^{CM}p^A = [-\frac{h}{2}, -\frac{w}{2}]^T,$ with the height, $h$, and width, $w$ of the box. Then one can write the no-slip at the bin constraint as $\phi(q) = {}^{CM}p^A_{W_x} = \text{constant}$ which implies that $\ddot{\phi} = 0,$ which gives the full expression for $f^A_{W_x}$ (as long as we're in the friction cone).
Now here's a nice approximation. By choosing to make contact near the bottom of the box (since we know where the bin is), we can approximate $${}^Ap^{C}_W \times f^C_W \approx -{}^Ap^C_{C_z} f^C_{C_x}.$$ In words, the moment produce by the finger contact is approximately the tangential force on the box (times the width of the box). I therefore claim that choosing $$f^{C_d}_{C_x} = \text{PID}(\theta_d, \theta),$$ is a good strategy for regulating the orientation of the box. It does not assume we know the box geometry nor inertial properties.
That's a lot of details, but all to justify a very simple and robust controller.
We have multiple controllers in this example. The first is the low-level force controller that takes a desired contact force and sends commands to the robot to attempt to regulate this force. The second is the higher-level controller that is looking at the orientation of the box and deciding which forces to request from the low-level controller.
Please also understand that this is not some unique or optimal strategy for box flipping. I'm simply trying to demonstrate that sometimes controllers which might be difficult to express otherwise can easily be expressed in terms of forces!
There is a nice philosophical alternative to controlling the contact
interactions by specifying the forces directly. Instead, we can program
our robot to act like a (simple) mechanical system that reacts to contact
forces in a desired way. This philosophy was described nicely in an
important series of papers by Ken Salisbury introducing stiffness
control
This approach is conceptually very nice. With only knowledge of the parameters of the robot itself (not the environment), we can write a controller so that when we push on the end-effector, the end-effector pushes back (using the entire robot) as if you were pushing on, for instance, a simple spring-mass-damper system. Rather than attempting to achieve manipulation by moving the end-effector rigidly through a series of position commands, we can move the set points (and perhaps stiffness) of a soft virtual spring, and allow this virtual spring to generate our desired contact forces.
This approach can also have nice advantages for guaranteeing that your
robot won't go unstable even in the face of unmodeled contact
interactions. If the robot acts like a dissipative system and the
environment is a dissipative system, then the entire system will be
stable. Arguments of this form can ensure stability for even very complex
system, building on the rich literature on passivity theory or more
generally Port-Hamiltonian
systems
Our simple model with a point finger is ideal for understanding the essence of indirect force control. The original equations of motion of our system are $$m\begin{bmatrix}\ddot{x} \\ \ddot{z} \end{bmatrix} = u + f^c.$$ We can write a simple controller to make this system act, instead, like (passive) mass-spring-damper system: $$m \begin{bmatrix}\ddot{x} \\ \ddot{z} \end{bmatrix} + b \begin{bmatrix} \dot{x} \\ \dot{z} \end{bmatrix} + k \begin{bmatrix} x - x_d \\ z - z_d \end{bmatrix} = f^c,$$ with the rest position of the spring at $(x_d, z_d).$ The controller that implements this follows easily; in the point finger case this has exactly the familiar form of a proportional-derivative (PD) controller!
Technically, if we are just programming the stiffness and damping, as I've written here, then a controller of this form would commonly be referred to as "stiffness control", which is a subset of impedance control. We could also change the effective mass of the system; this would be impedance control in its full glory. My impression, though, is that changing the effective mass is most often considered not worth the complexity that comes from the extra sensing and bandwidth requirements.
The literature on indirect force control has a lot of terminology and
implementation details that are important to get right in practice. Your
exact implementation will depend on, for instance, whether you have access
to a force sensor and whether you can command forces/torque directly. The
performance can vary significantly based on the bandwidth of your
controller and the quality of your sensors. See e.g.
I didn't give you a teleop interface with direct force control; it would have been very difficult to use! Moving the robot by positioning the set points on virtual springs, however, is quite natural. Take a minute to try moving the box around, or even flipping it up.
To help your intuition, I've made the bin and the box slightly transparent, and added a visualization (in orange) of the virtual finger or gripper that you are moving with the sliders.
Let's embrace indirect force control to come up with another approach to flipping up the box. Flipping the box up in the middle of the bin required very explicit reasoning about forces in order to stay inside the friction cone in the bottom left corner of the box. But there is another strategy that doesn't require as precise control of the forces. Let's push the box into the corner, and then flip it up.
To make this one happen, I'd like to imagine creating a virtual spring -- you can think of it like a taught rubber band -- that we attach from the finger to a point near the wall just a little above the top left corner of the box. The box will act like a pendulum, rotating around the top corner, with the rubber band creating the moment. At some point the top corner will slip, but the very same rubber band will have the finger pushing the box down from the top corner to complete the maneuver.
Consider the alternative of writing an estimator and controller that needed to detect the moment of slip and make a new plan. That is not a road to happiness. By only using our model of the robot to make the robot act like a different dynamical system at the point we can accomplish all of that!
This controller almost couldn't be simpler.  This will push the box into contact and establish our bracing contact force. Then I'll move the virtual finger (the other end of our rubber band) up the wall a bit, and we can let mechanics take care of the rest!
There are a number of applications where we would like to explicitly command force in one direction, but command positions in another. One classic examples if you are trying to wipe or polish a surface -- you might care about the amount of force you are applying normal to the surface, but use position feedback to follow a trajectory in the directions tangent to the surface. In the simplest case, imagine controlling force in $z$ and position in $x$ for our point finger: $$u = -mg + \begin{bmatrix} k_p (x_d - x) + k_d (\dot{x}_d - \dot{x}) \\ -f^{C_d}_{W_z} \end{bmatrix}.$$ If want the forces/positions in a different frame, $C$, then we can use $$u = -mg + {}^WR^{C} \begin{bmatrix} k_p (p^{C_d}_{C_x} - p^{C}_{C_x}) + k_d (v^{C_d}_{C_x} - v^{C}_{C_x}) \\ -f^{C_d}_{C_z} \end{bmatrix}.$$ By commanding the normal force, you not only have the benefit of controlling how hard the robot is pushing on the surface, but also gain some robustness to errors in estimating the surface normal. If a position-controlled robot estimated the normal of a wall badly, then it might leave the wall entirely in one direction, and push extremely hard in the other. Having a commanded force in the normal direction would allow the position of the robot in that direction to become whatever is necessary to apply the force, and it will follow the wall.
The choice of position control or force control need not be a binary decision. We can simply apply both the position command and a "feed-forward" force command: $$u = -mg + {}^WR^C \left[K_p (p^{C_d}_C - p^{C}_C) + K_d (v^{C_d}_C - v^{C}_C) + f^{ff}_C \right].$$ As we'll see, this is quite similar to the interface provided by the iiwa (and many other torque-controlled robots).
One of the classic problems for manipulator force control, inspired by robotic assembly, is the problem of mating two parts together with under tight kinematic tolerances. Perhaps the cleanest and most famous version of this is the problem of inserting a (round) peg into a (round) hole. If your peg is square and your hole is round, I can't help. Interestingly, much of the literature on this topic in the late 1970's and early 1980's came out of MIT and the Draper Laboratory.
For many peg insertion tasks, it's acceptable to add a small chamfer to the part and/or the top of the hole. This allows small errors in horizontal alignment to be accounted for with a simple compliance in the horizontal direction. Misalignment in orientation is even more interesting. Small misalignments can cause the object to become "jammed", at which point the frictional forces become large and ambiguous; we really want to avoid this. Again, we can avoid jamming by allowing a rotational compliance at the contact. I think you can see why this is a great example for force control!
The key insight here is that the rotational stiffness that we want should
result in rotations around the part/contact, not around the gripper. We can
program this with stiffness control; but for very tight tolerances the
sensing and bandwidth requirements become a real limitation. One of the
coolest results in force control is the realization that a clever physical
mechanism can be used to produce a remote-centered compliance completely
mechanically, with infinite bandwidth and no sensing required
Interestingly, the peg-in-hole problem inspired incredibly important
and influential ideas in mechanics and control, but also in motion planning
Using the floating finger/gripper is a good way to understand the main concepts of force control without the details. But now it's time to actually implement those strategies using joint commands that we can send to the arm.
Our starting point is understanding that the equations of motion for a fully-actuated robotic manipulator have a very structured form: \begin{equation}M(q)\ddot{q} + C(q,\dot{q})\dot{q} = \tau_g(q) + u + \sum_i J^T_i(q)f^{c_i}.\label{eq:manipulator} \end{equation} The left side of the equation is just a generalization of "mass times acceleration", with the mass matrix, $M$, and the Coriolis terms $C$. The right hand side is the sum of the (generalized) forces, with $\tau_g(q)$ capturing the forces due to gravity, $u$ the joint torques supplied by the motors, and $f^{c_i}$ is the Cartesian force due to the $i$th contact, where $J_i(q)$ is the $i$th "contact Jacobian". I introduced a version of these briefly when we described multibody dynamics for dropping random objects into the bin, and have more notes available here. For the purposes of the remainder of this chapter, we can assume that the robot is bolted to the table, so does not have any floating joints; I've therefore used $\dot{q}$ and $\ddot{q}$ instead of $v$ and $\dot{v}$.
In practice, the way that we most often interface with the iiwa is
through the its "joint-impedance control" mode, which is written up nicely
in
The difference in the algebra is quite small. A PD control would typically have the form $$u=K_p(q_d-q) + K_d(\dot{q}_d - \dot{q}),$$ whereas stiffness control is $$u = -\tau_g(q) + K_p(q_d-q) + K_d(\dot{q}_d - \dot{q}).$$ In other words, stiffness control tries to cancel out the gravity and any other estimated terms, like friction, in the model. As written, this obviously requires an estimated model (which we have for iiwa, but don't believe we have for most arms with large gear-ratio transmissions) and torque control. But this small difference in the algebra can make a profound difference in practice. The controller is no longer depending on error to achieve the joint position in steady state. As such we can turn the gains way down, and in practice have a much more compliant response while still achieving good tracking when there are no external torques.
A better analogy for the control we were doing with the point finger example is to write a controller so that the robot acts like a simple dynamical system in the world frame. To do that, we have to identify a frame, $C$ on the robot where we want to impose these simple dynamics -- origin of this frame is the expected point of contact. Following our treatment of kinematics and differential kinematics, we'll define the forward kinematics of this frame as: \begin{equation}p^C = f_{kin}(q), \qquad v^C = \dot{p}^C = J(q) \dot{q}, \qquad a^C = \ddot{p}^C = J(q)\ddot{q} + \dot{J}(q) \dot{q}.\label{eq:kinematics}\end{equation} We haven't actually written the second derivative before, but it follows naturally from the chain rule. Also, I've restricted this to the Cartesian positions; one can think about the orientation of the end-effector, but this requires some care in defining the 3D stiffness in orientation.
One of the big ideas from manipulator control is that we can actually write the dynamics of the robot in the frame $C$, by writing the joint torques in terms of a spatial force command, $F^u$: $u = J^T(q) F^u$. By substituting this and the manipulator equations (\ref{eq:manipulator}) into (\ref{eq:kinematics}) and assuming that the only external contacts happen at $C$, we can write the dynamics: \begin{equation} M_C(q) \ddot{p}^C + C_C(q,\dot{q})\dot{q} = {}^C F^{g}(q) + F^u + F^{ext} \label{eq:cartesian_dynamics},\end{equation} where $$M_C = (J M^{-1} J^T)^{-1}, \qquad C_C = M_C \left(J M^{-1} C+ \dot{J} \right), \qquad {}^CF^g = M_C J M^{-1} \tau_g.$$ Now we can simply apply the controller we used in joint space, e.g.: $$F^u = -{}^C F^{g}(q) + K_p(p^{C_d} - p^C) + K_d(\dot{p}^{C_d} - \dot{p}^C) + F^{ff}.$$ Please don't forget to add some terms to stabilize the null space of your Jacobian if necessary.
The implementation of the low-level impedance controllers has many
details that are explained nicely in
The iiwa interface offers a Cartesian impedance control mode. If we want high performance stiffness control in end-effector coordinates, then we should definitely use it! The iiwa controller runs at a much higher bandwidth (faster update rate) than the interface we have over the provided network API, and many implementation details that they have gone to great lengths to get right. But in practice we do not use it, because we cannot convert between joint impedance control and Cartesian impedance control without shutting down the robot. Sigh. In fact we cannot even change the stiffness gains nor the frame $C$ (aka the "end-effector location") without stopping the robot. So we stay in joint impedance mode and command some Cartesian forces through $\tau_{ff}$ if we desire them. (If you are interested in the driver details, then I would recommend the documentation for the Franka Control Interface which is much easier to find and read, and is very similar to functionality provided by the iiwa driver.)
You might also notice that the interface we provide to the
ManipulationStation
takes a desired joint position for the
robot, but not a desired joint velocity. That is because we cannot
actually send a desired joint velocity to the iiwa controller. In
practice, we believe that they are numerically differentiating our
position commands to obtain the desired velocity, which adds a delay of a
few control timesteps (and sometimes non-monotonic
behavior). I don't really know why we aren't allowed to send our own
joint velocity commands.
Suppose you are given a point-mass system with the following dynamics:
$$m\ddot{x} = u + f^c$$where $x$ is the position, $u$ the input force applied on the point-mass, and $f^c$ the contact force from the environment. In order to control the position and force from the robot at the same time, the following controller is proposed:
$$u = \underbrace{k_p(x_d-x) - k_d\dot{x}}_{\text{feedback force for position control}} - \underbrace{f^c_d}_{\text{feedforward force}}$$Define the error for this system to be:
$$e = (x - x_d)^2 + (f^c - f^c_d)^2$$Consider the initial phase of the box flip-up task from the example above, when $\theta\approx 0$. We will assume that the forces can still be approximated as axis-aligned, but the ground contact is only being applied at the pivoting point $A$.
For this exercise, you will analyze and implement a hybrid force-position controller to drag a book, as we saw from this video during lecture. You will work exclusively in this notebook. You will be asked to complete the following steps:
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The Fast Infoset specification, ITU-T Rec. X.891 | ISO/IEC 24824-1 (Fast Infoset), is being standardized at the ITU-T and ISO.
ITU-T Rec. X.891 | ISO/IEC 24824-1 (Fast Infoset) is an approved ITU-T Recommendation as of 14 May 2005
It is currently at the stage of Final Committee Draft in ISO and the ballot finished on the 1st of February 2005. For a complete road map of the standardization process see here.
Unfortunately the specification is not available publicly. However, it is possible to access the specification from:
The ITU-T if you or your company is an ITU-T sector member, or a Study Group 17 associate member; or from
Your ISO National Body.
A document based on Annex D of ITU-T Rec. X.891 | ISO/IEC 24824-1 has been published that presents examples of encoding XML infosets as fast infoset documents.
Relevant to the Fast Infoset specification are two further specifications under development:
Fast Web Services specifies alternative binary encodings for SOAP messages without the need to modify WSDL service descriptions (the SOAP binding and ports do not need to be augmented with new bindings and ports). Fast Infoset may be used in conjunction with an optimized binary encoding of SOAP 1.2 messages (referred to as ASN.1 SOAP messages) or for the serialization of SOAP message infosets (SOAP 1.1 or SOAP 1.2) as fast infoset documents.
Security in Fast Infoset and Fast Web Services is a new proposed work item that aims to specify how standard XML security solutions, such as XML Signature, XML Encryption and SOAP Message Security, may be applied to Fast Infoset and Fast Web Services.


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Overview
This course shows you how to use Resources to eliminate repeated XAML. You will remove hard-coded values for things like fonts and colors and define them as resources so you have a single copy that is easy to update. You will also consolidate groups of property values into Styles which you will apply to a control as a single unit. This makes it much easier to create a consistent UI across your app.
Before you begin
This is a Xamarin.Forms class. To complete the coding exercises, you will need a Xamarin development environment with either a simulator/emulator or a physical device. Please see the setup requirements if you need guidance installing the Xamarin development environment.
Objectives
- Avoid duplicate XAML with Resources
- Create consistent UI with Styles
- Make your Resources and Styles available across your entire app
- Apply the user's Accessibility choices with built-in Styles
Lecture
XAM140 - Resources and Styles.
Exercises
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Examine an app containing repeated codeExercise
Inspect the source code for an app that does not use Resources or Styles and analyze its disadvantages. -
Use page-level ResourcesExercise
Use Resources to reduce the amount of repeated XAML. -
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Update your UI dynamically when you change the value of a Resource. -
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Eliminate repeated Setters from your Styles so they are more maintainable.


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In this section we have done some analysis on our data collected in our experiment. We have used Microsoft Excel and RStudio to produce graphs to help us get a better picture of the data collected. We will use the graphs below to see for any trends.
Red = Garmin
Blue = Iphone5s
Firstly we modelled our distances captured in each test from both the Garmin watch and iPhone application as a barplot. The bar plot shows some differences in the tracking of distances, but not by much. The distances captured from the iPhone always had a minor variance to the figures captured on the Garmin watch. As the graph shows, testers put the phone in various places on their body and travelled at different speeds and different distances. The interference with putting the phone in the backpack, pocket and even the hoodie had no major impact on recording the distance accurately.
We also recorded the participants comfort levels while using the iPhone. We used a 5 point system, with 5 being the highest and 1 being the lowest. Results were generally favourable with 40% of our participants giving it a score of 4 out of 5. A further 40% indicated that the phone was not an hindrance for them while running with scores of 2 and 3. This shows that in general, running with a phone, and placing with in various places can be comfortable.
Similarly, we recorded the comfort levels of people using the Garmin watch while running. Using the 5 point system, participants scored the Garmin fairly highly in comfort level. 80% scored the watch either a 5 or 4 on its comfort level. 20% scored it moderately at 2. Overall participants favoured the Garmin, as they didn’t have to worry about it while running.


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ICANN
A non-profit organization that was established in the United States in 1998 to help maintain the security of the Internet, and allow it to be usable by all. Anytime you register a domain on the Internet, you go through a domain name registrar,...


If you play the game just once, you'll end up either $1 richer or $1 poorer - there's a 50% chance of either. If you play it twice, you either win both, win the first and lose the second, lose the first and win the second, or lose both - so there are 4 possibilities. If you win both times, you're $2 richer. If you win one and lose one (either of the middle two situations) you're back where you started - $0 richer. If you lose both, you're $2 poorer. If you average out the different scenarios, you end up exactly where you started - there's exactly the same chance of winning money as losing. So we say the expected value is $0 - on average, we don't expect to end up with any more money than we started with.
in-context


Before Change
// At most one of `init_checkpoint` and `hub_module_url` can be specified.
init_checkpoint: str = ""
hub_module_url: str = ""
model: encoders.TransformerEncoderConfig = (
encoders.TransformerEncoderConfig())
// The real class names, the order of which should match real label id.
// Note that a word may be tokenized into multiple word_pieces tokens, and
// we asssume the real label id (non-negative) is assigned to the first token
After Change
// At most one of `init_checkpoint` and `hub_module_url` can be specified.
init_checkpoint: str = ""
hub_module_url: str = ""
model: ModelConfig = ModelConfig()
// The real class names, the order of which should match real label id.
// Note that a word may be tokenized into multiple word_pieces tokens, and
// we asssume the real label id (non-negative) is assigned to the first token


SizeF Class
Definition
Line
352
of
System.Windows/Graphics.cm
Constructors & Destructor
public
nothrow
SizeF
()
public
nothrow
SizeF
(
float
w_,
float
h_)
Member Functions
public
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String
<
char
>
ToString
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const
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float
h
public
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w
Constructor& Destructor Details
SizeF Constructor
public
nothrow
SizeF()
Definition
Line
354
of
System.Windows/Graphics.cm
SizeF Constructor
public
nothrow
SizeF(
float
w_,
float
h_)
Definition
Line
357
of
System.Windows/Graphics.cm
Member Function Details
ToString Member Function
public
nothrow
String
<
char
> ToString()
Definition
Line
360
of
System.Windows/Graphics.cm


Isaiah
Description
Pancakes are a breakfast classic and this pancake recipe makes fluffy and light pancakes!
I love making pancakes on the weekend, especially with a side of bacon!
I've use Bisquik for making pancakes before, as the regular Bisquik mix is dairy-free. When we ran out of Bisquik mix one weekend, I started researching pancake recipes and came up with this recipe. I think making pancakes from scratch is almost as easy as using a mix, plus you're in control of all of the ingredients.
Tips
Wait to add the melted butter into the mix until just before adding the pancake mixture to the pan to cook.
This recipe was inspired by the fluffy pancake recipe from Cafe Delites.
List of Ingredients
- 2 Cups of All-Purpose Flour
- 1/4 Cup of Granulated Sugar
- 4 Teaspoons of Baking Powder
- 1/4 Teaspoon of Baking Soda
- 1/2 Teaspoon of Salt
- 1.5 Cups of Unsweetened Almond Milk
- 4 Tablespoons of Dairy-Free Butter (melted and cooled)
- 2 Teaspoons of Vanilla Extract
- 1 Egg
- Extra Dairy-Free Butter (for melting in the pan)
Recipe Steps
- In a mixing bowl, combine the dry ingredients: Flour, Sugar, Baking Powder, Baking Soda, and Salt
- Mix the dry ingredients to combine evenly
- Add the Almond Milk to the mixing bowl
- Add the Egg and Vanilla Extract to the mixing bowl and mix well
- Melt the butter in the microwave in a microwave safe bowl or measuring cup
- Preheat a frying pan or pancake pan on Medium-Low heat
- Once the pan is hot, add a bit of Dairy-Free Butter to the pan and spread it out using a spatula or turner
- Add approximately 1/3 cup of pancake batter into the pan and continue filling up the pan with pancakes (leaving room between each)
- Once bubbles start to form in the pancake batter and the sides of the pancake look solid (not liquidy), flip the pancakes over
- Wait a minute (or until some golden color on the second side) and take the pancakes out of the pan
- Serve hot and with syrup!


"“ It's hard enough to find an error in your code when you're looking for it; it's even harder when you've assumed your code is error-free."
Find Out Morei am 21 years old, you can call me aulia, i am from indonesia, and i am female. i am happy when i am coding, design to expression my feelings.


In each story the stakes get higher, from 1 in 100, to 1 in 10, to 1 in 2. With each story the item lost and found gets more valuable: a sheep, a coin, and then a son, treasured from birth, given a name and a home and a family to belong to.
The third story is the best known and is often called the story of the Prodigal Son. It clearly shows God’s heart as a Father aching for His children to be safe at home in close and loving relationship with Him.
In these three stories, God is showing us a Redeemer who stops at nothing to find what is lost. And He’s saying: That’s me! I’m the Shepherd. I’m the Coin-owner. I’m the Father. And you are the ones I seek. I will stop at nothing until you are found, redeemed, and returned home, safe and sound with me.
The romance in the book of Ruth is another story with a hidden hero. The true Redeemer peeks from behind the scenes, waiting to see if we can find Him whispering an invitation through the story. Transfixed by the happy marriage of Boaz and Ruth, we just might find ourselves caught up in our own love story, one with the Kinsman-Redeemer, who is at work to claim what is lost. He will not stop until we are found.
Let’s take a closer look at how God is our Kinsman-Redeemer, our Go’el.
Read each passage and complete the statement that follows.
Genesis 1:27—God us, which means we belonged first to Him. To redeem something means to return something to its original owner, state, or purpose. All people, whether they are aware of it or not, are God’s creations, made for relationship with Him.
Genesis 3:12-13—When Adam and Eve the forbidden , they sinned, and this separated them from God. God’s plan for us to remain in close relationship with Him was thwarted in the very first generation. And in every generation and every human heart since, there has been a moment when we have decided to run away from God.
1 John 3:1-2—Because we are God’s , God is our nearest relative. He lavishes on us every gift and privilege that the very best kind of human father lavishes on his children.
Ephesians 2:13; 1 Peter 1:18-19—We have been redeemed by the of Christ. He alone had the means and power to buy us back—to pay the only price acceptable for our sins. What do these two passages tell you about God’s redeeming love?


TRIANGLES
Types of Special Triangles
EQUILATERAL TRIANGLE
The Equilateral Triange
- Has all three sides of equal length.
- All three angles have the same measure
ISOSCELES TRIANGLE
The Isosceles Triange
- Has two lengths of equal sides.
- At least two angles have the same measure
SCALENE TRIANGLE
The Scalene Triange
- Has unequal sides
- All three Angles have different measures


{% extends 'base.html' %} {% block content %}
Take a look at the annual club leader board; or follow the chart race for the year!
This app is able to read your activity feed, however it does not use the API to access or store any of your data.
{% else %}Please Login.
{% endif %}


--- permalink: /404.html --- {% include head.html %}
404 File not found
Please go to http://www.takahashikanji.com/


We're sorry but doculet doesn't work properly without JavaScript enabled. Please enable it to continue.


Buttons are used primarily on action items. Some examples include Add, Save, Delete, Sign up. Do not use Buttons as navigational elements. Instead, use Links because it takes the user to a new page and is not associated with an action. Each page may have one to two primary buttons. Any remaining calls-to-action are represented as secondary buttons.
Buttons express what action will occur when the user clicks or touches it. Buttons are used to initialize an action, either in the background or foreground of an experience.

var footerData = [ {'id': 'footerCancelBtn', 'displayName': 'Cancel', 'btnType': 'default', 'navigateTo' : '#/slp'}, {'id': 'footerNextBtn', 'displayName': 'Next', 'btnType': 'primary', 'navigateTo' : '#/order'}, {'id': 'footerPreviousBtn', 'displayName': 'Previous', 'btnType': 'primary', 'navigateTo' : '#/landing'}, {'id': 'footerSubmitBtn', 'displayName': 'Submit', 'btnType': 'primary', 'navigateTo' : '#/slp'} ]; var EMFooter = customElements.get('em-footer'); var footerEl = new EMFooter(footerData); var containerFooter = document.getElementById('footerSection'); if(containerFooter) { containerFooter.appendChild(footerEl) }
| Basic Data | Type | Property | Description (*required data) |
|---|---|---|---|
footerData
|
array |
id
displayName
btnType
navigateTo
|
*This is footer button array. Each element represents one footer button. id is the id attribute of
the button. displayName is the name of the button to be displayed on html. btnType is
the type of button, and please view button page for more detail. navigateTo contains
action after button is clicked
|


{% extends "base.html" %}
{% block title %}Missing game data | Are the Dash Playing?{% endblock title %}
{% block game_type %}home{% endblock game_type %}
{% block content %}
MAYBE
Confusing, right?
We're in the process of updating our game data. But you can always check the official schedule on the Dash's website.


Install it with npm
$ npm install --save ngx-datacontext
When using firebase database or firestore, install firebase dependencies
$ npm install --save firebase angularfire2
Add NgxDataModule in the root module
NOTE: Firebase and Firestore should be registered as normal. Firebase Installation Guide
To create an entity do the following things:
Entity Decorator Use the entity decorator to identify the entity and that will be used in the endpoints or list/collection from firebase
@Entity('users')
Extend BaseEntity or FirebaseEntity
export class User extends FirebaseEntity
Attribute Decorator Use the attribute decorator to identify the attributes to serialize
@Attribute() firstName: string;
Example:
NOTE: Firebase and Firestore should be registered as normal. Firebase Installation Guide
Create a service that extends that DataContext. This service should contains the configuration of all the entities and services.


Continue ReadingThe pressure to keep our skills sharp is constant. Mastering new skills may...
The pressure to keep our skills sharp is constant. Mastering new skills may...
The pressure to keep our skills sharp is constant. Mastering new skills may...
The pressure to keep our skills sharp is constant. Mastering new skills may...
The pressure to keep our skills sharp is constant. Mastering new skills may...
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The pressure to keep our skills sharp is constant. Mastering new skills may...
The pressure to keep our skills sharp is constant. Mastering new skills may...
The pressure to keep our skills sharp is constant. Mastering new skills may...


If it's a simple problem, it was usually small mistake such as typo, brackets, etc.. When it happened I quickly skimed the code to find out, and if it's hard to find, I read it more carefully. At the first time, I wondered why it is not working, and started panicking when I couldn't figure out. When I solve the problem, I feel happy. As it keeps happening I got used to checking the small problems and I try hard to not make small mistake when I code.
The hardest problems about Javascript I have met were the questions fromm 'Free Code Camp'. I remember the Music album Questions were quite difficult. I failed many times and every time I fail I changed code little bit. I tried to understand the question well. It was little bit stressful when I failed, but it was fun at the same time because I felt like I'm doing puzzle, solving little bit at a time and I could finish it eventually.
- Pseudocode : I think pseudocode before I write code - Trying something : I do this everytime - Rubber ducky method : I never had rubber ducky.. - Reading error messages : I try to understand error messages - Console.logging: sometimes? - Googling : very useful when I know what I'm doing - Asking your peers for help : I ask my friends but they get annoyed sometimes - Asking coaches for help : I get scared sometimes - Improving your process with reflection : It's good when I repeat same mistakes.


Id: 295
Name: Riq IV
Status: Dead
Species: Human
Type:
Gender: Male
OriginName: unknown
OriginUrl:
LocationName: Citadel of Ricks
LocationUrl: https://rickandmortyapi.com/api/location/3
Image: https://rickandmortyapi.com/api/character/avatar/295.jpeg
Episode: ['https://rickandmortyapi.com/api/episode/10', 'https://rickandmortyapi.com/api/episode/11', 'https://rickandmortyapi.com/api/episode/22']
Url: https://rickandmortyapi.com/api/character/295
Created: 2017-12-31T20:25:28.554Z


Our Services
Leverage agile frameworks to provide a robust synopsis for high level overviews. Iterative approaches to corporate strategy foster collaborative thinking to further the overall value proposition. Organically grow the holistic world view of disruptive innovation via workplace diversity and empowerment.
Bring to the table win-win survival strategies to ensure proactive domination. At the end of the day, going forward, a new normal that has evolved from generation X is on the runway heading towards a streamlined cloud solution. User generated content in real-time will have multiple touchpoints for offshoring.
- Web Apps
- iOS Apps
- Android Apps


Rider Plugin Development
Introduction
Rider plugins are generally used to expose the functionality of a ReSharper plugin. Rider uses the IntelliJ Platform somewhat differently than other Platform-based based IDEs. Rider uses the IntelliJ Platform to provide the user interface for a C# and .NET IDE but uses ReSharper to provide the language-specific features.
IntelliJ IDEA Configuration for Rider Plugin Development
Although there is no dedicated Rider SDK, the ReSharper DevGuide addresses the subject of plugins for Rider.
The documentation describes the configuration of build.gradle
and settings.gradle
files to build a Rider plugin using the Gradle project system in IntelliJ IDEA.
Developing Rider Plugins with the IDEA and ReSharper SDKs
Before starting a new Rider plugin project, review the article Writing plugins for ReSharper and Rider. In particular, this article discusses One Template to Rule Them All, a way to quickly get started writing plugins for both Rider and ReSharper.
More background information is available in the Building a .NET IDE with JetBrains Rider article, which includes a high-level description of the Rider Protocol communication process between Rider and ReSharper. The article is a good counterpoint to the ReSharper DevGuide content, which discusses the protocol at the code level.
Open Source Rider Plugins
When learning new development configurations it is helpful to have some existing plugins for reference. This list is intended to provide some representative projects.
- Unity support for both ReSharper and Rider
- F# support in JetBrains Rider
- AgentMulder
- ConfigureAwaitChecker
- CognitiveComplexity
- CyclomaticComplexity
- Exceptional
- HeapAllocationsViewer
- ImplicitNullability
- InternalsVisibleTo
- PresentationAssistant
- SerializationInspections
- StyleCop
- TestLinker
- Xao
- Azure Toolkit for Rider


This module is a dependency of other sub-modules. Do not include this module as a dependency in your angular app (use ui.router module instead).


The Printer Options page gives you a great deal of control over how pages are printed. Not only can you set margins and line-spacing but you can created custom headers and footers with substitutable parameters (see below).
Print border
If selected a line is drawn around the page (not including the header and footer).
Column headings
If selected headings are drawn at the top of each page showing the offset of the column from the address on the left. The column numbers are printed in hex if hex addresses are being used, else they are decimal (see Decimal Addresses command).
Print mark
If selected the mark is printed as displayed on screen. On a color printer this is displayed according to the current color scheme.
Bookmarks
If selected bookmarks are printed as displayed on screen (as long as bookmarks are not hidden)
Highlights
If selected highlights are printed as displayed on screen (as long as highlights are not currently hidden)
Search Occurrences
If selected all background search occurrences printed as displayed on screen.
Change Tracking
If selected, change tracking marks are printed as displayed on screen.
Units
The units of measurement for margins and header/footer positioning. This will default to local conventions (set in the Windows Control Panel), but you can change it to inches or cm as desired.
Single Line Spacing
Lines are spaced as shown on screen.
1.5 Line Spacing
The distance between printed lines is 50% more than single line spacing.
Double Line Spacing
The distance between printed lines is double that of single line spacing.
Left Margin
Minimum amount of blank space to leave on the left side of the page.
Right Margin
Minimum amount of blank space to leave on the right side of the page.
Note that the left and right margins may appear larger than specified here, depending on the font in use and the numbers of columns on screen. HexEdit Pro will print in the same size font as used on screen unless there is insufficient room in which case it will use the largest font size that fits within the left and right margins.
Top Margin
The amount of space to leave at the top of each page. If you have specified a header you must leave enough space for it.
Bottom Margin
The amount of space to leave at the bottom of each page. If you have specified a footer you must leave enough space for it.
Header distance from edge
Distance of the page header from the top of the page which allows it to be positioned vertically. The header must be positioned within the top margin -- if this value is too large then the header will not be printed.
Footer distance from edge
Distance of the page footer from the bottom of the page which allows it to be positioned vertically. The footer must be positioned within the bottom margin -- if this value is too large then it will not be printed.


Pantheios - Project Map - lib
Contains all the libraries built using the makefiles provided with the distribution.


This event consist of four sub events.
Want to learn programming LEDs? Want to show your creativity and talent? Want to make a change in the society? Well, EVER THOUGHT OF DOING THESE 3 IN ONE GO??? That’s right! Now you can learn LED programming, use them in your performance to showcase your Talent & Creativity, and do all this to spread a social message! All at Fire fly, the mega event at Titiksha 2k14.
How good are you with people? Can you handle tricky situations and tough jobs and still come out victorious? If your answer is a Yes, then this event is made for you! Here you need to hitch a ride to the holy city of Amritsar, perform some not so easy tasks along the way, and come back in one piece within 4 days. Just one condition, you won’t have any money to do this. Beg, Borrow and do whatever you like to get what need, and victory is all yours….
The event is web based and allows any one with working internet connection to participate.
It would comprise of tasks like technical quizzes, aptitude tests, social round etc.
For more details you can visit http://parbhat.pythonanywhere.com
The participant teams must build hardware project of any real time problem. The main purpose of this competition is to judge the thinking power, practical knowledge and analytical skills of the students. The team members will present their solutions to the given set of given problems. Click Here For more details.
Events details will be updated soon.
Events details will be updated soon.
Events details will be updated soon.
Events details will be updated soon.
Events details will be updated soon.
Events details will be updated soon.
Events details will be updated soon.
Events details will be updated soon.
Remember complex electrical and electronics circuits shown, and implement them in hardware form in the least time possible. Got Eidetic memory, best place for showoff!
Race your way through the exciting hurdles and obstacles, smashing the opponents and leaving your path with hot burning rubber.
This event is all about to make your temple horses run fast and come up with an efficient solution of problems present around the vicinity of yours or any other individual using slide presentations.
Come up with the solution of clues. Mould yourself according to the problem.
Have your common sense circuit check-up here for free.
It’s all about your common sense and slight knowledge of electronics, physics and mathematics.
Tasks are designed to socialize you with the other professionals and you have to negotiate with them in order to be aided.
Mathematicians need not be boring or orthodox. Do you have an inmate desire to do with numbers what artists do with paint brushes?
Do the objects flying up in the sky fascinate you? Do you dream to be someone like yuri gagrin or rakesh sharma? If yes, here is a chance for u to dream your own rocket to fly up in the sky……..
Emphasis would be given on the maximum height
attained and the fuel used to propel it….
Max Participants: 3 per team
Ancient roman army was known for its eminent organization...and their scientifically exuberant weapons. From trebuchets to flails and from catapult to crossbows...every weapon is meticulously designed. Do science of war make your adrenalin rush??? Then this is the encounter u r waiting for... Design and build your own prototype for roman weapons……..its stability and performance will reveal a combatant in u…..
Waste is not a waste if we invest our imagination and time, you can get best out of waste…...it’s hard to make science any cooler than this.
All u need is imagination, scientific perception and LOADS OF JUNK.
Are u ready for this astonishing war??
Junkyard war will test your ability to make sustainable and strategically developed products.
The power of fluid can is such that it can move the world. From generating electricity to applying brakes in vehicle fluid has become a part of our day to day life. Titiksha offers you a chance to go hand in hand with the rising demands of fluid power in the industry. The event focuses on lifting loads from one platform to another with the help of a self-made arm and moving it with the help of syringes filled with water. The one with most accuracy and speed bags away the prize. Max. Participants: 3 per team.
Man has always used wheels for its machines to move. But nature employs no such measure when it comes to locomotion. It has been a hobby for a number of years to develop a bicycle without wheels that could walk. It would move on legs and resemble a large insect.
Here is your chance to take the challenge with your entourage and excel to compete the nature. Design and prototype a link mechanism to resemble any living organism like spider and move it to some distance.
Excellency in motion and stability of the link is what you got to watch out for.
Max Participants: 3 per team
A mechanical engineer is incomplete without engine. It is an engine which moves the world. The IC engine has become a lifeline to human civilization at present without which we cannot imagine a day.
 Here is a chance to take on the engine for real and show how much you are familiar with it.
The event will be conducted in two rounds. Preliminary Round would have written questions based on the practical knowledge about different components of any two or four wheeler.
Out of the students who appeared for prelims, 8 teams would be selected for the mains. In the final round, teams would be given practical tasks like assembling piston, crankshaft and head, clutch system, wheel assembly, suspension assembly, etc
Max Participants: 2 per team
Have u ever baffled about the aero dynamics of an airplane??
Have u ever thought of the wright brothers' outlook for their first flight??
You can experience this exciting phenomenon by creating your own airplane model which will be remote controlled…....
Think, create and fly that will be the focus of this workshop.
So be ready to witness this enigmatic and dynamic event…….
Max Participants: 5 per team
The beyblade battles are intense and incredibly challenging…..how intense you’ll pull the ripcord....battle required incredible dexterity and reflexes of a fox...
In arena your amazing skills to steer the top and to compete your top on the opponent's top will count.
Are u excited to experience this overwhelming beyblade battle...??
Max Participants: 3 per team
Events details will be uploaded soon
Events details will be uploaded soon
Events details will be uploaded soon
Events details will be uploaded soon
Events details will be uploaded soon


I have taken piracetam, vinpocetine and hydergine and by far the most powerful is hydergine. One dose will not do much but if I drink a cup of coffee (for some reason coffee enhances absorbtion) with my dose I will feel the effects of the coffee magnified. If I combine it with piracetam vincpocetine and choline the result will be an intense stimulation which usually is unpleasent as it makes me nervous. When i take hydergine with coffee the effects are:
- I can memorize facts much faster (im a science student)
- there is sometimes anxiety
- I feel my mind has speed up (thoughts are fast)
- Sometimes I get a headache although usually this is present when it is combined with piracetam and vinpocetine.
- The effects could be compared to a mild dose of ephedrine but without the B adernergic stimulation.
I think the important thing here is to absorb as much hydergine as possible hence I find drinking it with coffee is the best route (I researched this fact and if anybody doubts it I encourage you to look in Martindales 1975 pharmacopia under hydergine).
Experience Reports are the writings and opinions of the individual authors who submit them.
Some of the activities described are dangerous and/or illegal and none are recommended by Erowid.


Bennett Kleinberg
University of Amsterdam
Reconcile theory with computational methods
References to specific information (e.g., persons, locations, dates, times)
"I met someone on the street and we had a coffee."
"I met James yesterday at 11:30 am on 5th Avenue when we went to Starbucks and paid $3.50 for a coffee"
http://bkleinberg.net/ // b.a.r.kleinberg@uva.nl


Configuration Files
The OpenFAM environment uses four separate configuration files, three for the memory and metadata services, and one for the OpenFAM client.
- fam_client_interface_config.yaml: Configures the client interface service.
- fam_memoryserver_config.yaml: Configures the memory servers.
- fam_metadata_config.yaml: Configures the metadata management service.
- fam_pe_config.yaml: Configures the OpenFAM clients.
1. fam_client_interface_config.yaml
| Configuration Name | Description |
|---|---|
| memsrv_interface_type | Memory server interface type used by OpenFAM. Default value is "direct". Other option is "rpc". |
| metadata_interface_type | Metadata server interface type used by OpenFAM. Default value is "direct". Other option is "rpc". |
| memsrv_list | List of memory servers. Applicable only if memsrv_interface_type is rpc. Each list entry is given
in this format: <memsrv_id>:<host_address>:<port_no> |
| metadata_list | List of metadata servers. Applicable only if metadata_interface_type is rpc. Each list entry is given
in this format: <metadataserver_id>:<host_address>:<port_no> |
2. fam_memoryserver_config.yaml
| Configuration Name | Description |
|---|---|
| provider | Libfabric provider to be used by OpenFAM libfabric data path operations. Default value is "sockets". Other supported options are "cxi", "psm2" and "verbs". |
| delayed_free_threads | Number of threads used for delayed free. |
| ATL_threads | Atomic library threads count. Default value is 0, which indicates ATL is disabled. |
| ATL_queue_size | ATL queue size. Number of elements in each queue. Default value is 1000. |
| ATL_data_size | ATL data size per thread(MiB). This is used to allocate buffers and other queue related data structures. Default data size is 1024. |
| fam_backup_path | Absolute path used by the memory server to store archives. Default value is config file location. |
| type | Type of memory used by the memory server to host FAM. Options are "volatile" or "persistent". Default value is "volatile". |
| fam_path | Absolute path to the NVMM data files used by the memory server. Default value is an empty string. |
| rpc_interface | IP address/hostname of memory server, followed by port number. Default value is an "<IP_ADDRESS>:8789". |
| fam_path | Absolute path to the NVMM data files used by the memory server. Default value is an empty string. |
| libfabric_port | Libfabric port to be used for data path operations. |
| if_device | NIC name to be used with memory server. Default value is "eth0". |
3. fam_metadata_config.yaml
| Configuration Name | Description |
|---|---|
| metadata_manager | Metadata manager type used by metadata server. Default is radixtree. Currently radixtree is the only supported KVS. |
| metadata_path | Absolute path where metadata info is stored. By default, it will be placed in /dev/shm/<metadata_manager>. Example: If metadata manager is radixtree, then metadata info would be placed under /dev/shm/radixtree folder. |
| enable_region_spanning | Flag to enable or disable region spanning. By default, it is set to true. |
| region_span_size_per_memoryserver | Region size per memory server (Bytes). Used only if region spanning is enabled. Default value is<PHONE_NUMBER>. |
4. fam_pe_config.yaml
| Configuration Name | Description |
|---|---|
| FamThreadModel | Fam thread model used by OpenFAM. Default value is "single". OpenFAM supports single and multi-threaded model. |
| provider | Libfabric provider to be used by OpenFAM libfabric data path operations. Default value is "sockets". Other supported options are "cxi", "psm2" and "verbs". |
| runtime | Runtime option used for OpenFAM. Default value is "PMIX". Other supported options are "PMI2" and "NONE" |
| client_interface_type | Client interface type used by OpenFAM. Default value is "direct". Other option is "rpc" |
| fam_client_interface_service_address | Address of Client Interface Service. Value is specified in this format: <ip_address>:<port_no>. Applicable only if client_interface_type is rpc. Default value is "<IP_ADDRESS>:8787" |
Sample configuration files are provided in the source under openfam_parent_directory/config
.
Starting Services
All the services and the PE read the respective configuration file from "config" directory placed at the path mentioned
by OPENFAM_ROOT
environment variable.
Or by default, OPENFAM_ROOT
will be /opt/hpe/OpenFAM
.
User needs to update this environment variable to select config folder created by them.
A tool by name openfam_adm
has been introduced which helps to perform the basic tasks useful to an OpenFAM user such as
- creating configuration files,
- starting OpenFAM services,
- terminating OpenFAM services,
- running tests and
- cleanup FAM and metadata.
To access the tool, the openfam module must be loaded. That can be done using following command:
module load openfam
The detailed description and available options are given below.
The details of available command line options can be found using -h
option of each of the service executable.
For Example:
#openfam_adm -h Usage : openfam_adm [-h] [--create_config_files] [--start_service] [--stop_service] [--clean] [--install_path] [--config_file_path] [--launcher] [--global_launcher_options] [--cisinterface] [--memserverinterface] [--metaserverinterface] [--cisserver id:{comma separated attributes}] [--memservers id:{comma seperated attributes}] [--metaservers id:{comma seperated attributes}] [--test_args] [--model] [--thrdmodel] [--provider] [--provider] [--runtime] [--kvstype] [--libfabricport] [--metapath] [--fampath] [--fam_backup_path] [--atlthreads] [--atlqsize] [--atldatasize] [--disableregionspanning] [--regionspanningsize] [--interleaveblocksize] [--runtests] [--sleep] Options : optional arguments: -h, --help show this help message and exit --create_config_files Generates all configuration files --start_service Start all OpenFAM services --stop_service Stop all OpenFAM services --clean Clean all FAMs and Metadata --install_path Path to OpenFAM installation dir --config_file_path Path to create configuration files --launcher Launcher to be used to launch processes(mpi/slurm) --global_launcher_options Launcher command options which can be used commonly across all services. Specify all options within quotes(") eg : --global_launcher_options="-N" "1" "-- mpi=pmix" --cisinterface CIS interface type(rpc/direct) --memserverinterface Memory Service interface type(rpc/direct) --metaserverinterface Metadata Service interface type(rpc/direct) --cisserver CIS parameters, eg : ,0:{rpc_interface:<IP_ADDRESS>,rpc_p ort:8795,launcher_options: "-n" "1"}. Note : Specify all launcher options within quotes(") eg : launcher_options:"-N" "1" "--mpi=pmix" --memservers id:{comma seperated attributes} Add a new memory server, eg : 0:{memory_type:volatile, fam_path:/dev/shm/vol/,rpc_interface:<IP_ADDRESS>,rpc_por t:8795,libfabric_port:7500,if_device:eth0,launcher_opt ions: '-n' '1'}. Note : Specify all launcher options within quotes(") eg : launcher_options: "-N" "1" "-- mpi=pmix" --metaservers id:{comma seperated attributes} Add a metadata server, eg : 0:{rpc_interface:<IP_ADDRESS> ,rpc_port:8795,launcher_options: '-n' '1'}. Note : Specify all launcher options within quotes(") eg : launcher_options: "-N" "1" "--mpi=pmix" --test_args Test configuration parameters, eg : ,0:{num_pes:1,launcher_options: '-n' '1'}. Note : Specify all launcher options within quotes(") eg : launcher_options: "-N" "1" "--mpi=pmix" --model OpenFAM model(memory_server/shared_memory) --thrdmodel Thread model(single/multiple) --provider Libfabric provider to be used for data path operations --runtime Runtime process management interface(PMI) to be used --kvstype Type of key value store to be used for metadata management --libfabricport Libafabric port for data path operation --metapath path to store metadata --fampath path where data is stored --fam_backup_path path where data backup is stored(on shared filesystem) --atlthreads Atomic library threads count --atlqsize ATL queue size --atldatasize ATL data size per thread(MiB) --disableregionspanning Disable region spanning --regionspanningsize Region spanning size --interleaveblocksize Dataitem interleave block size --runtests Run regression and unit tests --sleep Number of seconds to sleep For Example, following commands are primarily used to create configuration files, start/stop OpenFAM services and cleanup the FAM and metadata: - Generate Configuration Files (Only one time step) $openfam_adm @arg_file --create_config_files --config_file_path=/path/to/generate/config/files Content of sample "arg_file" : --launcher=slurm --model=memory_server --cisinterface=rpc --memserverinterface=rpc --metaserverinterface=rpc --provider=cxi --cisserver={rpc_interface:node1,rpc_port:8787} --memservers=0:{memory_type:volatile,fam_path:/dev/shm/vol,rpc_interface:node2,rpc_port:8793,libfab- ric_port:7500,if_device:eth0} --metaservers=0:{rpc_interface:node3,rpc_port:8788} --global_launcher_options="-p" "nodes" "--mpi=pmix" - Export path of config files dir $export OPENFAM_ROOT=/path/to/generate/config/files - Start/Stop OpenFAM Services $openfam_adm --start_service - Stop OpenFAM Services $openfam_adm --stop_service - Cleanup $openfam_adm --clean
The configuration options passed to the services using command line arguments take precedence over the options present in the respective configuration files.
Similarly, for the PE, configuration options passed using Fam_Options
argument of fam_initialize API take precedence
over the options present in fam_pe_config.yaml
configuration file.


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My favorite things
There are a few of my favorite things.
People
Here are some of my favorite people!
- My brother Nick
- My mom and dad:
- My friend Natalie
- My friend Kat
Flavors of ice cream
These are my three favorites, in order:
- Cookie dough
- Chocolate peanut butter
- Cookies and cream
Thanks for reading about me!


Default value for an optional argument
The value you have clicked on is the default value for the respective optional argument.
If you want to change the default value of an optional argument, do the following when calling the respective function:
- First, enter all required input arguments.
- Then, enter all the optional arguments whose values you want to set differently from their defaults. Each optional argument needs to be entered as a pair name-and-value separated by commas. The name of the option must be enclosed in single quotes.


{% extends 'base.html' %} {% block content %}
Documentation for the Kickstarter Success Passthrough App
This app receives data from the Kickstarter Success App about a proposed Kickstarter campaign and then passes that data into a neural network model to determine the likelyhood of success of the proposed campaign. The data is received in the form of a json that has the following keys with associated values: name: str. The name of the Project desc: str. A description of the project goal: float. The goal (amount of money) required for the project keywords: str. Keywords which describe the project disable_communication: bool. Whether the project authors has disabled communication option with people donating to the project country: str. The country of the project's author currency: str. The currency in which the goal (amount) is required campaign_length: The length of the campaign measured in days The app then pulls the data out of the json and formats it to be processed by the model. The model then returns a value between 0 and 1 that is then sent back to the Kickstarter Success App to be displayed to the user.


Build best web applications from scratch on client need bases
Build custom integrated web applications with Back-end server
Provide solutions for better eye catching UI design for users interaction
Build content management systems based on Joomla, Wordpress and Drupal
I'm a Gis and software developer with 2+ year of experience in web applications development, website development, ArcGIS Desktop & Web based products technology, Web GIS Applications, database development, spatial and data Analyst.
I'm truly passionate about my work and always eager to connect with other developers in my field. While I enjoy all aspects of my job, I think my favorite stage of a project is finding solutions for current problems and learning new knowledge on the way. As we go through the project analysis process, the ideas start to flow and that's always the fun part for me.
The Anthropocene Institute is a non-govermental orgnazation located Menlo park, CA working on technologies, policies, and market mechanisms to address global environmental challenges.
The Romberg Tiburon Center for Environmental Studies is San Francisco State University’s marine and estuarine field station. It is an academic research and teaching facility with a mission to illuminate the vital connections between, science, society, and the sea.


{% extends 'layout/styleguide.html' %} {% set page_title = 'Utilities' %} {% block content %}
Utilities can override certain CSS properties, like helper classes.
Below you can find the utilities which are currently in use. You can add your own utilities as long as they are most of the time include one CSS property.
.u-display-none
.u-visibility-hidden
.u-text-align-left
.u-text-align-right
.u-text-align-center
.u-float-left
.u-float-right
.u-spacing
.u-line-through


The recommended order is click the down button first,when it comes to the end of down,it means this section is over ,click the right button to enter the next section.
It is nearly the end of 2013.I am trying to add some color to your life,as you told me on 3th.December.
As a chengxu猿,I choose this as a new year gift for you.It means I will buy you nothing at the new year's beginning.
I believe this gift outweighs the others faraway.
I am very grateful of that in the past four years,U walk together with me.
You are the most beautiful scenery in my life
just forget the unhappy things and look forward towards the beautiful future.
不念过往，不畏将来
一个男人究竟要经历多少事情，才能成为真正的男人？我想，当他一个人的时候，安然而坐，喜怒哀乐，不再流于颜表，儿女情长，只是谨记于心，纷纷扰扰，坦然待之，或者，青春，终究磨不过时光
I have to say U also changed a lot.
In my early memory,which is also a piece of nightmare
,we were always in quarrel,er..,ok.let us just forget the past.

All is Ok because I am stronger enough.
You can control the ppt by your gesture
A flick of the hand in mid-air changes the slide.
A two hand flick up or down activates the slide overview.
Opening your computer webcam,using chrome are also needed.